JPH08108353A - Surface grinding device for wide-flange shape steel - Google Patents

Abstract

PURPOSE: To efficiently grind a necessary surface of wide-flange shape steel by arranging upper and lower internal surface grinding heads capable of oscillating and fixing a grinding wheel spindle and left and right two outside perpendicular surface grinding heads. CONSTITUTION: Internal surface grinding heads 4a and 4b respectively supported with upper and lower horizontal parts 21 and 22 of a hollow square frame 2 so as to be freely laterally movable and vertically movable, grind a horizontal surface of wide-flange shape steel in a condition of turning its grinding wheel spindle perpendicularly upward or perpendicularly downward and an inside surface of a perpendicular surface of the wide-flange shape steel in a condition of turning it in the laterally 90 deg. direction. Outside perpendicular surface grinding heads 5a and 5b supported with this hollow square frame 2 so as to be freely laterally movable and vertically movable, grind an outside surface of a perpendicular surface of the wide-flange shape steel. Therefore, the whole surface up to the rear end containing a central part from the tip of the wide-flange shape steel carried to the inside of the hollow square frame 2 can be ground by these grinding heads 4a to 5b of four pieces in total.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for grinding each surface of a web and flange of H-section steel, and is suitable for removing burrs and the like formed on both front and back surfaces of each section of H-section steel by perforation. The present invention relates to a surface grinding device.

[0002]

2. Description of the Related Art Generally, H is used for steel frames of buildings.
The shaped steel is cut to the required dimensions and perforated in a predetermined pattern at both ends or at appropriate positions in the middle,
This is assembled at a construction site by abutting a seam plate having the same pattern of perforations, aligning the positions of the holes, and tightening them with high-strength bolts.

Generally, burrs or burrs are generated on the drilled portion due to the drilling process. Therefore, it is necessary to remove the burrs and burrs. In addition, in order to keep the coefficient of friction with the joint plate constant, the peripheral surface of the drilled portion. Need to be ground.

Conventionally, such a grinding operation has been performed manually by an operator using a handy tool called a disk sander as shown in FIG. However, this work not only requires a considerable amount of work in a severe working environment where dust and noise are severe, but also when the H-section steel is in a normal stationary state with its web portion horizontal, the upper surface of the web portion and the flange portion are Only the outer side surface and the upper inner side surface of the can be machined. In order to process the lower surface of the web part and the lower inner surface of the flange part, it is necessary to turn the H-section steel upside down, resulting in poor work efficiency and risk of work. There was a problem that it was too expensive.

Therefore, in order to automate such work, the present applicant provides a vertical column slidable along a horizontal guide, and two upper and lower supports vertically slidable along the vertical column. And a drive mechanism for vertically symmetric and parallel movement of each of the supports is provided, and each of the supports is vertically opposed to each other via an arm-shaped member having an expansion and contraction mechanism. By providing a grinding head for each of the grinding heads and further providing a swinging mechanism for each grinding head, required portions of the upper half and lower half surfaces of the H-section steel fixed on the roller conveyor are entirely covered by the respective grinding stone heads. A surface-grinding device for a shaped steel, which is designed to be ground, has been proposed (Japanese Patent Laid-Open No. 58-114854).

[0006]

By the way, in the device proposed above, in addition to taking up space, it is necessary to mount the grindstone heads on both ends of the arm-shaped members respectively mounted on the supports supported by the vertical columns. Although the front end and the rear end of H-section steel can be processed by this, only two upper and lower grindstones are involved in the grinding process at the same time, which is not only inefficient, but also the middle part of H-section steel. There is a problem that it cannot be ground.

The present invention has been made in view of the above points, and an object thereof is to efficiently perform the required surface of the H-section steel under a compact mechanism as compared with the conventional proposed device. An object of the present invention is to provide an H-section steel surface grinding device that can perform grinding, and can also perform grinding at the intermediate portion of the H-section steel in the same manner as at both end portions thereof.

[0008]

A structure for achieving the above-mentioned object will be described with reference to FIGS. 1 to 3 which are drawings of an embodiment. The V-shaped frame 2 and the material feeding means 3 for conveying the H-shaped steel M to be ground in the longitudinal direction so as to penetrate the inside of the R-shaped frame 2.
1, 32 and the upper and lower horizontal portions 21 of the square frame 2,
A swinging / fixing mechanism for the whetstone shaft, which is supported so that it can be moved left and right, and up and down respectively along 22, and can turn the whetstone shaft in either the vertical direction or in each of the 90 ° left and right directions sandwiching the whetstone shaft. A pair of upper and lower inner surface grinding heads 4 provided
a and 4b and the inner surface grinding heads 4a and 4b, and both sides of the grinding heads 4a and 4b are freely movable on the square frame 2 and
It is characterized by including a pair of left and right outer vertical surface grinding heads 5a and 5b movably supported vertically and a grinding head drive mechanism for displacing each of the grinding heads 4a to 5b in the left and right direction and the up and down direction respectively. .

Here, in order to grind the required portions of the H-section steel fully automatically, the image pickup devices 71 and 72 for picking up the horizontal plane and the vertical plane of the H-section steel on the square frame 2 respectively.
6, and an image recognition means 70 for searching the positions of the holes drilled in the H-shaped steel based on the outputs of the image pickup devices 71 and 72, and the image recognition means. It is desirable to provide a control means 7 for controlling the grinding head drive mechanism and the material feeding means 31, 32 for guiding each of the grinding heads 4a-5b to the hole position based on the result of the hole position search by 70.

Alternatively, instead of the image pickup device and the image recognition device as described above, as another mechanism for searching the position of the hole formed in the H-shaped steel, as shown in FIGS. In the frame 2, a vertical surface hole position detecting photoelectric sensor group 701 composed of a plurality of photoelectric sensors vertically arranged along either one of the left and right vertical surfaces of the H-section steel, and either of the front and back sides of the horizontal surface of the H-section steel. A horizontal plane hole position detection photoelectric sensor group 70 including a plurality of photoelectric sensors arranged side by side along the horizontal direction
2 may be provided, and the control means may be configured to control the grinding head drive mechanism and the material feeding means based on the output of each photoelectric sensor group.

Further, the square frame 2 and the material feeding means 3
A rectangular frame driving mechanism for moving the feeding heads 1 and 32 in parallel with the feeding direction is provided, and each grinding head 4 by the control means 7 is provided.
The positioning of a to 5b in the longitudinal direction of the H-shaped steel is preferably configured by selectively driving both the square frame driving mechanism and the material feeding means 31, 32.

Further, the upper and lower inner surface grinding heads 4a, 4b.
The left and right movements can be integrally performed by driving one common actuator 43a, as illustrated in FIG.

[0013]

In the surface grinder for H-section steel of the present invention, the H-section steel is inserted in the inside of the square frame 2 and conveyed by the material feeding means 31, 32 in the longitudinal direction. The inner surface grinding head 4 supported on the upper and lower horizontal portions 21 and 22 of the square frame 2 so as to be movable left and right and vertically.
Each of a and 4b can swing the grindstone axis 90 ° to the left and right with the grindstone axis sandwiched in the vertical direction, and when the grindstone axis is directed vertically upward or vertically downward, the horizontal plane of the H-shaped steel (the front and back surfaces of the web portion). ), The surface on the inner side of the vertical surface of the H-section steel (inner side surface of the flange portion) can be ground in a state of being directed in the direction of 90 ° to the left and right. On the other hand, the outer vertical surface grinding heads 5a and 5b, which are also supported by the square frame 2 so as to be movable left and right and up and down, are responsible for grinding the outer surface (outer surface of the flange portion) of the vertical surface of the H-shaped steel. Therefore, with these four grinding heads 4a to 5b in total, it is possible to grind all the surfaces of the H-shaped steel conveyed inside the square frame 2 from the front end to the rear end including the central portion. .

Further, in the surface grinding of H-section steel, most of the work is to grind the peripheral surface of each hole penetrating each part,
Further, since the joint holes of the flange portion of the H-section steel are arranged symmetrically on the left and right as well as the top and bottom with the web portion sandwiched between them, naturally, the grinding process of the inner surface and the outer surface of the flange portion is H
It is sufficient to grind the same position in the longitudinal direction of the shaped steel,
Therefore, the grinding of the inner surface of the flange portion by the inner surface grinding heads 4a, 4b and the grinding of the outer surface of the flange portion by the outer vertical surface grinding heads 5a, 5b can be performed at the same time, and a maximum of four grindstones can be used. Highly efficient surface grinding used at the same time becomes possible.

Here, in the H-section steel, generally, the holes are not uniformly drilled in the longitudinal direction, but locally, for example, at both longitudinal end portions and the central portion, a predetermined pattern, for example, left / right / upper / lower contrast. In most cases, holes having the same pitch and the same diameter are drilled. Therefore, image recognition is performed by using the outputs of the image pickup devices 71 and 72 provided on the square frame 2 to search the punching positions of the flange portion and the web portion of the H-shaped steel, and the respective grinding heads are punched according to the result. When guided to the position, only the periphery of the drilling position of the H-section steel can be automatically surface-ground.

Further, if a plurality of photoelectric sensor groups 701 are provided on the vertical frame of the H-shaped steel in the vertical direction of the H-shaped frame 2 and a plurality of photoelectric sensor groups 702 are provided on the left and right along the horizontal plane. , With the relative displacement between the square frame 2 and the H-shaped steel, the output of the sensor corresponding to the hole position among the photoelectric sensors changes, and the drilling position on the vertical plane and the horizontal plane is known. It is also possible to guide each grinding head to the hole position according to the output of the photoelectric sensor.

Then, in consideration of the above-described method of perforating the H-shaped steel, the square frame 2 to which each grinding head is mounted.
Is provided with a square-shaped frame moving mechanism for moving the H-shaped steel in parallel with the conveying direction of the H-shaped steel by the material feeding means 31 and 32, and the respective grinding heads and the required grinding points are aligned in the longitudinal direction of the H-shaped steel by the control means. When moving between the perforation patterns, the H-shaped steel is fed by the material feeding means 31 and 32. On the other hand, when the relative movement distance is short such as movement within the perforation pattern, the square frame 2 is used. If these are properly used, such as by moving the steel, it is rational when machining a long H-section steel.

The upper and lower inner surface grinding heads 4a and 4b are also provided.
The left and right movements of the H-section steel can be moved in the same direction in vertical synchronization in synchronization with the grinding of the front and back of the web portion of H-section steel and the inner side surfaces of the left and right flange portions. The device can be simplified by using the unit 43a to integrally perform the operation.

[0019]

1 to 3 are views showing a mechanism portion of an embodiment of the present invention, FIG. 1 is a front view, and FIGS. 2 and 3 are a plan view and a right side view thereof, respectively. Note that FIG. 1 shows A in FIG.
-It is shown by the arrow A.

The base 1 is provided with rails 11 and 12 extending to the front and rear on the left and right sides thereof, and the square frame 2 is supported along the rails 11 and 12 so as to be movable back and forth with respect to the base 1. ing.

The square frame 2 has upper and lower horizontal beam portions 21.
And 22 are left and right ends connected by vertical pillar portions 23 and 24, respectively, and brackets 23a and 24a extending forward and backward are fixed to the left and right vertical pillar portions 23 and 24, respectively. Wheels 25 are provided in the vicinity of the front and rear ends of the brackets 23a and 24a, respectively, and the square frame 2 is provided with the left and right rails 1 of the base 1 via the four wheels 25 in total.
It is supported by 1 and 12. The square frame 2 is moved back and forth along the rails 11 and 12 of the base 1 by driving the hydraulic cylinder 26. The hydraulic cylinder 26 is a cylinder with a built-in encoder, and can output a pulse signal according to the amount of advance and retreat of the piston.

The arrangement height of each wheel 25 is higher than that of the horizontal beam portion 22 on the lower side of the square frame 2, and the rail 1 of the base 1 is provided.
The reference numerals 1 and 12 penetrate the inside of the square frame 2. On the upper surfaces of the left and right rails 11 and 12, front and rear motor-conveying electric rollers 31 and 32 with a built-in motor for placing the H-shaped steel M and feeding the longitudinal M are arranged. By rotating and driving the electric rollers 31 and 32, the H-shaped steel M, which is a workpiece, can be conveyed in the longitudinal direction so as to penetrate the inside of the square frame 2. In addition, H on each of the electric rollers 31 and 32
The section steel M is carried in through the carrying-in electric roller base 101 placed at the rear of the base 1, and the electric rollers 31,
The H-section steel M sent forward by 32 is carried out of the machine via the carry-out electric roller base 102 placed in front of the base 1. In addition, the left and right brackets 2 of the square frame 2
Free rollers 27 and 28 are supported near the front and rear ends of the upper surfaces of 3a and 24a. The free rollers 27 and 28 are for preventing short material from falling, and the height thereof is slightly lower than that of the drive rollers 31 and 32, and the H-section steel M is placed on the drive rollers 31 and 32. Even if the square frame 2 is moved back and forth in this state, consideration is given so that the H-shaped steel M is not moved by the contact with the free rollers 27 and 28. Further, each electric roller 31, 32 and each free roller 27, 28 is provided with a flange F for restricting the position of the H-section steel along the right side surface of the H-section steel right flange.

On the upper horizontal beam portion 21 of the square frame 2, an upper inner surface grinding head 4a and left and right outer vertical surface grinding heads 5a, 5b are supported so as to be movable left and right and up and down. A lower inner surface grinding head 4b is also supported on the side horizontal beam portion 22 so as to be movable left and right as well as vertically.

That is, the upper horizontal rail unit 21
A has a slider 42a, and two sliders 52a and 52b on both sides of the slider 42a sandwiching the slider 42a, and a total of three sliders, and one slider 42b is slidably supported on the lower horizontal rail unit 22a. Rail units 44a, 54a, 54b and 44b are provided on the respective sliders along the vertical direction. The upper and lower inner surface grinding heads 4a, 4b and the left and right outer vertical surface grinding heads 5a, 5b respectively include vertical rail units 44a, 44b and 54a, 5b via support arms 41a, 41b and 51a, 51b.
4b are slidably supported respectively.

Then, each slider 42a, 42b, 52
a and 52b are hydraulic cylinders 43a, 43b and 53 arranged on the upper and lower horizontal beam portions 21 and 22, respectively.
a or 53b is moved along the horizontal rail unit 21a or 22a, respectively, and each support arm 41a, 41b, 51a, 51b for supporting each grinding head 4a, 4b, 5a, 5b is attached to each slider 42.
The vertical rail units 44a, 44b, 54a, 54 are driven by driving hydraulic cylinders 45a, 45b, 55a, 55b arranged at a, 42b, 52a, 52b, respectively.
Move along b.

Of the above hydraulic cylinders, the hydraulic cylinders 4 for left and right movement of the upper and lower inner surface grinding heads 4a, 4b
The hydraulic cylinder 55a for vertical movement of the grinding heads 5a for outer vertical surfaces 3a and 43b and the right side is a cylinder with a built-in encoder that outputs a pulse signal according to the amount of forward and backward movement of the piston. Further, the hydraulic cylinder 43b for left and right movement of the lower inner surface grinding head 4b communicates with the hydraulic cylinder 43a through its hydraulic fluid flow passage by an equal flow dividing valve (not shown), and operates in synchronization with the hydraulic cylinder 43a. To do. Further, the hydraulic oil flow path of the hydraulic cylinder 55b for vertical movement of the left outer vertical grinding head 5b is also communicated with the hydraulic cylinder 55a by the equal flow dividing valve so that it operates in synchronization with the hydraulic cylinder 55a. Has become.

The support arm 41a of the upper inner surface grinding head 4a is provided with an image pickup device 71 facing downward, and the support arm 51a of the right outer vertical surface grinding head 5a faces leftward. An image pickup device 72 is provided. Each of the image pickup devices 71 and 72 is a TV camera using a CCD, and its video signal is incorporated in an image recognition device 70 described later.

Now, as shown below, the upper and lower inner surface grinding heads 4a and 4b are in a state in which the grindstone shaft on which the grindstone W is mounted is oriented in the vertical direction, and the heads are horizontally swung by 90 ° to the left and right sides. It is provided with a swinging mechanism and a fixing mechanism for making one of the three states in which the direction is directed.

FIG. 4 is a longitudinal sectional view showing the upper inner surface grinding head 4a as an example. The grindstone shaft case 402 for rotatably supporting the grindstone shaft 401 for mounting the disc-shaped grindstone W includes a central shaft 40 orthogonal to the grindstone shaft 401.
3 has a fixed front end, and the rear end of the central shaft 403 is coupled to the output shaft of the hydraulic swing motor 404 by the coupling 40.
It is connected by 8c. Hydraulic swing motor 404
Is a known hydraulic oscillating motor capable of rotating the output shaft in a forward / reverse arbitrary direction in a range of 180 ° by supplying hydraulic oil, and is located at both end positions and a central position of the rotation range, that is, the output shaft. A limit switch is built in that outputs a contact signal when the rotation angle reaches the positions of 0 °, 90 °, and 180 °.

The central shaft 403 is horizontally accommodated in a main case 400 whose front end is fixed to the support arm 41a, and the hydraulic swing motor 404 is included in the main case 400.
It is fixed to the rear end of the. Wheel axis case 40 described above
2 is a main case 400 centered on the central axis 403.
It is rotatably supported with respect to the main case 400 by a spigot at the front end portion of the. Therefore, by driving the hydraulic rocking motor 404 to rotate the central shaft 403, the grindstone shaft case 402 pivots about the central shaft 403, and the angle of the grindstone shaft 401 with respect to the support arm 41a changes. .

Further, at the rear end of the main case 400,
A spring-return type single-acting hydraulic cylinder 408a is provided, and a piston of the hydraulic cylinder 408a penetrates the main case 400 to reach the inside thereof.
It is integrated with. Central shaft 403 and hydraulic swing motor 4
On the outer periphery of the coupling 408c connecting the output shafts of No. 04, three recesses into which the tip of the rod 408b can project are formed at a pitch of 90 °. The rotation angle of the output shaft of the hydraulic swing motor 404 is 0 in each of the recesses.
When it is at 90 °, 90 ° and 180 °, it is formed in such a positional relationship as to face vertically upward,
When the rotation angle is 90 °, the grindstone shaft 401 faces vertically downward, and when the rotation angle is 0 ° and 180 °, the grindstone shaft 401 faces horizontally right or left.
3 is fixed to the grindstone shaft case 402. The hydraulic cylinder 408 is then placed with each of the recesses facing vertically upward.
By removing the hydraulic pressure in the lower part of the piston of a, the rod 408b enters into the concave part by the force of the spring C in the upper part of the piston, whereby the grindstone shaft 401 faces vertically downward, horizontally rightward, and horizontally. It is accurately positioned in either of the left-facing state.

The above-mentioned structure is applied to the lower inner surface grinding head 4b.
The same applies to the lower inner surface grinding head 4
Position b is positioned in any one of three states: a state in which the grindstone shaft 401 faces vertically upward and a state in which the grindstone shaft 401 faces horizontally rightward and horizontally leftward.

The rotation of the grindstone shaft 401 in the grindstone shaft case 402 is provided by the intermediate shaft 405 and its rotation drive mechanism 406, and a gear mechanism for transmitting the rotation of the intermediate shaft 405 to the grindstone shaft 401. The intermediate shaft 405 is a hollow shaft,
It is provided concentrically with the central axis 403, and the main case 4
It is rotatably supported in 00 through two bearings B. The rotary drive mechanism 406 that gives rotation to the intermediate shaft 405 is connected to a motor 406a and an output shaft of the motor 406a via a coupling, and a vertical drive shaft 406b provided orthogonal to the intermediate shaft 405. , And two bevel gears 406c that are provided at the lower end of the drive shaft 406b and the rear end of the intermediate shaft 405 and mesh with each other.
406d. The rotation of the intermediate shaft 405 is performed by the front end of the intermediate shaft 405 and the grindstone shaft 40.
Two bevel gears 40 that are provided at the upper end of 1 and mesh with each other
It is transmitted to the grindstone shaft 401 by 7a and 407b.
With the above configuration, the grindstone shaft 401 can be rotated by the driving of the motor 406a regardless of the direction of the grindstone shaft 401.

The rotation of the motor 406a is controlled by the intermediate shaft 40.
The mechanism for transmitting to 5 is not limited to the above example, but for example, the output shaft of the motor 406a may be provided in parallel with the intermediate shaft 405, and the rotation thereof may be transmitted to the intermediate shaft 405 by a belt.

Left and right outer vertical grinding heads 5a, 5b
The grindstone shafts are driven to rotate by motors 56a and 56b provided on the tops of the support arms 51a and 51b, respectively. In the support arms 51a and 51b, motors 56a and 56b whose output shafts are oriented in the vertical direction are provided. The bevel gear mechanism is provided so as to transmit the rotation of the to the horizontal grindstone shaft.

In the above-mentioned mechanism for driving each of the grinding heads 4a-5b up and down and left and right, the member moved by the drive of each hydraulic cylinder is such that the grindstone W approaches each plane of the H-section steel M. Is engaged with a piston of each hydraulic cylinder via a spring, and is provided with a limit switch that generates a contact signal when the spring is bent by a certain amount or more. Thus, it is possible to detect that each grindstone W has come into contact with each surface of the H-shaped steel M with a predetermined force.

That is, in FIG. 5A, a hydraulic cylinder 45a for vertically moving the upper inner surface grinding head 4a.
As a typical example, a flat plate 411a protruding horizontally is fixed to the support arm 41a, and a through hole 411b is formed in the flat plate 411a. The small diameter portion at the tip of the piston rod 451a of the hydraulic cylinder 45a is inserted into the through hole 411b, and a flat plate 451b parallel to the flat plate 411a is fixed to the tip. A spring (compression coil spring) S is interposed between the two flat plates 411a and 451b, and a limit switch LS is fixed to the flat plate 411a such that the actuator faces the flat plate 451b.

In the above structure, the hydraulic cylinder 45a
When the piston rod 451a of the
1a pushes up the flat plate 411a, so that the support arm 41a rises. On the other hand, when the piston rod 451a of the hydraulic cylinder 45a is lowered, the flat plate 451b pushes down the flat plate 411a via the spring S, and the support arm 41a moves down. At the time of this descending, the grindstone W becomes H
The spring S hardly bends in a state where it does not yet come into contact with the upper surface of the web portion of the shaped steel M, and the actuator of the limit switch LS does not come into contact with the flat plate 451b, but the grindstone W comes into contact with the upper surface of the web portion of the H shaped steel M. Then, the spring S bends, and when the contact pressure between the two reaches a certain pressure, the flat plate 451b presses the operator of the limit switch LS to generate a contact signal.

The above is the vertical movement mechanism of the lower inner grinding head 4b, and the left and right outer vertical grinding heads 5a, 5
The same applies to the horizontal movement mechanism of b, but the horizontal movement mechanism of the upper and lower inner surface grinding heads 4a and 4b has the flange portions of the H-shaped steel on the left and right sides, as shown in FIG. 5 (B). , Spring S and limit switch L as above
A mechanism using S is provided in either the left or right direction.

FIG. 6 is a block diagram showing the configuration of the electrical control system of the embodiment of the present invention. The video signals from the above-mentioned image pickup devices 71 and 72 are taken into the image recognition device 70, where they are individually provided for image recognition. The image recognition device 70 searches the holes formed in the H-shaped steel M from the video signals from the image pickup devices 71 and 72, and as a result,
That is, the coordinate information of the holes on the images photographed by the image pickup devices 71 and 72 is output to the control unit 7.

A memory 73 and an operation panel 74 for giving a start command and the like are connected to the control unit 7, a hydraulic cylinder 26 for moving the above-mentioned square frame 2 back and forth, an inner surface for the upper side. Each encoder built in the hydraulic cylinder 43a for left and right movement of the grinding head 4a and the hydraulic cylinder 55a for vertical movement of the right outer vertical grinding head 5a, and the grindstone W of each grinding head are H-shaped steel M.
With respect to each of the limit switches LS described above for detecting contact with a constant pressure, and output from each limit switch built in the hydraulic oscillating motor 404 of the upper and lower inner surface grinding heads 4a and 4b. Signal is supplied.

Further, from the control section 7, the electric rollers 31 and 32 for feeding material, the hydraulic cylinder 26 for forward and backward movement of the square frame 2, the hydraulic cylinders for vertical and horizontal movement of each grinding head, and the upper and lower inner surface grinding heads. Hydraulic swing motor 404
Control signals are output to the hydraulic cylinder 408a for swinging and fixing, and the grindstone driving motor of each grinding head.

Based on the hole position information on the image from the image recognition device 70 and the position information of the square frame 2 at the time of collecting the information, the control unit 7 punches the flange portion and the web portion of the H-shaped steel M. The position information of the sloping hole is obtained and the information is stored in the memory 73.

The control unit 7 and the image recognition device 70
Is actually composed mainly of a computer and its peripheral devices. 7 to 10 are flow charts showing the procedure of the control operation of each section by the control section 7. The operation of the embodiment of the present invention will be described below with reference to the figures.
As the material used, H-section steel having the most common hole pattern shown in FIGS. 2 and 3 is used.

First, by operating the operation panel 74 to give a command to start the apparatus, all the grinding heads 4a-5b and the square frame 2 are moved to respective preset origin positions (ST1, ST2). The origin position of the square frame 2 is a position near the retracted ends (left end in FIG. 3) on the rails 11 and 12, and the origin positions of the outer vertical surface grinding heads 5a and 5b are the lowest limit and the outside of the H-shaped steel. The position is slightly separated from the vertical plane. The origin positions of the inner surface grinding heads 4a and 4b are located at the uppermost and lowermost positions, respectively, toward the center right of the square frame 2, and are located at the uppermost and lowermost positions, respectively.
01 is kept vertical.

In this state, the electric roller base 101 is manually operated to carry in the H-shaped steel M which is the workpiece from the front of the apparatus (ST3), and then the operation panel 74 is operated to issue an automatic operation command to the apparatus. When it is given (ST4), the apparatus thereafter starts automatic operation, and first, the H-shaped steel M is sent toward the rear of the apparatus by the electric material feeding rollers 31 and 32 (ST.
5). As shown in FIGS. 2 and 3, the H-section steel M has holes formed in the left and right flanges and the web, respectively, but the holes in the flange are symmetrical, and The position of the group of holes in the longitudinal direction of the H-section steel M is
Usually, it is within the range of the holes formed in the flange portion.

By continuing to feed the H-shaped steel M, the head of the hole group of the flange portion will be imaged by the image pickup device 72, but when the image recognition device 70 detects the head hole. Then, the electric roller 31,
The feeding by 32 is stopped (ST6, ST7). At the same time, the position information of the leading hole by the image recognition device 70,
From the position information of the square frame 2 (origin position in this case), the hole position at the head of the flange portion for the device is calculated, and the result is stored in the memory 73 (ST8).

Next, while advancing the square frame 2,
The image recognition device 7 receives the video signals from the respective image pickup devices 71 and 72.
The holes in the flange portion and the web portion are searched for every 0 (ST9). Normally, the hole position of the web portion is within the range of the hole group of the flange portion as described above, and therefore each hole of the web portion is imaged by the image pickup device 71 until the final hole of the flange portion is detected. The position information of each hole of the web portion with respect to the device is stored in the memory 73 based on the position information of the hole of the image on the image by the image recognition device 70 and the position information of the square frame 2 at that time (ST1.
0).

By continuing the forward movement of the square frame 2,
Eventually, the final hole of the flange portion is imaged by the image pickup device 72. At that time, the forward movement of the square frame 2 is stopped, and at the same time, the positional information of the final hole is obtained from the image recognition result and the positional information of the square frame 2 as described above. Similarly, the memory 73
(ST11, ST12, ST13). Here, a method for determining whether or not a certain hole is the final hole is, for example, because the hole group of the flange portion is generally continuously drilled at a predetermined pitch, so that a certain hole is continuously drilled at a predetermined pitch. When the next hole does not exist at the position, the hole may be determined as the final hole.

After detecting the final hole in the flange portion, the whetstone shafts of the inner surface grinding heads 4a and 4b are swung to fix the wobbles with the whetstones W facing to the right, and to the memory 73. According to the stored hole position information, the height of the grindstone W of each grinding head and the hole is adjusted. In this example, first, the grindstones W of the lower inner surface grinding head 4b and the left and right outer vertical surface grinding heads 5a, 5b are placed in the lower holes of the flange portions, and the grindstone W of the upper inner surface grinding head 4a. To the hole on the upper side of the flange (ST14, ST1
5). Next, the square frame 2 is further advanced and each grindstone W
The position in the front-back direction of is matched with the final hole position of the flange portion (ST16). Next, the upper and lower inner surface grinding heads 4
a, 4b and the left outer vertical surface grinding head 5b are moved to the right, and the right outer vertical surface grinding head 5a is moved to the left (ST17 to ST20).

By the right or left movement of each grinding head, as shown in FIG. 11 (A), the grindstones W of the upper and lower inner surface grinding heads 4a and 4b are respectively attached to the inner surface of the right flange portion and the right surface. Similarly, the outer vertical surface grinding head 5a contacts the lower outer surface of the right flange portion, and the left outer vertical surface grinding head 5b contacts the lower outer surface of the left flange portion. A contact signal is generated from each limit switch LS when pressed against each surface of the H-shaped steel M under pressure, so that the right or left movement of the corresponding grinding head is stopped according to the contact signal (S
T21 to ST28). At the same time, while rotating each whetstone W to perform grinding, the square frame 2 is retracted, and the memory 73
When each whetstone W reaches the leading hole position of the flange portion stored inside, the retreat is stopped (ST29), and each whetstone W is stopped.
At the same time when the rotation of No. 2 is stopped, each grinding head is moved leftward or rightward to separate the grindstone W from the H-shaped steel M (ST30).
By the above operation, the grinding of the upper and lower inner surfaces and the lower outer surface of the right-side flange portion of the H-section steel M and the necessary portions of the lower outer surface of the left-side flange portion has been completed.

Next, the upper and lower inner surface grinding heads 4a, 4b.
Of the grinding head 4 for each of the inner surfaces, while the whetstone shaft is swung to fix the wobbling of the whetstones W to the left.
a and 4b start moving left, and at the same time, the memory 73
The left and right outer vertical grinding surface grinding heads 5a, 5
b is moved so that each whetstone W coincides with the height of the hole in the upper part of the flange portion, and then moved left or right (S
(T31, ST32, ST33 to ST36), each grindstone W is pressed against the H-shaped steel M so that each limit switch L
When the contact signal from S is generated, the left movement or the right movement is stopped (ST37 to ST44). This state is shown in FIG.
It shows in (B). Then, in that state, the whetstones W are rotated again to carry out grinding, and the square frame 2 is moved forward. When the whetstones W reach the final hole position of the flange portion stored in the memory 73, the forward movement is stopped. (ST45) At the same time as stopping the rotation of each grindstone W, each grind head is moved to the right or left to separate the grindstone W from the H-shaped steel M (ST4).
6). This operation completes the grinding of the upper and lower inner surfaces and the upper outer surface of the left flange portion of the H-section steel M, and the necessary portions of the upper outer surface of the right flange portion. This grinding locus is shown in FIG.

Next, the upper and lower inner surface grinding heads 4a, 4b.
Of the grinding wheels 4a, 4 for the inner surface thereof according to the contents of the memory 73.
The b-shaped frame 2 is moved backward until each of the grindstones W of b reaches the position of the final hole row in the web hole group, and at the same time, the left side surface of the grindstone shaft case 402 contacts the inner surface of the left side flange of the H-shaped steel M. The grinding heads 4a, 4b are moved to the left until the contact signals from the limit switches LS provided on the vertical hydraulic cylinders 43a, 43b for horizontal movement are stopped (ST48, ST49 to ST51). Next, these inner surface grinding heads 4a and 4b are lowered or raised, and when the respective grindstones W are pressed by the H-shaped steel M, the lowering or raising is stopped when the contact signals from the respective limit switches LS are generated ( ST52 to ST57). This state is shown in FIG.

In this state, the grinding wheels W of the inner surface grinding heads 4a and 4b are rotated to start grinding, and the grinding wheel shaft case 40
The inner surface grinding heads 4a, 4b are moved to the right until the right side surface of 2 comes into contact with the inner surface of the right side flange of the H-shaped steel M, and contacts from the limit switches LS provided on the upper and lower left and right moving hydraulic cylinders 43a, 43b. When the signal arrives, the right movement is stopped (ST58 to ST61). At the same time, the square frame 2 is retracted, and when the grindstone W reaches the position of the leading hole row of the web portion stored in the memory 73, the retreat is stopped (ST62), and the inner grinding heads 4a, 4b are moved to the left. Let Similarly, left movement is stopped by a limit switch signal that the left side surface of the grindstone shaft case 402 has come into contact with the inner surface of the left side flange (ST63 to ST65), and rotation of each grindstone W is stopped and at the same time each grinding head 4a, 4b is moved. Raise or lower to separate the grindstone W from the H-section steel M (ST6
6). By the above operation, as shown in the grinding locus in FIG. 12 (B), necessary portions on both upper and lower surfaces of the web portion are ground, and as a result, the required portion on all surfaces of the H-section steel M is finished.
At this time, grinding is performed more than the necessary portion around the hole, but there is no problem in practical use.

After that, the respective grinding heads and the square frame 2 are returned to the origin position (ST67), the routine of ST5 and thereafter is executed again, and when the H-section steel M has the next perforation pattern, it is exactly the same. After the necessary parts are ground according to the procedure and the final drilling pattern is ground, the carry-out electric roller base 102 is manually operated to make the H-section steel M
Is carried out of the machine (ST68, ST69).

According to the above-mentioned operation, a maximum of four whetstones in total are simultaneously involved in the grinding, and the necessary portion around the perforated portion is efficiently ground over the entire length of the H-section steel M. H
The position of the hole formed in the shaped steel can be searched by the method using the photoelectric sensor as well as by the image pickup device and the image recognition device as in the above embodiments. An example will be described below.

FIG. 13 is a perspective view showing the construction of a photoelectric sensor group according to another embodiment of the present invention which employs a method of searching the H-shaped steel perforation position by a photoelectric sensor.
FIG. 15 is a view showing a state in which it is attached to each grinding head as a photoelectric sensor 701 for detecting a vertical surface hole position and a photoelectric sensor group 702 for detecting a horizontal surface hole position. FIG. Position detection photoelectric sensor group 7
It is a figure which shows the state when light is projected from 01.

In this example, a vertical surface hole position detecting photoelectric sensor group 701 is provided on the arm 51a of the right outer vertical surface grinding head 5a, and a horizontal surface hole position detecting photoelectric sensor is provided on the upper arm 41a of the inner surface grinding head 4a. Group 702
Each is supported in place of the imaging device of the previous example.

Vertical sensor hole position detection photoelectric sensor group 701
Is a device in which a plurality of photoelectric sensors S ... S are arranged in the vertical direction at a front portion of the right outer vertical grinding head 5a at a predetermined pitch, and the vertical center thereof is the grinding head 5a.
Approximately coincides with the center of the grindstone axis of the grinding wheel 5a, is located on the right side by a predetermined distance with respect to the grinding action surface of the grindstone W of the grinding head 5a, and is constant from the center of the grindstone W in the front-rear direction. It is located in front of the space. In addition, the horizontal plane hole position detecting photoelectric sensor group 702 includes a plurality of photoelectric sensors S at the front portion of the upper inner surface grinding head 4a.
..S are arranged horizontally at a predetermined pitch over a section equal to or longer than the perforation interval on the web portion of the H-shaped steel M, and the center in the left-right direction coincides with the center of the grindstone shaft of the grinding head 4a.
In the vertical direction, the grinding head 4a is located above the grinding surface of the grindstone by a predetermined distance, and in the front-rear direction, it is located forward from the center of the grindstone W at a constant distance.

Each photoelectric sensor S ... S is a known reflection type photoelectric sensor, each of which comprises a light emitting element and a light receiving element, and the light output from the light emitting element is reflected by an object by the light receiving element. It receives the light and outputs a voltage signal according to the intensity of the reflected light. Therefore, the output of each photoelectric sensor S becomes large when the vertical surface or horizontal surface of the H-section steel M arrives at the facing surface, but when one of the photoelectric sensors S faces the drilling position, that photoelectric sensor S Only the output of S is weaker than the outputs of the other photoelectric sensors S.
The outputs of the photoelectric sensors S ... S in the vertical surface hole position detecting photoelectric sensor group 701 and the horizontal surface hole position detecting photoelectric sensor group 702 are respectively taken into a control unit (not shown).

In this embodiment, in the above construction, a method of simultaneously performing the hole position searching step and the necessary portion of the H-section steel M is employed. First, when the H-section steel M is fed from the front of the device with each part of the device at the origin, the front hole at the lower part of the flange part reaches the vertical surface hole position detection photoelectric sensor before reaching the position of the grindstone W of each grinding head. The position of the sensor group 701 is reached. At this time, as shown in FIG. 15, the output of one of the photoelectric sensors S in the vertical surface hole position detection photoelectric sensor group 701 is weaker than the other, and the controller changes the output of the leading hole position from the output change. Knowing that it has arrived, stop feeding H-section steel M. At the same time, the right outer vertical grinding head 5a is raised, and an unsensed sensor (for example, the lowermost sensor) in the photoelectric sensor group 701 attached to the grinding head 5a causes an output change. From the end position, the upper and lower center positions of the hole are known, and further the grinding head 5a is continued to ascend to know the upper and lower center position of the leading hole above the flange portion. Next, the grinding head 5a is lowered to stop the grinding head 5a when the grindstone shaft of the grinding head 5a reaches the upper and lower central positions of the leading hole in the lower portion of the flange portion.

Next, the grinding heads 4a and 4b are pivoted and fixed to the right, and the lower inner surface grinding head 4b and the outer vertical surface grinding heads 5a and 5b are arranged in the hole row below the flange portion. The upper inner surface grinding head 4a is adjusted in height to the row of holes above the flange portion, and at the same time, the square frame 2 is formed by the distance between the center of the grindstone W of the grinding head 5a and the photoelectric sensor group 701. After moving forward, the grindstones of each of the grinding heads 4a to 5b are brought into contact with the inner surface and the outer surface of the flange portion of the H-section steel M by the same procedure as in the previous example to start the grinding, and at the same time, the square frame Continue to advance 2 and continue grinding.

During this grinding operation, the control section takes in the respective outputs of the vertical surface hole position detecting photoelectric sensor group 701 and the horizontal surface hole position detecting photoelectric sensor group 702, and continues to search for holes in the flange portion and the web portion. . As described above, since the hole group of the web portion exists in the middle of the hole group of the flange portion, the photoelectric sensor group 702 for detecting the horizontal plane hole position is arranged in the front hole row of the web portion during the grinding of the flange portion as described above. To reach. The horizontal hole position detecting photoelectric sensor group 702 is
Since the plurality of photoelectric sensors S ... S are arranged in the left-right direction over a section equal to or larger than the perforation pitch on the web portion, any one of them is approximately one of the holes in the leading hole row of the web portion. It is located directly above and its output changes. The center position before and after the front hole is obtained from the beginning and end positions where this output change occurs, and the square frame 2 at that time is obtained.
Remember the position of. Also, when the horizontal plane hole position detecting photoelectric sensor group 702 subsequently reaches the hole row of the final hole,
Similarly, the position of the square frame 2 is stored.

During the grinding operation of the flange portion, after the photoelectric sensor group 701 for detecting the vertical surface hole position reached the final hole of the flange portion, the output changed at a constant interval until then, but the output changed. Disappears. As a result, the control unit knows that the final hole position has been reached and stops the grinding operation.
At this time, the center of the grindstone W and each photoelectric sensor group 701, 70
It is desirable to set the distance from 2 larger than the drilling pitch so that the final hole position can be known before the grindstone W reaches the final hole position.

By the above operation, after grinding the periphery of the hole row on the lower left and right outer surfaces of the flange portion, the lower right inner surface, and the upper right inner surface, the inner surface grinding head 4
a and 4b are swung and fixed to the left, and the respective grindstones W are brought into contact with the inner surfaces of the left and right upper and lower portions of the flange portion, and at the same time, the outer vertical grinding heads 5a and 5b are moved to the upper holes. The rows are adjusted in height to bring the respective grindstones W into contact with the outer surfaces on the left and right of the flange portion, and the square frame 2 is retracted to perform grinding. By the above, all the necessary parts of the flange part are ground.

After that, the upper and lower inner surface grinding heads 4a, 4
After b is swung and fixed vertically downward or vertically upward,
The square frame 2 is moved forward and stopped so that the grindstones W of these grinding heads 4a and 4b are located directly above the head hole row of the web portion which is stored previously. Then, each grinding head 4
a and 4b move to the left and the left side surface of the grindstone shaft case 402 abuts on the left inner surface of the H-shaped steel M, whereby the grinding heads 4a and 4b
It is detected that b has reached the left end of the web portion. In that state, the respective grinding heads 4a, 4b are lowered or raised and the respective grindstones W are moved.
Abutting against the web to start grinding, and each grinding head 4
A and 4b are moved to the right to grind the periphery of the leading hole row. When the right side surface of the grindstone shaft case 402 contacts the right inner surface of the H-shaped steel M, it is detected that each of the grinding heads 4a and 4b has reached the right end of the web portion, the right movement is stopped, and at the same time, the square frame 2 is formed. Is advanced to stop the advance when each of the whetstones W reaches just above the final row of holes in the web portion. At the same time, the grinding heads 4a, 4b are moved to the left to grind the periphery of the final hole row, and the left side of the grindstone shaft case 402 is brought into contact with the left inner surface of the H-shaped steel M to move the left side of the grinding heads 4a, 4b. stop. By the above, all the necessary parts of the web part are ground.

In the above embodiment, the information on the hole position is somewhat rougher than that in the previous embodiment in which the hole position is searched by image recognition, but the diameter of the grindstone W is larger than the diameter of the hole. Is large enough, even if there is some error in the hole position information,
There is no possibility that the grinding locus of the grindstone W deviates from the grinding-needed portion around the drilling position, and there is substantially no problem. Further, the method using such a photoelectric sensor has an advantage that the cost can be reduced as compared with the method using image recognition.

In each of the above embodiments, the mechanism for moving the square frame 2 forward and backward is provided, and the positioning of the grindstone W and the necessary grinding portion in the drilling pattern is performed by the forward and backward movement of the square frame 2. However, the present invention is not limited to this, and the square frame 2 may be fixed to the base 1 and the positioning in the longitudinal direction of the H-section steel may be performed exclusively by feeding.

Further, as is clear from the operation in each of the above embodiments, the upper and lower inner surface grinding heads 4a and 4a.
It is rational to move b in the same direction in the same direction both when grinding the web part and when grinding the inner surface of the flange part. It is desirable that the device be configured to be moved left and right in conjunction with each other in terms of simplification of the device.

FIG. 16 is a front view of an embodiment in which the inner surface grinding heads 4a and 4b are linked by one actuator. In this example, the hydraulic cylinder 4 for left and right movement of the upper inner surface grinding head 4a shown in the embodiment of FIG.
By driving 3a, upper and lower inner surface grinding heads 4a, 4b
Both are linked in the same direction. That is, the piston rod of the hydraulic cylinder 43a supports the slider 41 that supports the arm 41a of the upper inner surface grinding head 4a.
2a and is connected to the slider 42a.
Further, a slider 42b supporting the arm 41b of the lower inner surface grinding head 4b is connected by a wire 161 wound around a total of six pulleys 160. With this configuration, by driving the hydraulic cylinder 43a, the upper inner surface grinding head 4a moves left and right, and at the same time, the lower inner surface grinding head 4b also moves left and right in the same direction in synchronization therewith. Compared to the example, one hydraulic cylinder and its electrical and hydraulic control circuits can be eliminated, simplifying the device.

Further, in the above embodiment, the left and right outer grinding heads 5a and 5b for vertical surfaces are supported on the upper horizontal portion of the square frame 2, but may be supported on the lower horizontal portion or the vertical column portion. You can also

Further, in each of the above embodiments, the hole position of the H-section steel was searched by the image recognition using the video signal by the image pickup device or by the photoelectric sensor group. It is also possible to preliminarily input into the memory and guide each grindstone to the drilling position according to the input contents.

Furthermore, the upper and lower inner surface grinding heads 4a and 4b move laterally, and the left and right outer vertical surface grinding heads 5a,
Instead of synchronizing the vertical movement of 5b by a hydraulic circuit, these may be horizontally moved or vertically moved by a single hydraulic cylinder, and the corresponding heads may be mechanically connected to each other.

Furthermore, although the disk-shaped grindstone is used as the grinding tool in the above-mentioned embodiments, a blade having the same shape may be used. The operation of each part is not limited to the one shown in each of the above-described embodiments, and various modifications can be made, and even when the hole pattern is different, it is usually applicable.

[0075]

As described above, according to the present invention,
H-shaped steel is fed so that it penetrates through the square frame, and the square frame vertically swings and can be fixed 90 ° to the left and right with the square frame sandwiched between the steel frame. Since it has one inner surface grinding head and two left and right outer surface grinding heads, the inner and outer surfaces of the left and right flanges of the H-section steel and the upper and lower surfaces of the web are efficiently combined with a total of four grinding wheels. It is possible to grind all the way to the H-section steel, and it is possible to grind at any position along the entire length of the H-section steel.

Further, in the grinding operation, each grindstone is aligned with the required grinding portion of the H-section steel by feeding the H-section steel in the longitudinal direction and by the two-dimensional movement of the grinding head in the vertical and horizontal directions orthogonal thereto. Since they are shared by each other, a complicated mechanism is unnecessary and the structure of the device is simplified. In addition to the above configuration, if a mechanism for moving the square frame in parallel with the material feeding direction is provided, the positioning of the H-section steel in the longitudinal direction can be performed by appropriately adjusting the material feeding and the movement of the square frame. It is possible to selectively use these for different purposes, which is particularly advantageous for surface grinding of large H-section steel.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of the present invention.

[Figure 2] Plan view

[Figure 3] Similarly, right side view

FIG. 4 is a sectional view showing a detailed configuration of an inner surface grinding head of the present invention.

[Fig. 5] Grinding wheel or grinding wheel shaft case of each grinding head and H
Explanatory drawing of mechanism for detecting contact with shaped steel

FIG. 6 is a block diagram showing the configuration of an electrical control system according to an embodiment of the present invention.

FIG. 7 is a flowchart (part 1) showing the procedure of the control operation of each unit by the control unit of the embodiment of the present invention.

FIG. 8 is also a flowchart (part 2)

FIG. 9 is a flowchart (part 3) of the same.

FIG. 10 is also a flowchart (part 4)

FIG. 11 is an explanatory view of a grinding procedure by each grinding head of the embodiment of the present invention.

FIG. 12 is an explanatory diagram of an example of a grinding locus by each grinding head of the embodiment of the present invention.

FIG. 13 is a perspective view showing the configuration of a photoelectric sensor group according to another embodiment of the present invention, which adopts a method of searching the H-shaped steel perforation position by a photoelectric sensor.

14 is a diagram showing a state in which the photoelectric sensor group illustrated in FIG. 13 is attached to each grinding head as a vertical surface hole position detecting photoelectric sensor group and a horizontal surface hole position detecting photoelectric sensor group.

FIG. 15 is an explanatory diagram of a state in which light is projected from the vertical surface hole position detection photoelectric sensor group onto the flange portion of the H-section steel.

FIG. 16 is a front view of still another embodiment of the present invention in which the upper and lower inner surface grinding heads are horizontally moved by one actuator.

FIG. 17 is an explanatory diagram of conventional manual surface grinding work for H-section steel.

[Explanation of symbols]

1 Base 11,12 Rails 2 Square Frames 21,22 Horizontal Beams 21a, 22a Rail Units 23, 24 Vertical Columns 25 Wheels 26 Square Frames Hydraulic Cylinders for Back-and-Forth Motion 31, 32 Electric Rollers for Feeding 4a, 4b Inner Surface Grinding heads 41a, 41b Support arms 43a, 43b Hydraulic cylinders for left / right movement of inner grinding heads 45a, 45b Hydraulic cylinders for vertical movement of inner grinding heads 5a, 5b Outer vertical grinding heads 51a, 51b Support arms 53a, 53b Outer vertical surfaces Hydraulic cylinders 55a, 55b for horizontal movement of grinding heads Hydraulic cylinders for vertical movement of grinding heads for outer vertical surfaces 7 Control unit 70 Image recognition device 71, 72 Imaging device 73 Memory 160 Pulley 161 Wire 401 Grindstone spindle 402 Grindstone spindle case 403 Central spindle 404 Hydraulic Swing motor 05 the intermediate shaft 406 rotation driving mechanism 407a, 407b bevel gears 408 swing-fixing mechanism LS limit switch S spring M workpiece (H-section steel) W grindstone

Claims (5)

[Claims] 1. An apparatus for grinding a main part of a surface of an H-section steel, which comprises a rectangular frame and an H-section steel to be ground conveyed in a longitudinal direction so as to penetrate through the inside of the rectangular frame. And a material feeding means for vertically moving the upper and lower horizontal portions of the square frame and vertically moving the tool shaft in the vertical direction and 90 ° left and right directions sandwiching the tool shaft. A pair of upper and lower inner surface grinding heads equipped with a tool shaft swinging / fixing mechanism that can be turned to either
The pair of left and right outer vertical surface grinding heads, which are movably supported on the square frame on both sides of the inner surface grinding head, and vertically movable, and the respective grinding heads in the left and right directions, respectively. H which is equipped with a grinding head drive mechanism for vertically shifting
Surface grinding machine for shaped steel. 2. The rectangular frame is provided with a rectangular frame driving mechanism for moving the frame in parallel with the feeding direction by the feeding means, and the positioning of each grinding head in the longitudinal direction of the H-shaped steel is performed by the rectangular frame. The surface grinding apparatus for H-section steel according to claim 1, wherein both the frame driving mechanism and the material feeding means are selectively driven to perform the operation. 3. The H-shape according to claim 1, wherein the pair of upper and lower inner surface grinding heads are laterally moved integrally by one common actuator. Surface grinding machine for steel. 4. An image pickup device for picking up a horizontal plane and a vertical plane of the H-section steel is disposed on the square frame, and the H-section steel is punched based on the output of each image pickup apparatus. Image recognition means for searching the position of the hole, and the grinding head drive mechanism for guiding each of the grinding heads to the hole position based on the result of searching the hole position by the image recognition means, a swinging / fixing mechanism, And a control means for controlling the material feeding means.
The surface grinding device for H-section steel according to 2 or 3. 5. A vertical plane hole position detecting photoelectric sensor group vertically arranged along one of the left and right outer vertical planes of the H-section steel, and either of the front and back sides of the horizontal plane of the H-section steel in the square frame. A horizontal plane hole position detection photoelectric sensor group arranged on the left and right along the ridge is supported, and the grinding head drive for guiding each grinding head to the hole position based on the output of each photoelectric sensor group. The surface grinding device for H-section steel according to claim 1, 2 or 3, further comprising control means for controlling the mechanism and the material feeding means.