JP2820632B2 - Automatic scratch removal device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic flaw removing device for automatically removing flaws on the surface of a work by using a flaw removing tool such as a grinding wheel or a cutting tool.

[0002]

2. Description of the Related Art In a production processing step, it is necessary to remove various flaws (including cracks, holes, etc.) existing on the surface of a work. For example, various defects may be present on the surface of a steel ingot such as ordinary steel, special steel, and stainless steel manufactured by a continuous casting method. When post-processing such as rolling is performed while leaving such flaws on the surface of the steel ingot, the flaws are enlarged,
This will reduce the yield and quality of the resulting product.
In order to prevent such a problem, it is necessary to remove the flaws on the surface of the steel ingot before rolling or the like. Conventionally, as a method for removing such a flaw on the work surface, conventionally, an operator manually operates a grinding device to move a grinding wheel to a place having a flaw, and the work surface is removed in accordance with the range and depth of the flaw. Grinding was performed to remove flaws. However, in such a conventional method, the operator must constantly perform the operation of changing the position and posture of the grinding wheel to perform the grinding, which requires a great deal of human labor and time, and furthermore, the operator has to reduce the intense dust during grinding. There was a problem of being exposed and being placed in a bad working environment. In particular, when grinding and removing deep flaws,
A long operation was required, and the burden on the operator was large.

[0003] Therefore, an apparatus has been developed to solve the above-mentioned problems by automating a process for removing a flaw on a work surface, thereby eliminating the need for operator's work. The present applicant has previously filed an application for such an automatic flaw removing device (Application No. 6-101136).
You are. In the automatic flaw removal grinding device according to this application, flaws on the work surface are automatically ground and removed as follows. First, information on the position, depth, and the like of a flaw existing on the work surface is input by the flaw information input means. Based on the input information, the flaw removing condition determining means determines flaw removing conditions (movement amount of grinding wheel, grinding load, grinding direction, number of grindings, etc.) for removing the flaw. Then, based on the condition determined by the flaw removal condition determination means, a control signal for operating the grinding wheel is output by the flaw removal control means, and based on the output control signal, the grinding wheel is moved by the grinding wheel moving mechanism. The work surface is ground by rotating and moving, and the flaws on the work surface are removed. Thus, Japanese Patent Application No. Hei 6-101
In the automatic flaw removal grinding device according to No. 136, a flaw removal step for removing flaws on the work surface is automatically executed.

[0004] A method of inputting flaw information in the automatic flaw removal device will be described with reference to FIG. FIG. 10 shows a case in which a square bar-shaped steel material (hereinafter, also referred to as “billet”) is targeted as a work. As shown in FIG. 10A, a billet B which is a work
The position information of the flaw FL present on the surface of L (here, the depth of the flaw FL is exaggerated for ease of viewing; the same applies to other drawings hereinafter) is based on the corner R of the billet BL. Specified on a part basis. As shown in FIG. 10B, the position of the flaw FL in the coordinate system having the corner R as the coordinate origin is given as the flaw map 100. That is, as shown in FIG.
For each L, distance W in the width direction from the coordinate origin, distance Ls in the length direction to the start point of flaw FL, distance Le to the end point
Is input to the automatic flaw removal grinding device by the flaw information input means in the form of a flaw map 100.

[0005]

However, billets BL manufactured by a continuous casting method or the like often have a bend or a twist as shown in FIG. 11 (A). FIG. 1 shows the flaw FL on the surface of the billet BL.
When the automatic flaw removal is performed based on the flaw map 100 such as 0, the following problem occurs. In the automatic flaw removal process, as shown in FIG. 10 (A), the grinding wheel 134 is horizontally moved from the reference corner R by the width W shown in the flaw map 100 and is positioned. And when it comes into contact with the billet BL, flaw removal grinding is performed. Here, the flaw map 100 is given as coordinates on a coordinate system having the corner R of the billet BL as the coordinate origin. Therefore, as shown in FIG. 11B, the billet BL without bending and twisting indicated by a solid line
In the case of (1), the grinding wheel 134 is accurately positioned on the flaw FL. However, in the case of a billet BL having a bend and twist indicated by an imaginary line, the horizontal position is shifted by a distance W10. Further, even if the position of the grinding wheel 134 is corrected in the horizontal direction by this distance W10, as shown in FIG. 11C, the grinding wheel 13
No. 4 comes into contact with a point P10 shifted from the flaw FL.

As described above, in the conventional automatic flaw removing device,
There has been a problem that it is not possible to reliably remove a work flaw having a bend or twist. On the other hand, the flaw map 10
The area around the flaw position indicated by 0 is ground widely and many times,
It is conceivable to cope with the method by grinding the entire surface of the work, but such a flaw removing method is extremely uneconomical and inefficient. In view of the above, an object of the present invention is to provide an automatic flaw removing device capable of reliably removing flaws on the surface of a workpiece even with a curved workpiece.
Another object of the present invention is to provide an automatic flaw removing device capable of reliably removing flaws on the surface of a workpiece even with a twisted workpiece.

Further, claim 2, claim 3, and claim 4
SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic flaw removing device capable of easily measuring a bending amount of a bent work. Another object of the present invention is to provide an automatic flaw removing apparatus that can easily measure a twist angle of a work having a twist. It is a further object of the present invention to provide an automatic flaw removing device capable of easily detecting a point serving as a reference for measuring a bending amount.

[0008]

In order to solve the above-mentioned problems, the invention according to claim 1 is an automatic flaw removing apparatus for removing flaws on the surface of a work by removing the flaws with a flaw removing tool. A flaw position data input means for inputting data of a coordinate position of the flaw along a coordinate in a longitudinal direction and a width direction of the work; and a deviation of a reference point of the coordinate in the width direction of the work from an original position. The position of the flaw removal tool to perform flaw removal processing by calculating the position of the flaw in the width direction from the data of the width direction position of the flaw and the value of the deviation. And an automatic flaw removal processing position calculating means for calculating the flaw removal processing position. Here, “scratch” includes “crack”, “hole”, and the like. The "scratching tool" includes a grinding tool such as a grinding wheel, a cutting tool such as a milling machine, and the like. In this automatic flaw removal device, data of the coordinate position of the flaw along the longitudinal and width coordinates of the work is input by the flaw position data input means, and the width of the work is detected by the displacement detection means. The deviation of the reference point of the direction coordinate from the original position is detected. The position of the flaw in the width direction is calculated from the data of the position of the flaw in the width direction and the value of the deviation by the flaw removal processing position calculating means, and the position at which the flaw removal tool is to perform the flaw removal processing. Is calculated. Therefore, even when the work has a bend, the flaw removing tool can be accurately brought into contact with the position where the flaw exists on the surface of the work, and the flaw removing process can always be performed reliably.

According to a second aspect of the present invention, there is provided an automatic flaw removing apparatus according to the first aspect, wherein the displacement detecting means projects a fine line on the surface of the work. A thin line projecting unit that performs image capturing of the projected fine line, and detects a position of an end of the captured thin line to measure a reference point of the coordinate in the width direction of the work. An automatic flaw removal device characterized in that the deviation is detected based on the deviation is created. Here, the "fine line projecting means" includes laser light or LED light or the like converted into a plane slit light through a slit, or laser light or LED light or the like on a certain straight line by an optical scanning mechanism such as a polygon mirror. It includes means for scanning, or conversely, means for projecting a linear shadow. The “imaging means” includes a CCD camera, an 8 mm photographing machine, and the like. In this automatic flaw removal device, in the displacement detecting means, a fine line is projected on the work surface by the fine line projecting means, and the fine line is imaged by the imaging means. Then, the position of the end of the captured thin line is detected, and the shift is detected based on the measurement of the reference point of the coordinate in the width direction of the work. Thus, the bending amount of the work can be easily calculated.

According to a third aspect of the present invention, there is provided an automatic flaw removing apparatus for removing flaws on a surface of a work by flaw-removing the surface with a flaw-removing tool. Flaw position data inputting means for inputting information about the position of an existing flaw as coordinate data on the basis of a coordinate system along the surface of the work, work position measuring means for measuring the position of the work, Flaw removal processing position calculation means for calculating a position at which flaw removal processing should be performed by the flaw removal tool from the work position and the input flaw position data, wherein the work position measurement means has a thin line on the surface of the work. And a photographing means for photographing the projected fine line, wherein the photographing center line has an imaging center line with respect to a vertical plane including the fine line projected on the work surface. An automatic flaw removing device, which is attached so as to have a fixed angle and detects an end of the work by searching for an end point of a linear portion of a thin line projected on the upper surface of the work, is created. did. In this automatic flaw removal device, information on the position of the flaw existing on the surface of the work is input as coordinate data based on a coordinate system along the surface of the work by the flaw position data input means. The position of the work is measured by the work position measuring means. If the work has a bend at this time, the position of the work including the bend in the absolute coordinate system is measured. Then, from the measured work position and the input flaw position data, the flaw removal processing position calculation means calculates the position at which flaw removal processing should be performed by the flaw removal tool. Thus, when the workpiece has a bend, a processing position including the bend is calculated, and the flaw removal tool is positioned at the calculated position to perform the flaw removal processing. Therefore, even when the work has a bend, the flaw removing tool can be accurately brought into contact with the position where the flaw exists on the surface of the work, and the flaw removing process can always be performed reliably. Also, in this automatic flaw removal device,
The imaging unit is mounted such that the imaging center line has a predetermined angle (hereinafter, referred to as “angle of attack”) with respect to a vertical plane including a fine line projected on the work surface. For this reason,
The following effects can be obtained. A thin line projected on the work surface appears as a straight line when there is no angle of attack, that is, when an image is taken from directly above, but because of the angle of attack, the thin line appears to be bent at a corner of the work surface. Therefore, by searching for the end point of the linear portion of the thin line projected on the upper surface of the work, the corner (end) of the work can be detected. In this way, it is possible to easily detect a point serving as a reference for measuring the amount of bending, and it is possible to easily and reliably perform automatic flaw removal of a bent workpiece.

According to a fourth aspect of the present invention, in order to solve the above-mentioned problem, in the automatic flaw removing apparatus according to the third aspect, the image pickup means includes: The imaging center line is attached so as to have a fixed angle with respect to a plane perpendicular to the fine line projected on the work surface, and the work is performed by searching for a vertical maximum point of the imaged fine line. An automatic flaw removal device characterized by detecting the end of the surface. That is, in this automatic flaw removing apparatus, in the automatic flaw removing apparatus according to claim 3, the imaging center line of the imaging means is, in addition to the angle of attack, a plane perpendicular to a fine line projected on the work surface. It is attached so as to have a certain angle (hereinafter, referred to as “deformation angle”). Due to the change in the angle, the workpiece is always imaged while being inclined, and the thin line projected on the surface of the workpiece looks like an "H" shape. Therefore, the corner (end) of the work is always located at the maximum point in the vertical direction of the captured thin line, and the corner (end) of the work is detected by searching for this maximum point. be able to. In this manner, it is possible to more easily detect a point serving as a reference for measuring the amount of bending, and it is possible to more easily and reliably perform automatic flaw removal of a bent workpiece.

According to a fifth aspect of the present invention, there is provided an automatic flaw removing apparatus for removing flaws on the surface of a work by removing the flaws on the work surface with a rotating grinding wheel. Flaw position data input means for inputting information about the position of the flaw present in the coordinate system based on a coordinate system along the work surface, work torsion angle measuring means for measuring the torsion angle of the work, From the measured work torsion angle and the input flaw position data, a flaw removal calculating a flaw removal position to be performed by the grinding whetstone so that the grinding whetstone accurately contacts a flaw existing on the work surface. And an automatic flaw removal device characterized by having a processing position calculating means. In this automatic flaw removal device, the flaw position data input means inputs information on the position of flaws present on the work surface as coordinate data based on a coordinate system along the work surface. The torsion angle of the work is measured by the work torsion angle measuring means. Then, from the measured work torsion angle and the input flaw position data, the flaw removal processing position calculation means calculates the position at which flaw removal processing should be performed by the flaw removal tool. In this way, when the work has a twist, a processing position in consideration of the twist angle is calculated, and the flaw removal tool is positioned at the position to perform the flaw removal processing. Therefore, even when the work has a twist, the flaw removal tool can be accurately brought into contact with the position where the flaw exists on the work surface to perform the flaw removal processing. Can be removed.

According to a sixth aspect of the present invention, in order to solve the above-mentioned problems, in the automatic flaw removing apparatus according to the fifth aspect, the work torsion angle measuring means includes a thin wire on the work surface. And an image pick-up means for picking up an image of the projected thin line, and measuring the torsion angle of the workpiece by calculating an inclination of the picked-up thin line. Equipment was created. That is, this automatic flaw removing device has a fine line projecting means for projecting a fine line on the work surface and an image pickup means for imaging the projected fine line as the work torsion angle measuring means in the automatic flaw removing apparatus of claim 5. doing. Then, the work twist angle is measured by calculating the inclination of the captured thin line. An accurate machining position is calculated in accordance with the measured work torsion angle, the flaw removal tool is positioned at that position, and flaw removal processing is performed.
In this way, the measurement of the twist angle of the twisted work can be easily performed, and the automatic scratch removal of the twisted work can be more easily and reliably performed.

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020]

Next, an embodiment of the present invention will be described with reference to FIGS. First, a mechanical structure of an embodiment of the automatic flaw removal device according to the present invention will be described with reference to FIGS. FIG. 1 is a front view showing the overall configuration of a flaw removal grinding device 2 as one embodiment of an automatic flaw removal device. FIG. 2 shows a flaw removal grinding device 2.
FIG. 3 is a front view showing the structure of the main part of FIG. As shown in FIG.
Has a pair of traveling beams 8A, 8B horizontally passed between a pair of supports 6A, 6B fixed to the floor surface 4. A grinder 10 is provided on the traveling beams 8A and 8B so as to be movable in the horizontal direction. The traveling beam 8
Below A and 8B, a grinding table 12 is fixed to the floor surface 4. On this grinding table 12, a special steel billet (hereinafter, also simply referred to as "billet") B to be a work to be scratched is provided.
L is fixed by four pairs of fixing jigs 12a, 12b, 12c, and 12d. The billet BL is a square rod-shaped steel material obtained by shearing or gas cutting a continuously cast steel ingot at a certain length. The grinding machine 10 includes an image processing device 28 and a grinding wheel 34. The shape and the like of the billet BL fixed on the grinding table 12 are measured by the image processing device 28, and the grinding wheel 34 is attached to the surface defect of the billet BL. And accurately remove the surface flaws by grinding.

Next, the detailed structure of the grinding machine 10 will be described.
This will be described with reference to FIGS. As shown in FIG. 2A, the grinding machine 10 includes a grinding machine main body 14 and its traveling mechanism, an image processing device 28 and its related devices, and a grinding wheel 34.
And its moving mechanism and driving mechanism. The grinding machine body 14 includes front and rear traveling wheels 52A, 53A.
Travel rail 4 fixed on travel beam 8A
Drive on 2A. As shown in FIG. 3, a traveling rail 42B is also fixed on the traveling beam 8B,
The front traveling wheel 52 traveling on the traveling rail 42B
B and a rear traveling wheel (not shown) are provided on the grinding machine main body 14. These traveling wheels 52A, 53A and the like are rotationally driven by the traveling drive mechanism 26 shown in FIG. Further, as shown in FIGS. 2A and 3, a pair of guide rollers 24 is provided on the front and rear, right and left sides of the grinding machine main body 14 so as to sandwich the traveling rails 42A and 42B.
A, 24B, 44A, etc. are provided. FIG.
As shown in (A), shock dampers 22 and 46 are provided at the front and rear ends of the grinding machine body 14, respectively.

An image processing device 28 and a light source unit 30 are attached to the lower part of the grinding machine body 14. Details of these structures will be described with reference to FIG. FIG.
As shown in (B), the image processing device 28 has a built-in CCD camera 48, and the light source unit 30 has a built-in semiconductor laser (Laser Diode, hereinafter abbreviated as “LD”) 50. The laser beam emitted from the LD 50 is spread in a direction perpendicular to the plane of FIG. 2B by passing through a cylindrical lens and a slit (not shown), and the width in the left-right direction of FIG. 2B is extremely narrow. It becomes a plane slit light. By irradiating the upper surface of the billet BL with this slit light, a thin line of light is drawn on the billet BL.
8 is taken. The CCD camera 48 is attached so that the central axis of the imaging lens forms an angle of 35 ° with the plane of the slit light emitted from the light source unit 30.

A grinding wheel 34 is attached to the grinding machine body 14 by a wheel holding mechanism 38. The grindstone holding mechanism 38 includes a grindstone rotation motor 40 and a gear box 36, and the rotational force of the grindstone rotation motor 40 is transmitted by the gearbox 36 to rotate the grinding wheel 34. Further, the grinding wheel holding mechanism 38 has a whetstone bending mechanism (not shown), and the surface of the grinding wheel 34 shown by a solid line and a hidden line in FIG. The angle can be changed to such a state that the surface of the grinding wheel 34 is parallel to the paper surface. Also in FIG. 2 (B),
A state where the surface of the grinding wheel 34 is perpendicular to the paper surface and a state where it is parallel to the paper surface are depicted. The grinding wheel holding mechanism 38 is attached to the grinding machine main body 14 so as to be able to move up and down, and is moved up and down by a lifting drive device 20 and a hydraulic cylinder 18 for crimping provided at the upper part of the grinding machine body 14. The hydraulic cylinder 18 for crimping is for adjusting the pressure for pressing the grinding wheel 34 against the work (in this embodiment, the billet BL). The pressing pressure of the grinding wheel 34 is measured by the load cell load detector 16. Further, the grinding machine body 14
A grinding wheel diameter detecting device 32 is provided at a lower end of the grinding wheel, and detects a change in the grinding wheel diameter due to abrasion of the grinding wheel 34 in the grinding process. The grindstone diameter detector 32 has a pair of light emitters and light receivers provided with a grinding wheel 34 interposed therebetween, and measures the diameter of the grindstone based on the height at which light emitted from the light emitter is blocked.

Next, a mechanism for adjusting the position of the grinding wheel 34 in the width direction of the billet BL will be described with reference to FIG. As shown in FIG. 3, left and right traveling support portions 54A and 54B are fixed to the grinding machine body 14.
The traveling wheel 52A and the guide roller 24A are rotatably attached to the traveling support portion 54A, and the traveling wheel 52B and the guide roller 24B are rotatably attached to the traveling support portion 54B. Traveling support parts 54A, 54
Upper guide mounting members 56A and 56B are fixed on B, respectively, and an upper width direction guide 58 is fixed between these upper guide mounting members 56A and 56B. Further, lower guide mounting members 66A and 66B are fixed to the lower portion of the grinding machine body 14, respectively. A lower width direction guide 68 is fixed between the lower guide mounting members 66A and 66B. A widthwise moving carriage 60 is attached to the upper widthwise guide 58 and the lower widthwise guide 68 so as to be slidable in the left-right direction in the figure. The above-described lifting / lowering drive device 20, the hydraulic cylinder for pressure bonding 18, the load cell load detector 16, the grinding wheel holding mechanism 3
8 are all attached to the width direction moving carriage 60.

On the other hand, a width direction positioning drive device 62 is attached to the grinding machine main body 14, and the ball screw 64 of the width direction positioning drive device 62 is attached to a ball screw nut 70 fixed to the width direction moving carriage 60. Are engaged. Therefore, when the ball screw 64 is rotated by the operation of the width direction positioning drive device 62, the width direction moving carriage 60 slides in the left and right direction in FIG. With the structure described above, the grinding wheel 34 moves in three-dimensional directions with respect to the billet BL fixed to the grinding table 12 with the fixing jig 12d or the like. That is, as the grinding machine 10 travels on the traveling rails 42A and 42B, the grinding wheel 34 moves horizontally in the longitudinal direction of the billet BL (the direction perpendicular to the paper surface of FIG. 3). In addition, the width direction moving carriage 60 is moved up and down by the width direction guide 5.
By sliding on 8,68, billet BL
The grinding wheel 34 moves horizontally in the width direction of FIG. Furthermore, the grinding wheel 34 moves up and down with respect to the billet BL by moving the grinding wheel holding mechanism 38 up and down with respect to the width direction moving carriage 60.

Next, a procedure for removing surface flaws over the entire circumference of the billet BL will be described with reference to FIG.
First, as shown in FIG. 4A, the billet BL is fixed horizontally on the grinding table 12, and the flaw FL on the upper surface of the billet BL (the flaw depth is exaggerated in the figure). ) Is removed. That is, the grinding wheel 34 is correctly positioned on the flaw FL by the procedure described later, and the surface flaw FL is ground and removed by rotating the grinding wheel 34. Next, as shown in FIG. 4B, the billet BL on the grinding table 12 is rotated and fixed so that each of the four surfaces forms an angle of about 45 ° with respect to the surface of the grinding table 12. . The flaw FL at the upper corner of the billet BL is ground and removed by the grinding wheel 34. Subsequently, the grinding table 12
The upper billet BL is further rotated by about 45 ° and fixed, and the surface flaw FL on the upper surface is ground and removed. In the same manner, removal of the flaws at the flat surface and the corner portion is alternately performed while rotating the billet BL by 45 °. Thus, the surface flaws on the four faces and the four corners of the billet BL are removed, and the flaw removal grinding processing of one billet BL is completed.

Next, the procedure for accurately moving the grinding wheel 34 to the position of the surface flaw FL by measuring the shape (bending / twisting) of the billet BL will be described with reference to FIGS.
This will be described with reference to FIG. First, a method for measuring the shape of the billet BL will be described with reference to FIGS. FIG. 5 to FIG. 7 are diagrams illustrating a method of imaging the billet BL by the CCD camera 48 and an imaged screen. FIG. 5 (A)
As shown in FIG. 5, the flat slit light 50a emitted from the LD 50 is applied to the billet BL, and a thin light line (hereinafter, referred to as “contour line”) 82 is drawn on the upper surface of the billet BL. The outline 82 is imaged by the CCD camera 48. As explained earlier, CCD
The angle formed between the center axis of the imaging lens of the camera 48 and the surface of the slit light 50a (hereinafter, referred to as “camera angle of attack”) is three.
5 °. Then, the CCD camera 48 has the angle of attack 3
It is mounted at an angle of about 22 ° from the vertical direction within a plane of 5 °. This angle is hereinafter referred to as “camera deflection angle”. Due to the camera deflection of about 22 °, FIG.
As shown in (B), the outline 82 appearing in the imaging screen 80 appears to be inclined. FIG. 6 shows an angle of about 45 ° as shown in FIG.
The figure shows a case where an image of a billet BL fixed in an inclined state is taken. The camera deflection angle is set to about 22 degrees in the case of the surface grinding shown in FIG. 5 and the case of the corner grinding shown in FIG. This is to prevent the angle formed with 82 from changing much.

Now, a method for measuring the amount of bending and the torsion angle of the billet BL from the contour line 82 thus imaged will be described with reference to FIG. The following procedure is executed in the image processing device 28. Here, the case of surface grinding (the case shown in FIGS. 4A and 5) will be described. First, as shown in FIG. 7A, the X-axis 80x is moved up and down in the imaging screen 80 to a position in contact with the corner of the outline 82. The vertical coordinate of the X axis 80x in the imaging screen 80 at this time is represented by Ymi.
n. Subsequently, the Y axis 80y is moved right and left to a position passing through the contact point 82a, and the horizontal coordinate of the Y axis 80y at this time is set to Xmin. The contact 82a is set as a measurement origin (DX, DY). That is, DX = Xmi
n, DY = Ymin. In this embodiment, about 2
Since the camera has a camera deflection of 2 °, one point of the corner of the billet BL always becomes the measurement origin by the above operation. The coordinates (DX, DY) of the measurement origin 82a are
The amount of bending of the billet BL at the imaging position can be determined by comparing the measured billet BL with the coordinates of the measurement origin for the reference billet having no bending or twist measured in advance. If the billet BL is twisted, the X-axis 8
The position where 0x is in contact with the contour line 82 is shifted within the range of the corner R of the billet BL, and accordingly, the coordinates of the measurement origin 82a are also shifted. However, since this shift is taken in as a correction coefficient in accordance with the torsion angle in the correction formulas described later with reference to FIGS.
It is always performed accurately even if the position of 2a is shifted.

Subsequently, as shown in FIG. 7 (B), contour points are extracted at regular intervals along the contour line 82 on the upper surface of the billet BL clockwise from the measurement origin 82a. Two points (Xm, Ym) among the contour points thus extracted,
From (Xn, Yn), the imaging screen 8 is calculated by the following equation (1).
The inclination angle θ of the contour 82 within 0 is obtained. θ = Arctan {(Ym−Yn) / (Xm−Xn)} (1) By comparing this inclination angle θ with a previously measured inclination angle of a reference billet having no bend or twist, its imaging position is obtained. Can be obtained.

Next, the overall structure of a mechanism for correcting the position of the grinding wheel 34 from the measurement results of the bending and torsion of the billet BL will be described with reference to FIG. FIG.
FIG. 3 is a schematic diagram illustrating an overall configuration of a mechanism that corrects a position of a grinding wheel. As shown in FIG.
From the flaw detection device 94 provided separately from the
The flaw information on the depth and the like and the material information of the work are transmitted to the control circuit unit 92 of the flaw removal grinding device 2. Here, the information on the position of the surface flaw transmitted from the flaw detector 94 is shown in FIG.
Is a flaw map 100 based on coordinates on a work (billet BL) as shown in FIG. Further, information from the billet shape detection device 90 including the laser light source 30, the CCD camera 48, and the image processing device 28 described above is also taken into the control circuit unit 92. The control circuit unit 92 is a computer system mainly including a central processing unit (CPU) and a memory device such as a RAM and a ROM, and performs arithmetic processing based on input data. The data of the position correction amount obtained by the arithmetic processing in the control circuit unit 92 is transmitted to the above-described width direction drive positioning device 62 as a control signal.

The width direction drive positioning device 62 includes a servo motor control / drive circuit 96 and a servo motor 72. The servo motor 72 rotates the ball screw 64 as described above, and the width direction movement carriage 60 slides to the left and right. I do. As described above, in this embodiment, only the horizontal position of the grinding wheel 34 is corrected. Billet B
Even if the position of the surface flaw is displaced in the vertical direction due to the bending and twisting of L, the grinding wheel 34 is lowered by the lifting / lowering drive device 20 of FIG. This is because the grinding may be performed by adjusting the load to a predetermined pressing load by the load cell load detector 16. Therefore, in calculating the position correction amount, only the coordinate X1 in the width direction among the flaw position coordinates input from the flaw detector 94 is used.

Next, a procedure for calculating the position correction amount of the grinding wheel 34 from the measurement result of the shape (bending / twisting) of the billet BL by the billet shape detecting device 90 will be described with reference to FIG.
This will be described with reference to FIG. FIG. 9A is a diagram illustrating an image screen 80 captured by the CCD camera 48. FIG.
In (A), an imaginary line 84 indicates a contour line appearing on the image capturing screen 80 when an image of a billet without bending and twisting is captured, and a solid line 82 indicates an actual billet having bending and twisting. This is a captured contour line. However, in FIG. 9A, for the sake of simplicity, even the lower part of the billet, which does not actually appear as an outline because the slit light 50a does not hit, is shown. Here, the angle between the line indicating the upper surface of the ideal billet indicated by the outline 84 and the X axis 80x of the imaging screen 80 is 18 °,
This does not coincide with the camera deflection angle of about 22 ° shown in FIG. This is because, as shown in FIG. 5A, since the camera elevation angle is 35 °, the outline 82 indicating the upper surface of the billet and the X
This is because the angle formed with the axis 80x looks smaller than it actually is.

Now, as shown in FIG. 9A, the coordinates (DX, DY) of the measurement origin 82a on the contour 82 of the billet having a bend and twist are the ideal contour 84
Deviates from the coordinates of the measurement origin (reference origin) in. In this embodiment, the coordinates of the reference origin are (370, 160).
Thus, the relationship between the CCD camera 48 and the center position of the grinding table 12 is adjusted. The difference between the X coordinate and the Y coordinate between the reference origin and the measurement origin on the screen 80 is (370-DX) and (DY-160), respectively. Here, since there are inclinations of the contour lines 82 and 84 based on the camera deformation angle, the horizontal displacement of the billet BL is simply (37
0-DX). That is, FIG.
As shown in (A), (370-DX), (DY-
The vector components 86x and 86y in the horizontal direction of the reference billet obtained from 160) work as the actual horizontal displacement of the billet BL. These vector components 86
Although x and 86y can be theoretically calculated geometrically, in the present embodiment, various bends are actually obtained.
The correction formula is empirically determined from the experimental results of removing the twist of the billet BL having a twist.

That is, as shown in FIG. 8, when the correction value in the right direction is (+) and the correction value in the left direction is (-), the grinding wheel in the horizontal direction based on the X coordinate DX of the measurement origin 82a. The position correction value Xc (DX) is obtained by the following equation (2). Xc (DX) = {(370−DX) × 10/18} (2) Similarly, a horizontal grinding wheel position correction value Xc (DY) based on the Y coordinate DY of the measurement origin 82a is expressed by the following equation (3). Is required. Xc (DY) = {(DY−160) × １ ／} (3) Coefficients “10/18” and “1/8” appearing in these equations
Are correction coefficients empirically obtained from the results of experiments in which a large number of billets BL were removed.

Next, the displacement of the contact position of the grinding wheel 34 due to the twist of the billet BL will be described with reference to FIG. FIG. 9B is a diagram showing a shift in the contact position of the grinding wheel 34 due to the twist of the billet BL. In the case of a billet BLa having no twist, if the grinding wheel 34 is horizontally moved to a position where the center line 35 of the grinding wheel 34 passes through the surface flaw FLa and is lowered as it is, the grinding wheel 34a accurately hits the surface flaw FLa. However, in the case of the billet BLb twisted clockwise, when the grinding wheel 34 is lowered from a position where the center line 35 passes through the surface flaw FLb, the grinding wheel 34b is shifted to a position Gb shifted leftward from the surface flaw FLb.
Hits. Billet BLc twisted counterclockwise
In the case of, if the grinding wheel 34 is lowered from a position where the center line 35 passes through the surface flaw FLc, the center line 35 hits a position Gc shifted to the right from the surface flaw FLc. Therefore, billet B
Even when L is twisted, the horizontal position of the grinding wheel 34 must be corrected. The torsion of the billet BL appears as the inclination angle θ of the contour 82 on the imaging screen 80. Therefore, the value of this θ and the inclination angle 1 of the contour 84 when there is no torsion.
The horizontal position may be corrected according to the difference from 8 °.

That is, when the inclination angle θ is larger than 18 °, the object is twisted clockwise.
The horizontal position of No. 4 may be corrected to the right. Θ is 1
If the angle is smaller than 8 °, the object is twisted counterclockwise, and the horizontal position of the grinding wheel 34 may be corrected to the left. As shown in FIG. 8, the correction value in the right direction is (+)
Assuming that the leftward correction value is (−), the horizontal grinding wheel position correction value Xc (θ) based on the inclination angle θ is obtained by the following equation (4). Xc (θ) = {(θ−18) × 6} × (grindstone diameter / 540) (4) The coefficient “6” appearing in the equation (4) is based on the results of an experiment in which a large number of billets BL were scratched. This is an empirically obtained correction coefficient. By multiplying by the correction coefficient “6”,
The influence of the displacement of the measurement origin 82a due to the twist of the billet BL is also taken into account. "Wheel diameter" is a value indicating the diameter of the grindstone measured by the grindstone diameter detector 32 in mm, and "540" is a diameter of the unused grinding wheel 34 of 540 m.
m. This section “Whetstone diameter / 54
By multiplying by “0”, the influence of the change in the grinding wheel diameter due to the wear of the grinding wheel 34 is canceled.

Further, as shown in FIG. 8, the distance from the positioning origin 74 of the flaw removal grinding device 2 to the left corner of the billet BL, which is the origin of the flaw coordinates, is determined by the distance from the positioning origin 74 to the center line of the grindstone table 12. From the distance (150 mm in this embodiment) to the width of the billet BL (1 in this embodiment).
53 mm) is subtracted. However, the center line of the grinding wheel head 12 and the billet BL fixed thereon
Are centered in the width direction. As described above, the correct horizontal movement amount Xc from the positioning origin 74 to the position of the flaw FL is given by the following equation (5) using the values obtained by the above equations (2) to (4). Xc [mm] = 150− (153/2) + X1 + Xc (DX) + Xc (DY) + Xc (θ) (5)

The ball screw 64 rotates by the calculated horizontal movement amount Xc, the widthwise movement carriage 60 slides, and the grinding wheel 34 is positioned at the correct horizontal position. Then, the grinding wheel 3 is moved by the lifting drive device 20.
When the pressurizing cylinder 4 descends and hits the billet BL, the pressing hydraulic cylinder 18 and the load cell load detector 16 perform grinding with a predetermined pressing load, and the flaw FL is automatically removed by grinding. In this way, in the automatic flaw removing device 2 of the present embodiment, even if the billet BL is bent or twisted, the grinding grindstone 34 is accurately positioned to reliably remove the flaw FL on the billet BL surface. Can be. Note that, as shown in FIG. 2B, the center line of the grinding wheel 34 and the slit light emitted from the LD 50 are separated by a distance L1. Therefore, the shape of the billet BL measured by the shape detecting device 90 is strictly different from the shape immediately below the grinding wheel 34. However, normal billet B
Since the distance L1 is sufficiently small with respect to the degree of bending / twisting of L, the shape of the billet BL measured is the same as that of the grinding wheel 3
The shape almost coincides with the shape immediately below. Therefore, there is no practical problem even if the grinding wheel 34 is directly lowered onto the flaw FL for grinding. In addition, when performing more precise flaw removal processing, first, the grinding machine 10 is slid a distance L1 to the left in FIG.
Thereafter, the grinding machine 10 may be returned to the right by the distance L1, and the grinding wheel 34 may be lowered.

In this embodiment, the case where the automatic flaw removing apparatus of the present invention is applied to the grinding process of the surface flaw of the special steel billet has been described. Can be applied. For example, in addition to the square bar-shaped billet, the shape is a rectangular parallelepiped slab, etc. The material is a casting such as carbon steel, a non-ferrous casting such as an aluminum alloy or a magnesium alloy, ceramics such as ceramics, wood, plastic or rubber. The same can be applied to a material such as that which can remove flaws present on the surface by processing such as grinding and cutting. Further, the grinding wheel 34 is not limited to a normal grinding wheel, but may be, for example, an abrasive such as diamond or CBN (Cubic Boron Nitride), a vitrified grinding wheel, a resinoid grinding wheel, or a rubber grinding wheel, depending on the material of the workpiece to be ground. Other abrasives, such as a grinding tool formed by, for example, can also be used. Furthermore, the elevation angle (35
°), deflection angle (approximately 22 °) and the like are just examples, and various suitable values may be selected according to conditions such as the size, shape, and material of the workpiece to be ground, and the thickness and diameter of the grinding wheel. Value can be selected. The structure, shape, size, arrangement, number, material, and the like of other parts of the automatic flaw removal device are not limited to the present embodiment.

[0040]

[0041]

[0042]

[0043]

[0044]

[0045]

[Brief description of the drawings]

FIG. 1 is a front view showing an entire configuration of an embodiment of an automatic flaw removing device according to the present invention.

FIG. 2 is a front view showing a structure of a main part of an embodiment of the automatic flaw removing device.

FIG. 3 is a side view showing a structure of a main part of the embodiment of the automatic flaw removing device.

FIG. 4 is a diagram showing a method of removing flaws with a grinding wheel in an embodiment of the automatic flaw removing apparatus.

FIG. 5 is a diagram illustrating an imaging method and an imaging screen in an embodiment of the automatic flaw removal device.

FIG. 6 is a diagram illustrating an imaging method and an imaging screen in an embodiment of the automatic flaw removal device.

FIG. 7 is a diagram illustrating an imaging screen in an embodiment of the automatic flaw removal device.

FIG. 8 is a diagram illustrating a method of calculating a correction amount in an embodiment of the automatic flaw removal device.

FIG. 9 is a diagram illustrating a method of calculating a correction amount in an embodiment of the automatic flaw removal device.

FIG. 10 is a view showing a flaw removing method in a conventional automatic flaw removing device.

FIG. 11 is a view showing a flaw removing method in a conventional automatic flaw removing device.

[Explanation of symbols]

 2 Automatic flaw removal device 30 Fine line projection means 34 Flaw removal tool 48 Imaging means 82a End of fine line 90 Work position measurement means 90 Work torsion angle measurement means 92 Flaw position data input means 92 Flaw removal processing position calculation means 100 Coordinate data BL work FL flaw θ Thin line slope

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-69317 (JP, A) JP-A-5-318280 (JP, A) JP-A-59-142063 (JP, A) JP-A-7- 308852 (JP, A) JP-A-6-126617 (JP, A) JP-A-6-198549 (JP, A) JP-A-6-348322 (JP, A) (58) Fields investigated (Int. ⁶ , DB name) B24B 49/00 B24B 27/033 B24B 49/12

Claims (6)

(57) [Claims] 1. An automatic flaw removing device for removing flaws on a surface of a work by flaw removal with a flaw removal tool, wherein said flaws are seated in a longitudinal direction and a width direction of said work.
Flaw position data input to input coordinate position data along the mark
Force means and whether the reference point of the coordinate in the width direction of the workpiece is the original position.
Deviation detecting means for detecting deviation from the data, the data of the position of the flaw in the width direction and the value of the deviation.
Calculating the position of the flaw in the width direction from the
Flaw for calculating the position where flaw removal processing should be performed with the flaw removal tool
An automatic flaw removing device comprising: a removing position calculating means . 2. An automatic flaw removing device according to claim 1.
And the deviation detecting means projects a fine line on the work surface.
Fine line projection means and imaging means for imaging the projected fine line
And detecting the position of the end of the thin line imaged,
Based on measuring the reference point of the coordinate in the width direction of the work
Detecting the deviation based on
Automatic scratch removal device. 3. A flaw on the work surface is flaw-removed by a flaw-removing tool.
An automatic flaw removing device that removes information on the position of flaws present on the surface of the work.
Coordinate data based on the coordinate system along the workpiece surface
Flaw position data input means for inputting the flaw position data, work position measurement means for measuring the position of the work, and the measured work position and the inputted flaw position data
From the above, calculate the position at which the flaw removal tool should perform flaw removal processing.
And a work position measuring means for projecting a fine line on the surface of the work.
Thin line projection means for shadowing, and imaging for imaging the projected fine line
Imaging means, wherein the imaging means projects the imaging center line on the work surface.
At a predetermined angle to the vertical plane containing the thin line
And is projected on the upper surface of the work.
By searching for the end point of the straight line
An automatic flaw removing device characterized by detecting an end of a mark. 4. The automatic flaw removing apparatus according to claim 3 , wherein said image pickup means is configured to perform image pickup in addition to said predetermined angle.
The core wire faces the surface perpendicular to the fine line projected on the work surface.
Searching for the maximum point in the vertical direction of the thin line imaged is attached so as to have a certain angle
Detecting the end of the work by
Automatic scratch removal device. 5. A flaw on the surface of a work is flawed by a rotating grinding wheel.
An automatic flaw removing device for removing by processing, wherein information on a position of a flaw present on the surface of the work is previously stored.
Coordinate data based on the coordinate system along the workpiece surface
Flaw position data input means for inputting and inputting, and a work torsion angle measuring device for measuring the torsion angle of the work
Step, the measured work twist angle and the input flaw position data.
Flaws on the work surface due to the grinding wheel
The grinding wheel is used to remove flaws so that the
Crack edging position calculating means for calculating a Ubeki position, automatic flaw-up apparatus characterized by having a city. 6. The automatic flaw removing device according to claim 5, wherein the work torsion angle measuring means includes a thin wire on the surface of the work.
And a thin line projecting means for projecting the projected fine line.
Calculating the inclination of the captured thin line.
An automatic flaw removing device for measuring the torsion angle of the workpiece by measuring the torsion angle of the workpiece .