JP6597696B2 - Steel plate shape measuring device and steel plate shape correcting device - Google Patents

Description

  The present invention is a steel plate shape measuring apparatus suitable for measuring off-line a shape having a defect such as a distortion of the steel sheet, and a shape having a defect such as a distortion of the steel sheet measured by the steel sheet shape measuring apparatus, The present invention relates to a steel plate shape correcting device suitable for offline correction.

  As an apparatus for automatically measuring the shape of a steel plate, for example, as described in Patent Document 1, a measuring device composed of a plurality of optical distance meters is installed on a steel sheet conveyance line, and the steel plate passing through this measuring device is used. The distance from the light reflection state to the steel sheet surface, that is, the height of the steel sheet surface is detected, and the shape of the steel sheet surface is measured continuously with this height.

  However, the present applicant has proposed a steel plate shape correcting device with a steel plate shape measuring device described in Patent Document 2 because the measuring device including the plurality of optical distance meters is not suitable for off-line shape measurement. The shape measuring apparatus described in Patent Document 2 uses a laser rangefinder that turns laser light from one laser light source with a galvanometer mirror, scans the surface to be scanned with the turned laser light, and measures the distance. A predetermined detection point group on the steel plate is measured, and the shape of the steel plate is measured from the obtained distance measurement data. Therefore, the shape of the steel plate can be measured even when the steel plate is stationary offline. In Patent Document 2, “polarized light” is understood to mean “turning”, that is, switching the direction.

JP-A-5-237546 JP 2010-155272 A

In the optical distance meter described in Patent Document 1, there may be a problem that a measurement abnormality occurs in the vicinity of a plate surface end (longitudinal or width end) of a steel plate. An example of this measurement abnormality is shown in FIG. 2 as a schematic diagram. FIG. 2A illustrates a laser distance in which the steel plate S positioned above the equipment upper surface ES, such as a floor surface below the steel plate S, is a distance measurement target, and the vicinity of the longitudinal end of the steel plate is disposed above the steel plate. FIG. 7 is a side view showing a state in which distance measurement data is collected by scanning in the scanning direction 20 or the scanning direction 21 parallel to the longitudinal direction of the steel sheet with incident laser light LS1 from a meter (not shown), for example. FIG. 2B shows a position X expressed by a distance from a reference position (X ₀ ) in the scanning direction and a reference position (Z ₀ ) in the height direction converted from the distance measurement data at the position X. The height Z is plotted as a point in the XZ coordinate system, and the steel plate region S ′ and the equipment upper surface region ES ′ are also shown in FIG. However, the steel plate region S ′ is determined by a separate dimension and position measurement experiment, and is uncertain in a distance measuring process using a laser rangefinder under normal actual operation where the separate dimension and position measurement is not performed.

  As shown in FIG. 2A, the beam diameter region of the incident laser beam LS1 interferes with the plate surface end portion (here, the longitudinal direction end portion) of the steel sheet S, that is, a part of the beam diameter region. Is incident on the upper surface of the steel sheet S and the remaining portion is incident on the equipment upper surface ES, in other words, the light spot 15 which is the beam diameter region in the scanned surface is formed by the plate surface end of the steel sheet S and the equipment upper surface ES. In the state where the stepped portion is divided above and below, the measurement abnormality (corresponding to the Z-direction positional deviation between the upper surface portion of the steel plate region S ′ and the equipment upper surface region ES ′ as shown in FIG. 2B) A plurality of points may be surrounded by solid lines). The beam diameter is in the range of 3 to 50 mm.

  As described above, in the distance measuring process using the laser rangefinder under normal operation where the steel plate region S ′ is uncertain, the plate surface end of the steel plate S is stable from a low Z value to a stable state. It is uncertain where it is located in the X-direction zone (shown as “contour width” in FIG. 2B) that transitions to the state.

On the other hand, when no measurement abnormality occurs, the X position (X _C ) that becomes the boundary between the stable X direction range and the contour width with a high Z value is adopted as the plate surface end position of the steel sheet S. There is no shape correction. However, when the measurement abnormality occurs, the contour width tends to expand and overlap with the steel plate region S ′, and since this overlapping range is difficult to predict, the contour of the steel plate S cannot be clearly grasped. As a result, the positioning accuracy is reduced, and proper correction becomes difficult. However, Patent Document 2 does not specifically describe a method for dealing with measurement abnormality in the vicinity of the horizontal end of the steel plate.

  Therefore, the present invention aims to prevent the occurrence of measurement abnormality in the vicinity of the edge of the plate surface of the steel plate measured by the laser rangefinder, and the shape of the steel plate on the conveying device before and after shape correction and during shape correction. A steel plate shape measuring device capable of reliably measuring the shape of a steel plate under a pressure ram, and a steel plate shape correcting device capable of efficiently correcting the shape by utilizing a measurement result by the steel plate shape measuring device.

The present inventor has intensively studied to solve the above problems and has obtained the following knowledge.
(A) The cause of the measurement abnormality illustrated in FIG. 2 is considered as follows. That is, the incident laser beam LS1 interferes with the plate surface end (here, the longitudinal end) of the steel sheet S (the light spot 15 is a step formed by the plate surface end of the steel plate S and the equipment upper surface ES. In the state in which the light is divided up and down), the light intensity of retroreflected light from the upper surface ES of the nearby equipment is so large that it cannot be ignored compared to the light intensity of the diffusely reflected light, or the light of the diffusely reflected light Since the intensity is greater than the intensity and such retroreflected light is detected by the laser rangefinder together with the diffusely reflected light, the distance measurement data is considered to indicate an abnormal value.

Here, retroreflection refers to reflection in which reflected light selectively returns in a direction substantially along the optical path of incident light over a wide incident angle.
(B) Therefore, in order to reduce the light intensity of the retroreflected light from the equipment upper surface ES, an area in the equipment upper surface ES (for example, a floor surface) that induces a measurement abnormality (referred to as a “measurement abnormality induction area”). When the laser beam absorber 8 that effectively absorbs the incident laser beam LS1 is installed on the top, as shown in FIG. 3, it has been found that the measurement abnormality is eliminated. However, the laser light absorber 8 that effectively absorbs the incident laser light LS1 needs to be an object having a 45 ° 0 ° diffuse reflectance of 10% or less. Here, “45 ° 0 ° diffuse reflectance” means the ratio of diffused light to incident light on a surface, the incident angle of the incident light with respect to the normal of the surface is 0 °, and the acceptance angle of the diffused light 45 ° means the measured amount. An object having a 45 ° 0 ° diffuse reflectance of more than 10% has a poor effect of preventing the occurrence of the measurement abnormality.

FIG. 3 is a schematic diagram showing the inventor's knowledge as the basis of the present invention, that is, an example in which the measurement abnormality is eliminated by the installation of the laser light absorber 8. In FIG. 3, the same or corresponding parts as in FIG. In FIG. 3A, a laser light absorber 8 (for example, a black coating material to be described later) is installed on the measurement abnormality inducing area obtained by a distance measuring experiment using a laser distance meter in FIG. FIG. 3 (b) shows that the measurement abnormality that appears in FIG. 2 (b) is eliminated in FIG. 3 (b) due to the installation of the laser light absorber 8, and the contour width is reduced. This indicates that the X position (X _C ) that becomes the boundary between the stable X direction range and the contour width with a high Z value is very close to the end of the steel plate region S ′.

This invention made | formed based on said knowledge is the following invention (1)-(3).
(1) Using a laser rangefinder that turns laser light from one laser light source with a galvano mirror, scans the steel plate with the turned laser light, and measures a distance, it measures a predetermined detection point group on the steel plate In the steel plate shape measuring device for measuring the shape of the steel plate from the obtained distance measurement data,
At least one position below the steel plate in the region from the plate surface end of the steel plate to the laser beam irradiation range that interferes with the plate surface end has a 45 ° 0 ° diffuse reflectance as a laser light absorber. A steel plate shape measuring apparatus comprising an object of 10% or less.
(2) In a steel plate shape correction apparatus having a press machine provided with a pressure ram, and a conveying device that is provided on the entry side and the exit side of the press machine and conveys the steel sheet, the entry side and the exit side of the press machine A steel plate shape correcting device comprising the steel plate shape measuring device according to (1) above.
(3) In the above (2), the installation location of the laser beam absorber of the steel plate shape measuring device is a location in the upper surface of the equipment below the steel plate in the transport device. apparatus.

  According to the present invention, it is possible to prevent measurement abnormality in the vicinity of the plate surface end portion of the steel plate by the laser distance meter, and to ensure the steel plate shape on the conveying device before and after the shape correction and the steel plate shape under the pressure ram during the shape correction. It has an excellent effect that the shape can be measured and the shape can be efficiently corrected using the measurement result.

It is a schematic diagram which shows schematic structure of the steel plate shape measuring apparatus which concerns on embodiment of invention (1). It is a schematic diagram which shows the example of the measurement abnormality which generate | occur | produced when the laser beam absorber is not installed. It is a schematic diagram which shows the example which measurement abnormality eliminated by installation of the laser beam absorber. It is a top view which shows schematic structure of the steel plate shape correction apparatus which concerns on invention (2).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, an embodiment of the invention (1) will be described.
FIG. 1 is a schematic diagram showing a schematic configuration of a steel sheet shape measuring apparatus according to an embodiment of the invention (1), (a) is a plan view of a laser rangefinder, (b) is a plan view of the entire apparatus, and (c) ) Is a front view thereof, and (d) is a side view thereof.

  As shown in FIG. 1A, the laser distance meter 5 </ b> A includes a single laser light source 11 mounted on a turntable 12, and a known galvanometer mirror 13 is disposed at the laser emission port of the laser light source 11. The configuration is such that the galvanometer mirror rotating shaft 13A forms an angle of 45 ° with the reflecting surface of the galvanometer mirror 13, coincides with the optical axis of the laser beam from the laser emission port of the laser light source 11, and the rotating table rotating shaft 12A. The configuration is orthogonal. Therefore, the laser light from the laser light source 11 is reflected by the galvanometer mirror 13 and turned 90 °, and the turned laser light becomes the incident laser light LS1 incident on the surface to be scanned of the steel plate. With the incident point on the mirror 13 as the center of rotation, it rotates around the galvano mirror rotation axis 13A together with the galvano mirror 13 and rotates around the rotation base rotation axis 12A together with the turntable 12. In other words, the incident laser beam LS1 can travel three-dimensionally in all directions by rotation around the galvanometer mirror rotation axis 13A and rotation around the rotary table rotation axis 12A. Therefore, the laser distance meter 5A can be used as means for measuring the distance by three-dimensionally scanning all directions with laser light.

  As shown in FIGS. 1B, 1C, and 1D, the laser distance meter 5A is positioned obliquely above the scanned surface of the steel sheet S as a part of the steel sheet shape measuring device 5, and rotates the galvanometer mirror. The shaft 13A is arranged so as to be orthogonal to the longitudinal direction of the steel plate S, and the rotary table rotating shaft 12A is arranged so as to be orthogonal to the width direction of the steel plate S. Therefore, the incident laser beam LS1 generates a light spot that travels in the longitudinal direction on the steel sheet S due to the rotation of the galvano mirror 13 around the galvano mirror rotation axis 13A, and the light spot is the rotation axis rotation axis 12A of the turntable 12. Moves in the width direction by rotating around.

  The steel plate shape measuring device 5 scans the surface to be scanned of the steel plate S in the longitudinal direction and the width direction with the light spot to measure a predetermined detection point group on the steel plate S, and from the obtained distance measurement data, The shape of the steel sheet S is measured using a computer system (not shown). As a method of measuring the shape of the steel sheet S from the obtained distance measurement data, a known method as described in paragraphs 0013 to 0058 of the above-mentioned Patent Document 2 previously proposed by the applicant of the present application can be used.

The distance measurement data is calculated based on the measured value of the light intensity of diffusely reflected light from the site where the light spot exists.
In the invention (1), at least one place on the equipment upper surface ES such as a floor surface in the region from the plate surface end of the steel plate S to the irradiation range of the incident laser light LS1 that interferes with the plate surface end. In addition, a laser light absorber 8 is provided.

  When the laser beam absorber 8 is not present, the incident laser beam LS1 interferes with the plate surface end of the steel plate S (the light spot 15 is formed by the horizontal end of the steel plate S and the equipment upper surface ES. In the state of being divided above and below the step portion, the influence of retroreflected light is large, and the measurement abnormality illustrated in FIG. 2 may occur. On the other hand, in the invention (1), as shown in FIG. 1, by providing the laser light absorber 8, the light intensity of the retroreflected light is reduced, and as illustrated in FIG. It can be eliminated.

  In order to exhibit the effect of eliminating the measurement abnormality, the laser light absorber 8 is made of an object having a 45 ° 0 ° diffuse reflectance of 10% or less. Since the 45 ° 0 ° diffuse reflectance depends on the wavelength of the laser beam used, in the 45 ° 0 ° diffuse reflectance measurement, a laser beam having the same wavelength as that of the laser beam used for scanning in actual operation is used. Shall be used.

The installation location of the laser light absorber 8 may be determined based on a detection result by detecting a measurement abnormality inducing area (see FIG. 2) by a distance measurement experiment using a laser distance meter.
Thereby, the light intensity of the retroreflected light from the place where the laser light absorber 8 is installed can be sufficiently reduced, and the distance measurement data accuracy of the steel plate S is improved, thereby improving the shape measurement accuracy of the steel plate S. Effect is obtained. If the 45 ° 0 ° diffuse reflectance is more than 10%, this effect is poor. Therefore, the 45 ° 0 ° diffuse reflectance should be 10% or less, preferably 5% or less.

  For example, black polyvinyl chloride (45 ° 0 ° diffuse reflectance = 5%), black rubber (45 ° 0 ° diffuse reflectance = 8%), and black paint coating may be used as the laser light absorber. Materials (45 ° 0 ° diffuse reflectance = 1%) and the like can be mentioned.

Next, an embodiment of the invention (2) will be described.
FIG. 4: is a top view which shows schematic structure of the steel plate shape correction apparatus which concerns on invention (2). This steel plate shape correcting device corrects the shape of the steel plate S offline, and includes a press machine 1 that corrects the shape of the steel plate S. A bed 3 (entrance bed 3) is disposed on the entry side of the press machine 1, and a bed 4 (exit bed 4) is disposed on the exit side of the press machine 1. Each of the beds 3 and 4 includes a plurality of rollers for conveying the steel sheet S, and the conveyance direction of the steel sheet S can be controlled by controlling the rotation state of these rollers. Further, a floor plate (apron) for equipment maintenance corresponding to the equipment upper surface ES is installed between adjacent rollers. That is, these beds 3 and 4 constitute a conveying device for the steel sheet S. In addition, a position detection device 7 that detects the position of the steel sheet S is provided on the sides of the entrance bed 3 and the exit bed 4. The position detection device 7 scans the steel sheet S in the transport direction with laser light, measures the shape along the transport direction of the steel sheet S, and detects the position of the steel sheet S from the shape measurement result. Since the position detection device 7 only scans one point in the plate width direction in the longitudinal direction, it cannot acquire the contour information of the end portion in the longitudinal direction over the entire plate width direction.

  In the case of the press machine 1 of the present embodiment, the steel plate S is pressed from above with the pressurizing ram 2 to mainly apply a bending moment to the steel plate S to correct the shape of the steel plate S. The shape of the steel plate S is measured by the steel plate shape measuring device 5 according to the invention (1). The steel plate shape correction parameters include, for example, a difference gap obtained from the shape of the steel sheet S (a gap between the difference sheet and the steel sheet when a predetermined length difference [reference line segment] is applied to the surface of the steel sheet S). The pressure applied by the pressurizing ram 2, the position and interval of the floor plate called shim, and the position of the steel plate S are mentioned. In the steel plate shape correction by the press machine 1 of the present embodiment, two shims are laid under the steel plate S, and the steel plate S in the portion between the shims is pressurized with the pressure ram 2. A bending moment due to the pressure ram 2 is generated in the steel sheet S in the portion between the shims. The above-described various parameters are adjusted in consideration of the deformation amount of the steel sheet S due to this bending moment and the return amount upon release of pressure, the so-called springback amount.

  A steel plate shape measuring device 5 according to the invention (1) is provided obliquely above each side of the entrance bed 3 and the exit bed 4. The orientation of the galvanometer mirror rotating shaft 13A (not shown in FIG. 4) and the rotating table rotating shaft 12A (not shown in FIG. 4) of the laser distance meter 5A with respect to the longitudinal direction and the width direction of the steel sheet S is the same as in FIG. It was.

  In the embodiment shown in FIG. 4, the installation location of the laser light absorber 8 is detected in the experiment as described above as a location on the equipment upper surface ES below the steel plate S in the transport device according to the invention (3). The location on the top surface of the apron in the measurement abnormality induction area was adopted. In this embodiment, since the measurement abnormality induction area is detected in the entrance bed 3, the laser light absorber 8 is installed at the detection location. However, the measurement abnormality induction area is not limited to this. Needless to say, it is preferable to install the laser light absorber 8 at the detected location wherever the location is on the equipment upper surface ES.

  A control device 6 having a built-in computer system that performs arithmetic processing for correcting the shape of the steel sheet S by the press 1 is provided on the side of the exit bed 4. For details of this arithmetic processing, a known method as described in paragraphs 0059 to 0065 of Patent Document 2 can be used.

  In the examples, the present invention is an example of the embodiment shown in FIG. The nominal dimensions of the steel sheet S used here are: plate thickness = 50 mm, plate width = 2500 mm, plate length = 8000 mm. The laser beam emitted from the laser distance meter 5A for scanning the steel sheet S was a near-infrared laser beam having a wavelength of 1550 nm, the exit beam diameter of the near-infrared laser beam was 3 mm, and the divergence angle was 3 mrad. At a position 10 m away, the beam diameter is 33 mm. As the laser light absorber 8 in FIG. 4, black polyvinyl chloride having a 45 ° 0 ° diffuse reflectance of 5% was used.

On the other hand, the conventional example is an example of an embodiment similar to the example of the present invention except that the laser light absorber 8 is removed from the example of the present invention.
When shape measurement and shape correction were performed in each of the conventional example and the present invention example, in the conventional example, a measurement abnormality occurred at the front end portion of the steel sheet S (the end portion on the side close to the press 1) as in FIG. However, the contour width is as large as 200 mm at the maximum in the distribution in the plate width direction, which causes a problem in the shape correction of the tip portion.
On the other hand, in the example of the present invention, measurement abnormality does not occur as in FIG. 3, the contour width is as small as 100 mm in the distribution in the plate width direction, and appropriate shape correction can be applied to the steel sheet S without difficulty. did it.

1 Press machine 2 Pressurized ram 3 Bed (entrance bed)
4 beds (outside bed)
DESCRIPTION OF SYMBOLS 5 Steel plate shape measuring apparatus 5A Laser distance meter 6 Control apparatus 7 Position detection apparatus 8 Laser light absorber 11 Laser light source 12 Rotary table 12A Rotary table rotating shaft 13 Galvano mirror 13A Galvano mirror rotating shaft 15 Light spot 20, 21 Scan direction ES Equipment Upper surface ES 'Equipment upper surface area LS1 Incident laser beam S Steel sheet S' Steel sheet area

Claims (3)

Using a laser rangefinder that turns laser light from one laser light source with a galvanometer mirror, scans the steel plate with the turned laser light, and measures the distance, the predetermined detection point group on the steel plate is measured and obtained. In the steel plate shape measuring apparatus for measuring the shape of the steel plate from the measured distance data,
At least one position below the steel plate in the region from the plate surface end of the steel plate to the laser beam irradiation range that interferes with the plate surface end has a 45 ° 0 ° diffuse reflectance as a laser light absorber. A steel plate shape measuring apparatus comprising an object of 10% or less.   In a steel plate shape correction apparatus having a press machine provided with a pressure ram, and a conveying device that is provided on the entry side and the exit side of the press machine and conveys the steel sheet, the invention is claimed on the entry side and the exit side of the press machine. A steel plate shape correcting device comprising the steel plate shape measuring device according to claim 1.   3. The steel plate shape correction device according to claim 2, wherein the laser beam absorber is installed in the steel plate shape measuring apparatus at a location in the upper surface of the equipment below the steel plate in the transfer device.

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