JPH0854326A - Method and device for grinding surface of steel plate with grindstone - Google Patents
Method and device for grinding surface of steel plate with grindstoneInfo
- Publication number
- JPH0854326A JPH0854326A JP21212294A JP21212294A JPH0854326A JP H0854326 A JPH0854326 A JP H0854326A JP 21212294 A JP21212294 A JP 21212294A JP 21212294 A JP21212294 A JP 21212294A JP H0854326 A JPH0854326 A JP H0854326A
- Authority
- JP
- Japan
- Prior art keywords
- steel plate
- grindstone
- grinding
- whetstone
- width
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Sampling And Sample Adjustment (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、鋼板の検査工程にお
いて、鋼板表面の微小欠陥の判定に使用される、鋼板の
砥石掛け方法および装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for applying a grinding stone to a steel sheet, which is used for determining microscopic defects on the surface of the steel sheet in a steel sheet inspection process.
【０００２】[0002]
【従来の技術】一般に、冷延鋼板あるいはメッキ鋼板の
表面には、その製造工程において種々の点状、線状ある
いは面上の形態を有する凹凸状欠陥が発生する場合があ
る。これらの欠陥は、その検査工程において、欠陥の有
無、欠陥のグレ−ドを判定するにあたり、主として鋼板
を走行させながら目視または欠陥検出計によって行って
いる。しかしながら、これらの欠陥の内、微小な欠陥に
ついては、鋼板を停止した上で検査員が鋼板表面の砥石
掛け作業を行ない、欠陥を明瞭にして欠陥判定を行なっ
ている。2. Description of the Related Art In general, on the surface of a cold-rolled steel plate or a plated steel plate, there are cases where irregular defects having various points, linear shapes or surface morphologies occur in the manufacturing process. In the inspection process, the presence or absence of defects and the grade of the defects are checked visually or by a defect detector mainly while the steel plate is running in the inspection process. However, among these defects, for minute defects, the inspector carries out a grindstone work on the surface of the steel sheet after stopping the steel sheet to make the defects clear and make a defect determination.
【０００３】砥石掛け作業を、図１３〜１６によって説
明する。砥石掛け作業は、砥石により鋼板表面を軽度に
研削する作業である。図１３および１４において、１は
鋼板、２は砥石、３は鋼板表面上の微小凸状欠陥、４は
微小凹状欠陥であり、図１３および１４はそれぞれ、凸
状欠陥および凹状欠陥を有する鋼板１の表面を砥石２に
より研削する直前の状態を示す縦断面図である。図１５
および１６は、図１３および１４中の鋼板１を砥石掛け
した後の状態を示すもので、図中、５は、砥石によって
研削された部位（研削部）、５’は、砥石掛けによって
も研削されなかった非研削部を示す。即ち、鋼板表面を
砥石掛けすることにより、研削部５と非研削部５’との
光沢の差異から、鋼板表面の微小欠陥の存在を明確に
し、その判別が可能となる。The grindstone mounting operation will be described with reference to FIGS. The grindstone mounting work is a work of slightly grinding the surface of the steel plate with the grindstone. 13 and 14, 1 is a steel plate, 2 is a grindstone, 3 is a small convex defect on the surface of the steel plate, 4 is a small concave defect, and FIGS. 13 and 14 are steel plates 1 having a convex defect and a concave defect, respectively. FIG. 3 is a vertical cross-sectional view showing a state immediately before the surface of is ground by a grindstone 2. FIG.
13 and 16 show a state after the steel plate 1 in FIGS. 13 and 14 is grinded by a grindstone. In FIG. 5, 5 is a portion ground by a grindstone (grinding part), and 5 ′ is grinded by grindstone grind. The non-ground portion that was not ground is shown. That is, by grinding the surface of the steel sheet with a grindstone, the presence of microscopic defects on the surface of the steel sheet can be clarified and distinguished from the difference in gloss between the ground portion 5 and the non-ground portion 5 ′.
【０００４】図１７は、線状欠陥に対して砥石掛けした
場合の砥石稼働面の中心点の軌跡を示す平面図である。
同図中、１１は鋼板長さ方向の線状欠陥、１２は鋼板幅
方向の線状欠陥であり、両タイプの線状欠陥が同一鋼板
表面に存在する場合である。前述の研削部と非研削部と
の間に表面粗さの差異を明瞭につけるために、いずれの
タイプの線状欠陥に対しても砥石掛けの軌跡を、同図中
に実線で示したように欠陥に対して直交させ、研削量を
一定とし且つ１往復間の送り量を一定とするように砥石
掛けをすることが望ましい。FIG. 17 is a plan view showing the locus of the center point of the whetstone working surface when the whetstone is hung on the linear defect.
In the figure, 11 is a linear defect in the steel plate length direction, 12 is a linear defect in the steel plate width direction, and both types of linear defects are present on the same steel plate surface. In order to clearly show the difference in surface roughness between the ground portion and the non-ground portion, the trace of the grindstone for the linear defects of any type is shown by the solid line in the figure. It is desirable that the grinding stones be mounted so that the defects are orthogonal to each other, the grinding amount is constant, and the feed amount for one reciprocation is constant.
【０００５】しかしながら、この砥石掛け作業は、鋼板
上に検査員が乗って行なうため、鋼板の走行を停止させ
なければならず、検査能率が低下する。また、人手作業
であることから、微小欠陥の判定のための均一な砥石掛
け作業には熟練を要する。更に、砥石掛け作業は重労働
であり、その作業そのものの解消が望まれていた。However, since the inspector rides on the steel plate to carry out this grindstone mounting operation, the traveling of the steel plate must be stopped, and the inspection efficiency decreases. Further, since it is a manual work, it requires skill to perform a uniform grindstone mounting work for the determination of minute defects. Further, the grindstone mounting work is a heavy labor, and it has been desired to eliminate the work itself.
【０００６】これらの問題を解決するため、砥石掛け作
業の機械化を図った技術として、図１８〜２２に示すよ
うな各種の砥石掛け装置が提案されている。図１８は、
実開昭６１−１４８５５８号公報（以下、先行技術１と
いう）に、図１９は、実開平２−６３９５７号公報（以
下、先行技術２という）に開示された装置である。先行
技術１および２は、検査ラインを停止することなく、砥
石を板幅方向に移動ならしめる機構と、砥石を鋼板に押
しつける機構とを有する砥石掛け装置である。In order to solve these problems, various types of grindstone mounting devices as shown in FIGS. 18 to 22 have been proposed as a technique for mechanizing the grindstone mounting work. Figure 18
The apparatus disclosed in Japanese Utility Model Laid-Open No. 61-148558 (hereinafter referred to as Prior Art 1) and FIG. 19 is the apparatus disclosed in Japanese Utility Model Laid-Open No. 62-63957 (hereinafter referred to as Prior Art 2). Prior arts 1 and 2 are whetstone mounting devices having a mechanism for moving the whetstone in the plate width direction without stopping the inspection line and a mechanism for pressing the whetstone against the steel plate.
【０００７】図２０および２１は、実開昭５９−１８３
７４５号公報（以下、先行技術３という）、図２２は、
実開昭６３−７４５０号公報（以下、先行技術４とい
う）に開示された装置である。先行技術３および４は、
砥石の代わりにサンドペ−パ−を用いて、砥石掛け作業
を行なう装置である。FIGS. 20 and 21 show the actual construction of Shokai 59-183.
No. 745 (hereinafter referred to as Prior Art 3), FIG.
This is the device disclosed in Japanese Utility Model Laid-Open No. 63-7450 (hereinafter referred to as Prior Art 4). Prior arts 3 and 4 are
This is a device for performing a grindstone mounting operation using a sand paper instead of the grindstone.
【０００８】[0008]
【発明が解決しようとする課題】しかしながら、これら
の従来の砥石掛け装置においては、以下に示す問題があ
る。先行技術１および２においては、鋼板を走行させな
がら砥石掛けを行なうため、砥石掛けの軌跡が鋼板表面
の線状欠陥と直交せず、また、板幅方向に線状欠陥が存
在する場合には、その欠陥の判定が不可能になるという
問題がある。更に、鋼板の幅側端近傍の砥石掛けについ
ては、鋼板に対する砥石の押付け力により鋼板が著しく
たわみ、砥石可動面が鋼板表面に十分接触しないため、
鋼板幅側端近傍は均一に研削されないという問題があ
る。However, these conventional grindstone mounting devices have the following problems. In the prior arts 1 and 2, since the grindstone is hung while the steel plate is running, the locus of the grindstone is not orthogonal to the linear defect on the surface of the steel plate, and when the linear defect exists in the plate width direction, However, there is a problem that the defect cannot be determined. Furthermore, for the grindstone near the width side edge of the steel plate, the steel plate is significantly deflected by the pressing force of the grindstone against the steel plate, and the whetstone movable surface does not sufficiently contact the steel plate surface.
There is a problem that the vicinity of the steel plate width side edge is not uniformly ground.
【０００９】先行技術３および４では、鋼板表面は鋼板
長さ方向にのみ研削されるので、鋼板長さ方向の欠陥の
判定をすることができない。更に、鋼板の幅側端近傍の
砥石掛けに関しては、鋼板の幅側端線によって押し付け
られた場所でサンドぺ−パ−が著しく損傷し、そのラン
ニングコストが莫大となる問題がある。In the prior arts 3 and 4, since the steel plate surface is ground only in the length direction of the steel plate, it is not possible to judge defects in the length direction of the steel plate. Further, regarding the grindstone mounting near the width side end of the steel plate, there is a problem that the sand paper is significantly damaged at a position pressed by the width side end line of the steel plate, resulting in enormous running cost.
【００１０】従って、この発明の目的は、上述した問題
を解決し、鋼板表面の、特に、幅側端近傍部分を、長さ
方向および幅方向に均一に砥石掛けを行なうことができ
る鋼板表面の砥石掛け方法およびその装置を提供するこ
とにある。Therefore, an object of the present invention is to solve the above-mentioned problems, and to provide a steel plate surface on which a grindstone can be uniformly applied in the length direction and the width direction, in particular, in the vicinity of the width side end. It is to provide a grindstone mounting method and a device therefor.
【００１１】[0011]
【課題を解決するための手段】本発明者等は、前述した
問題を解決する手段として、図１および図２に示す鋼板
の砥石掛け装置を開発した。図１は、この発明の方法を
実施するために使用される装置の概略側面図であり、図
２は、砥石が押付け機構を介してハンドに連結された１
態様を示す概略側面図である。図１および図２に示すよ
うに、この装置は多軸ロボット６にア−ム７を設け、ア
−ム７の先端にハンド８を設け、そしてハンド８には、
押付け機構９が設けられ、押付け機構９を介して砥石２
が設けられている。多軸ロボット６は、表面を研削する
鋼板１の表面上の直交する２方向および鋼板表面に対す
る法線方向の、少なくとも３方向の自由度を有する。ハ
ンド８は、少なくとも鋼板表面に対する法線方向の自由
度を有し、そして押付け機構９は前記法線方向に対して
所定の押付け力を有する。更に、砥石掛けした後、欠陥
検出センサ−を設置することができる。The present inventors have developed a steel plate grindstone mounting device shown in FIGS. 1 and 2 as a means for solving the above-mentioned problems. FIG. 1 is a schematic side view of an apparatus used to carry out the method of the present invention, and FIG. 2 shows a grinding wheel connected to a hand via a pressing mechanism.
It is a schematic side view which shows an aspect. As shown in FIGS. 1 and 2, this apparatus is provided with an arm 7 on a multi-axis robot 6, a hand 8 is provided at the tip of the arm 7, and the hand 8 has
The pressing mechanism 9 is provided, and the grindstone 2 is provided via the pressing mechanism 9.
Is provided. The multi-axis robot 6 has at least three degrees of freedom in two directions orthogonal to the surface of the steel plate 1 whose surface is to be ground and in a direction normal to the surface of the steel plate. The hand 8 has at least a degree of freedom in the normal direction to the steel plate surface, and the pressing mechanism 9 has a predetermined pressing force in the normal direction. Furthermore, after the grindstone is hung, the defect detection sensor can be installed.
【００１２】上記のように構成された装置は、本発明者
等が先に、特願平５−３５３２６８号において提案した
ように、鋼板表面を研削しつつ移動する砥石の、鋼板表
面上の軌跡を所定の範囲内に定めることにより、ライン
停止時間を最短にすることが可能となり、設備設置スペ
−スも狭く、設備費を安くし、且つ省力化を図ることが
できる。更に、本発明者等が先に、特願平５−３５３２
６７号において提案したように、鋼板表面に対する法線
方向の押付け力を、砥石可動面の幅と鋼板の引張強度と
をパラメ−タ−とした所定値に設定することにより、研
削ムラを解消することができ、且つ鋼板表面の形状に追
随可能で、一定量の研削が行なえるので、均一な砥石掛
けを可能ならしめ、微小欠陥の検査精度向上に寄与す
る。The apparatus constructed as described above has a locus on a steel plate surface of a grindstone which moves while grinding the steel plate surface, as previously proposed by the present inventors in Japanese Patent Application No. 5-353268. By setting the value within a predetermined range, the line stop time can be minimized, the equipment installation space is narrow, the equipment cost can be reduced, and the labor can be saved. Furthermore, the present inventors first filed Japanese Patent Application No. 5-3532.
As proposed in No. 67, by setting the pressing force in the direction normal to the steel plate surface to a predetermined value with the width of the grindstone movable surface and the tensile strength of the steel plate as parameters, uneven grinding is eliminated. In addition, it is possible to follow the shape of the steel plate surface, and a certain amount of grinding can be performed. Therefore, it is possible to evenly grind a stone, which contributes to improving the inspection accuracy of minute defects.
【００１３】しかしながら、上記砥石掛け装置によって
鋼板の砥石掛けを実施した結果、本発明者等は下記の課
題を見い出した。図６は、図１に示した砥石掛け装置に
よる鋼板表面上の砥石掛けの軌跡の１例を示す平面図で
ある。同図中、１は鋼板、２は砥石であり、図形ＡＢＣ
Ｄによって囲まれた部分が砥石掛けを要する範囲であ
り、Ｐは砥石掛けの軌跡、Ｗは鋼板幅方向へ進行中の砥
石２の砥石稼働面の幅である。However, as a result of carrying out grindstone grinding of the steel plate by the grindstone grinder, the present inventors found out the following problems. FIG. 6 is a plan view showing an example of a locus of grindstone mounting on the surface of a steel plate by the grindstone mounting device shown in FIG. 1. In the figure, 1 is a steel plate, 2 is a grindstone, and the figure ABC
A portion surrounded by D is a range in which the grindstone is required, P is a locus of the grindstone, and W is a width of the grindstone working surface of the grindstone 2 which is proceeding in the width direction of the steel plate.
【００１４】図７〜９は、鋼板表面を砥石で研削中の砥
石稼働面と鋼板表面との接触状態を示す概略横断面図で
あって、図７、８および９はそれぞれ、図６中の砥石２
が鋼板１の幅側端の点Ｄ近傍、中央部および幅側端の点
Ａの近傍にある時のＥＥ線断面図である。砥石が鋼板幅
の中央部にある時は、図８からわかるように、砥石稼働
面全体が鋼板表面と接触するので、鋼板表面は均一に砥
石掛けされる。しかしながら、砥石が鋼板の幅側端近傍
にある時は、砥石を鋼板表面に対して押しつけると鋼板
の幅側端近傍が下方にたわむので、その部分の鋼板表面
に砥石可動面が十分接触しないため、鋼板表面を均一に
研削することは困難である。7 to 9 are schematic cross-sectional views showing a contact state between the whetstone working surface and the steel plate surface during grinding of the steel plate surface with a grindstone, and FIGS. 7, 8 and 9 are respectively shown in FIG. Whetstone 2
FIG. 5 is a cross-sectional view taken along line EE when is near the point D at the width-side end of the steel plate 1, near the center, and near the point A at the width-side end. When the grindstone is in the central portion of the steel plate width, as can be seen from FIG. 8, the entire working surface of the grindstone comes into contact with the steel plate surface, so that the steel plate surface is evenly grinded. However, when the grindstone is near the width side edge of the steel plate, pressing the grindstone against the steel plate surface causes the width side edge vicinity of the steel plate to bend downwards, so the whetstone movable surface does not sufficiently contact the steel plate surface in that portion. However, it is difficult to uniformly grind the steel plate surface.
【００１５】上記課題を解決するために、本発明者等は
鋭意研究を重ね、以下のようにして鋼板の幅側端近傍の
表面を均一に砥石掛けすることが可能となった。即ち、
この発明による鋼板表面の砥石掛け方法は、長さ方向に
所定の張力で支持された鋼板の表面の少なくとも１方の
面に前記砥石を接触させつつ移動させて、前記鋼板の表
面を研削する方法において、前記鋼板の幅方向に砥石を
移動させて研削する場合には、前記鋼板の幅側端よりも
外側へ砥石稼働面がはみ出す位置まで移動させ、次いで
その位置から反対方向に移動させることを繰り返し行な
い、且つ、前記砥石稼働面の前記はみ出し部分の前記鋼
板幅方向の長さを、前記砥石稼働面の前記鋼板幅方向の
全長の５分の１（１／５）以上とし、前記鋼板の長さ方
向に前記砥石を移動させて研削する場合において、前記
鋼板の幅側端近傍を研削するときは、前記砥石稼働面の
幅側端を前記鋼板の幅側端に重ねつつ、且つ、前記砥石
稼働面を前記鋼板表面に接触させて研削することに特徴
を有するものである。In order to solve the above-mentioned problems, the inventors of the present invention have made extensive studies, and as a result, it has become possible to evenly grind the surface of the steel sheet in the vicinity of the width side end as follows. That is,
A method of grinding a steel plate surface according to the present invention is a method of moving the steel plate while bringing the grindstone into contact with at least one surface of the steel plate supported by a predetermined tension in the length direction, and grinding the surface of the steel plate. In the case of grinding by moving the grindstone in the width direction of the steel plate, the grindstone operating surface is moved to a position outside the width side end of the steel plate, and then moved in the opposite direction from that position. Repeatedly, the length of the protruding portion of the grindstone working surface in the steel plate width direction is set to ⅕ (1/5) or more of the total length of the grindstone working surface in the steel plate width direction, In the case of grinding by moving the grindstone in the length direction, when grinding the vicinity of the width side end of the steel plate, while overlapping the width side end of the grindstone working surface on the width side end of the steel plate, and, The working surface of the grindstone is the steel plate It is brought into contact with the surface and has a feature to be ground.
【００１６】この発明による鋼板表面の砥石掛け装置
は、少なくとも互いに直交する３軸方向に自由度を有す
る移動機構と、前記移動機構に設けられたア−ムと、前
記ア−ムの先端に連結されたハンドと、押付け機構を介
して前記ハンドに設けられた砥石と、を備え、前記ア−
ムは、前記砥石稼働面の全体が、前記鋼板の幅側端の外
側へはみ出す位置まで移動可能なストロ−クを有するこ
とに特徴を有するものである。[0016] According to the present invention, there is provided a whetstone-applying device for the surface of a steel plate, which is connected to a moving mechanism having a degree of freedom in at least three orthogonal directions, an arm provided in the moving mechanism, and a tip of the arm. And a grindstone provided on the hand via a pressing mechanism.
The hole is characterized in that the entire working surface of the grindstone has a stroke that can be moved to a position outside the widthwise end of the steel plate.
【００１７】また、更に、前記ハンドは、その軸線の廻
りの所定の回転角度に、前記砥石を回転させ停止させ保
持する機構を有することに特徴を有するものである。Further, the hand is characterized in that it has a mechanism for rotating and stopping and holding the grindstone at a predetermined rotation angle around the axis thereof.
【００１８】[0018]
【作用】この発明による鋼板表面の砥石掛け方法におい
ては、鋼板の幅方向に砥石掛けする場合に、鋼板の幅側
端よりも外側へ砥石稼働面の１部分がはみ出す位置まで
移動させて鋼板表面を研削する。図１０は、本発明法に
より鋼板表面を幅方向に砥石掛けする場合であって、鋼
板幅側端近傍を砥石掛けする場合の、砥石稼働面と鋼板
の幅側端近傍表面との接触状態を説明する横断面図であ
る。同図において、１’は鋼板の幅側端近傍表面、２’
は砥石稼働面、Ｌは砥石稼働面の鋼板幅方向の全長（以
下、砥石稼働面長さという）、Ｌ’は砥石稼働面の鋼板
幅側端からのはみ出し長さ（以下、砥石稼働面のはみ出
し長さという）である。本発明においては、砥石稼働面
のはみ出し長さ（Ｌ’）が、砥石稼働面長さ（Ｌ）の１
／５以上となるように、砥石を鋼板幅側端からはみ出す
位置まで移動させる。このため、鋼板の幅側端近傍表面
１’は、砥石稼働面２’と確実に接触し、鋼板の幅側端
近傍表面が均一に砥石掛けされ、研削される。In the method of grinding a steel plate surface according to the present invention, when the steel plate is grinded in the width direction, the steel plate surface is moved to a position where a part of the working surface of the grindstone protrudes outside the width side edge of the steel plate. To grind. FIG. 10 shows a case where the steel plate surface is grinded in the width direction by the method of the present invention, and the contact state between the whetstone operating surface and the width side end vicinity surface of the steel plate when grinding the steel plate width side end vicinity. It is a cross-sectional view for explaining. In the figure, 1'is a surface near the width side end of the steel plate, 2 '
Is the whetstone operating surface, L is the total length of the whetstone operating surface in the steel plate width direction (hereinafter referred to as the whetstone operating surface length), L'is the length of protrusion from the steel plate width side end of the whetstone operating surface (hereinafter, whetstone operating surface It is called the protruding length). In the present invention, the protruding length (L ') of the grindstone working surface is 1 of the grindstone working surface length (L).
The grindstone is moved to a position protruding from the side edge of the steel plate width so that the value becomes / 5 or more. Therefore, the surface 1'in the width side end of the steel plate surely comes into contact with the grindstone operating surface 2 ', and the surface in the vicinity of the width side end of the steel plate is evenly grinded and ground.
【００１９】次に、鋼板表面を長さ方向に砥石掛けする
場合であって、鋼板の幅側端近傍を砥石掛けするとき
は、砥石稼働面の幅側端を鋼板の幅側端に重ねつつ、且
つ、砥石稼働面を鋼板表面と接触させて研削する。図１
１は、本発明法によって、鋼板表面の幅側端近傍を鋼板
長さ方向に砥石掛けする場合の、砥石稼働面と鋼板の幅
側端近傍表面との接触状態を説明する横断面図である。
同図において、Ｗは砥石稼働面２’の幅であり、砥石２
は、鋼板１の表面と接触しつつ紙面に垂直な方向に移動
する。同図に示した状態で鋼板表面を砥石掛けするた
め、鋼板の幅側端近傍表面１’は、砥石稼働面２’と十
分に接触し、鋼板の幅側端近傍表面が均一に砥石掛けさ
れ、研削される。Next, in the case where the surface of the steel plate is grinded in the longitudinal direction, and when the vicinity of the width side end of the steel plate is grinded, the width side end of the whetstone working surface is superposed on the width side end of the steel plate. Moreover, the whetstone working surface is brought into contact with the steel plate surface for grinding. FIG.
FIG. 1 is a transverse cross-sectional view for explaining a contact state between a grindstone operating surface and a surface near a width side end of a steel plate when the vicinity of a width side end of the steel plate surface is grinded by a method of the present invention in the steel plate length direction. .
In the figure, W is the width of the grindstone working surface 2 ',
Moves in a direction perpendicular to the paper surface while being in contact with the surface of the steel plate 1. Since the steel plate surface is grinded in the state shown in the figure, the width side end surface 1'of the steel plate is in sufficient contact with the grindstone working surface 2 ', and the width side end surface of the steel plate is evenly grinded. Is ground.
【００２０】鋼板の幅側端近傍を砥石掛けする場合、鋼
板幅方向に砥石掛けするよりも鋼板長さ方向に砥石掛け
するときの方が、その部分の鋼板のたわみが大きいにも
かかわらず、上述した本発明法により十分均一に研削す
ることができる。When the vicinity of the width side edge of the steel plate is grinded, the deflection of the steel plate at that portion is larger when the grindstone is mounted in the steel plate length direction than when the grindstone is mounted in the steel plate width direction. It is possible to grind sufficiently uniformly by the method of the present invention described above.
【００２１】なお、図１２は、本発明の範囲外の方法で
鋼板表面の幅側端近傍を鋼板長さ方向に砥石掛けする場
合の、砥石稼働面と鋼板の幅側端近傍表面との接触状態
を説明する横断面図である。これは、砥石稼働面２’の
第１幅側端線２”が鋼板の幅側端線の外側へはみ出した
状態で砥石掛けする場合である。このような場合は、砥
石稼働面２’の第２幅側端線（所謂、砥石のエッジ）２
＊が鋼板表面と線接触となり、同図からわかるように非
砥石掛け部分が発生し、鋼板の幅側端近傍表面が均一に
砥石掛けされない。FIG. 12 shows the contact between the whetstone working surface and the surface near the width side end of the steel plate when the vicinity of the width side end of the steel plate is grinded in the length direction of the steel plate by a method outside the scope of the present invention. It is a cross-sectional view explaining a state. This is a case where the grindstone is applied with the first width side end line 2 ″ of the grindstone working surface 2 ′ protruding outside the width side end line of the steel plate. In such a case, the grindstone working surface 2 ′ of the grindstone working surface 2 ′ is 2nd width side end line (so-called grindstone edge) 2
* Indicates line contact with the surface of the steel plate, and as shown in the figure, a non-grinding part is generated, and the surface near the width side edge of the steel plate is not uniformly grinded.
【００２２】次に、本発明装置の作用について説明す
る。本発明装置は、前述した図１および２のように、長
さ方向に所定の張力で支持された鋼板の表面に砥石を接
触させ、鋼板表面の所定の方向へ移動させることができ
る。砥石は、押付け装置を介してハンドに設けられてい
るので、所定の押付け力で鋼板表面を研削することがで
きる。その際、ハンドは、少なくとも互いに直交する３
軸方向に自由度を有する移動機構に設けられたア−ムの
先端に連結されており、ア−ムは、砥石稼働面が、鋼板
の幅側端の外側へはみ出す位置まで移動可能なストロ−
クを有するので、鋼板表面の全域を砥石で研削すること
ができる。そして、鋼板を幅方向に砥石掛けし、砥石が
幅側端近傍に来たとき、砥石の押付け力により鋼板のそ
の部分がたわんだ場合でも、所定の長さだけ砥石可動面
をはみ出させることにより鋼板を均一に研削することが
できる。Next, the operation of the device of the present invention will be described. As described above with reference to FIGS. 1 and 2, the device of the present invention can bring a grindstone into contact with the surface of a steel plate supported by a predetermined tension in the length direction and move the steel plate surface in a predetermined direction. Since the grindstone is provided on the hand through the pressing device, the surface of the steel plate can be ground with a predetermined pressing force. At that time, the hands are at least 3 orthogonal to each other.
The arm is connected to the tip of an arm provided in a moving mechanism having a degree of freedom in the axial direction, and the arm is a stroking device that allows the whetstone working surface to move to a position outside the width side end of the steel plate.
Since it has a crack, the entire surface of the steel plate can be ground with a grindstone. Then, the steel plate is hung in the width direction, and when the whetstone comes near the width side end, even if that part of the steel plate is bent by the pressing force of the whetstone, by protruding the whetstone movable surface by a predetermined length. The steel plate can be uniformly ground.
【００２３】更に、砥石は、ハンドの軸線の廻りの所定
の回転角度に回転させ停止させることができるので、鋼
板表面を長さ方向に砥石掛けするとき、砥石稼働面の幅
側端線を鋼板の幅側端線に重ねつつ砥石掛けすることが
できるので、砥石稼働面の全面を鋼板表面に接触させる
ことができる。従って、鋼板幅側端近傍の鋼板表面を均
一に研削することができる。Further, since the grindstone can be stopped by rotating it at a predetermined rotation angle around the axis of the hand, when the surface of the steel plate is hung in the longitudinal direction, the width side end line of the working surface of the grindstone is the steel plate. Since the grindstone can be hung while being overlapped with the end line on the width side, the entire working surface of the grindstone can be brought into contact with the steel plate surface. Therefore, it is possible to uniformly grind the surface of the steel plate in the vicinity of the widthwise end of the steel plate.
【００２４】本発明装置の他の実施態様について説明す
る。図５は、本発明の鋼板表面砥石掛け装置の実施態様
の１例を示す概略斜視図である。１９は固定フレ−ム、
２０は移動フレ−ム、２１は移動ボックス、２２はロ−
ラ、２は砥石、７はア−ム、８はハンドである。図５の
砥石掛け装置は、固定フレ−ム１９の上端部にこれと垂
直方向に移動フレ−ム２０を設け、その内部に移動ボッ
クス２１を設け、移動ボックス２１は、ア−ム７を介し
てハンド８および砥石２を支持している。ア−ム７は、
移動ボックス２１内に設けられたスクリュ−ジャッキ機
構により昇降可能となっている。一方、固定フレ−ム１
９の下端部には、これと垂直方向に設けられた２本のロ
−ラ２２が、ベアリンングボックス（図示せず）を介し
て回転自在に軸支されており、長さ方向に張力をかけら
れた鋼板１を２本のロ−ラ２２で支持することができ
る。Another embodiment of the device of the present invention will be described. FIG. 5 is a schematic perspective view showing an example of an embodiment of the steel plate surface grindstone mounting device of the present invention. 19 is a fixed frame,
20 is a moving frame, 21 is a moving box, and 22 is a moving frame.
La is a whetstone, 7 is an arm, and 8 is a hand. The grindstone mounting device shown in FIG. 5 is provided with a moving frame 20 at the upper end of the fixed frame 19 in a direction perpendicular to the fixed frame 19, and a moving box 21 inside the moving frame 21. Supports the hand 8 and the grindstone 2. Arm 7 is
A screw-jack mechanism provided in the moving box 21 allows it to move up and down. On the other hand, fixed frame 1
Two rollers 22 provided in a vertical direction to the lower end portion of the shaft 9 are rotatably supported via a bearing box (not shown) to apply tension in the length direction. The rolled steel plate 1 can be supported by two rollers 22.
【００２５】砥石２は、図２に示したものと同じ押付け
機構９を介してハンド８に設けられており、ハンド８は
鉛直方向に延びたア−ム７を介して移動ボックス２１に
連結されている。移動ボックス２１は、移動フレ−ム２
０上に鋼板１の幅方向に敷設されたリニアガイド（図示
せず）の上を走行するための車輪を有し、駆動モ−タ
（図示せず）に連結されている。また、移動フレ−ム２
０は、固定フレ−ム１９上に鋼板１の長さ方向に敷設さ
れたリニアガイド（図示せず）の上を走行するための車
輪を有し、駆動モ−タ（図示せず）に連結されている。The grindstone 2 is attached to the hand 8 via the same pressing mechanism 9 as shown in FIG. 2, and the hand 8 is connected to the moving box 21 via an arm 7 extending in the vertical direction. ing. The moving box 21 is a moving frame 2
0 has wheels for traveling on a linear guide (not shown) laid in the width direction of the steel plate 1, and is connected to a drive motor (not shown). Also, the moving frame 2
Reference numeral 0 has wheels for traveling on a linear guide (not shown) laid on the fixed frame 19 in the length direction of the steel plate 1, and is connected to a drive motor (not shown). Has been done.
【００２６】移動ボックス２１の鋼板幅方向の可動スト
ロ−クは、鋼板１の最大幅寸法と砥石可動面長さの２倍
との和以上の距離を有する。また、ハンド８とア−ム７
とは旋回ギア機構で連結されているので、砥石２を、ア
−ム７の軸線の廻りの任意の回転角度の方向に回転させ
停止させ、その方向に保持することができる。この実施
態様の砥石掛け装置は、以上のように構成されているの
で、鋼板表面を砥石により所定の押付け力により、鋼板
の長さ方向または幅方向に研削することができる。しか
も、鋼板を幅方向に砥石掛けする際、所定の長さだけ砥
石可動面をはみ出させることにより鋼板を均一に研削す
ることができる。また、鋼板を長さ方向に砥石掛けする
とき、砥石稼働面の幅側端を鋼板の幅側端に重ねつつ砥
石掛けすることができるので、鋼板幅側端近傍の鋼板表
面を均一に研削することができる。The movable stroke of the moving box 21 in the width direction of the steel plate has a distance equal to or larger than the sum of the maximum width dimension of the steel plate 1 and twice the length of the whetstone moving surface. Also, the hand 8 and the arm 7
Since they are connected to each other by a turning gear mechanism, the grindstone 2 can be rotated and stopped in a direction of an arbitrary rotation angle around the axis of the arm 7 and held in that direction. Since the grindstone mounting device of this embodiment is configured as described above, the steel plate surface can be ground in the length direction or the width direction of the steel plate by a predetermined pressing force of the grindstone. Moreover, when the steel plate is hung in the width direction, the steel plate can be uniformly ground by protruding the whetstone movable surface by a predetermined length. Further, when the steel plate is grinded in the length direction, the width side end of the whetstone working surface can be overlapped with the width side end of the steel plate to grind stone, so that the steel plate surface near the steel plate width side end is uniformly ground. be able to.
【００２７】[0027]
【実施例】次に、この発明を実施例により、図を参照し
ながら詳細に説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the drawings based on embodiments.
【００２８】〔実施例１〕冷間タンデム圧延機によって
冷間圧延された冷延鋼帯を、検査ラインで鋼板長さ方向
に所定の張力で支持し、鋼板表面の砥石掛け装置によっ
て鋼板の表面に砥石を接触させ、鋼板の幅方向に砥石を
直線的に多数回往復移動させた。砥石は、鋼板の幅側端
から外側へ砥石稼働面の１部がはみ出す位置まで移動さ
せた後折り返させた。砥石稼働面のはみ出し長さ
（Ｌ’）は、０〜１５０ｍｍの範囲内において１０ｍｍ
刻みで変化させ、各条件で砥石掛けした場合の鋼板表面
の研削状況を目視観察した。[Example 1] A cold-rolled steel strip cold-rolled by a cold tandem rolling mill was supported by a test line in a lengthwise direction of a steel sheet with a predetermined tension, and a surface of the steel sheet was grinded by a grindstone mounting device on the surface of the steel sheet. The whetstone was brought into contact with, and the whetstone was linearly reciprocated many times in the width direction of the steel sheet. The grindstone was moved from the width side edge of the steel plate to the outside until a part of the grindstone working surface protrudes and then folded back. The protruding length (L ') of the whetstone working surface is 10 mm within the range of 0 to 150 mm.
The state of grinding on the surface of the steel sheet was visually observed when the grindstone was applied under each condition by changing the pitch.
【００２９】鋼板表面の砥石掛け装置としては、前述し
た図１および図２に示した装置を、検査ラインの１方の
側面にセットして使用した。図２中の押付け機構９とし
ては、内部に空気１０が封入されたゴム製のチュ−ブに
よって構成されたものを用いた。As the grindstone mounting device for the surface of the steel plate, the device shown in FIGS. 1 and 2 was set on one side surface of the inspection line and used. As the pressing mechanism 9 in FIG. 2, a pressing mechanism 9 composed of a rubber tube in which air 10 is enclosed is used.
【００３０】砥石の移動速度は鋼板の幅方向に１．５ｍ
／ｓｅｃ、砥石掛け中の鋼板の長さ方向送りピッチは、
１５ｍｍであり、鋼板の板幅は１０００ｍｍである。そ
の結果、鋼板表面上の砥石の軌跡は図６に示した軌跡
（Ｐ）パタ−ンを描いた。The moving speed of the grindstone is 1.5 m in the width direction of the steel plate.
/ Sec, the lengthwise feed pitch of the steel plate during grinding is
It is 15 mm and the plate width of the steel plate is 1000 mm. As a result, the locus of the grindstone on the surface of the steel plate traced the locus (P) pattern shown in FIG.
【００３１】表１に研削した鋼板および研削に用いた砥
石の諸元を示す。Table 1 shows the specifications of the ground steel plate and the grindstone used for the grinding.
【００３２】[0032]
【表１】 [Table 1]
【００３３】上記砥石掛け試験結果を、図３にまとめ
た。同図は、鋼板表面を板幅方向に砥石掛けした場合
の、鋼板幅側端近傍の表面研削不良部の幅に及ぼす、砥
石稼働面のはみ出し長さの影響を示すグラフである。同
図からわかるように、砥石稼働面のはみ出し長さが３０
ｍｍ未満の場合には、研削不良部の幅が広いが、砥石稼
働面のはみ出し長さを４０ｍｍ以上にすると、研削不良
部の幅は５ｍｍ以内と狭く良好になる。ここで、砥石稼
働面のはみ出し長さ４０ｍは、砥石稼働面全長２００ｍ
ｍの１／５に相当する。The results of the grindstone mounting test are summarized in FIG. The same figure is a graph showing the influence of the protruding length of the working surface of the grindstone on the width of the surface grinding defective portion near the side edge of the steel plate width when the steel plate surface is grinded in the plate width direction. As can be seen from the figure, the protruding length of the whetstone working surface is 30
When it is less than mm, the width of the defective grinding portion is wide, but when the protruding length of the grindstone operating surface is 40 mm or more, the width of the defective grinding portion becomes narrow within 5 mm and becomes good. Here, the protruding length of the grindstone operating surface is 40 m, and the total length of the grindstone operating surface is 200 m.
It corresponds to 1/5 of m.
【００３４】〔実施例２〕冷間タンデム圧延機によって
冷間圧延された冷延鋼帯を、検査ラインで鋼板長さ方向
に所定の張力で支持し、鋼板表面の砥石掛け装置によっ
て鋼板の表面に砥石を接触させ、鋼板の長さ方向に砥石
を直線的に多数回往復移動させた。砥石稼働面の中心点
の鋼板表面上の軌跡は、図１７に示した鋼板長さ方向の
砥石掛けの場合（同図中の右側）のパタ−ンと同じであ
る。砥石掛け中、鋼板表面の幅側端近傍を砥石掛けする
ときは、砥石稼働面が鋼板側端から外側へはみ出さない
状態の場合から、砥石稼働面が所定幅だけ鋼板側端から
はみ出す状態の場合までの間で、はみ出し幅の水準を５
ｍｍ刻みで変化させ、鋼板表面の研削状況を目視観察し
た。[Example 2] A cold-rolled steel strip cold-rolled by a cold tandem rolling mill was supported at a predetermined tension in the length direction of the steel plate on an inspection line, and the surface of the steel plate was grinded by a grindstone mounting device on the surface of the steel plate. The whetstone was brought into contact with, and the whetstone was linearly reciprocated many times in the length direction of the steel plate. The locus of the center point of the grindstone operating surface on the steel plate surface is the same as the pattern in the case of the grindstone hanging in the steel plate length direction shown in FIG. 17 (right side in the figure). During grinding, when grinding the width side edge of the steel plate surface in the vicinity of the width side edge of the steel plate, from the case where the whetstone working surface does not protrude outward from the steel plate side end, the whetstone working surface extends beyond the steel plate side end by a predetermined width. Between cases, the level of protrusion width is set to 5
The grinding condition on the surface of the steel sheet was visually observed by changing the value in increments of mm.
【００３５】鋼板表面の砥石掛け装置としては、前述し
た図１および図２に示した装置を、検査ラインの１方の
側面にセットして使用した。図２中の押付け機構９とし
ては、内部に空気１０が封入されたゴム製のチュ−ブに
よって構成されたものを用いた。As the grindstone mounting device for the surface of the steel plate, the device shown in FIGS. 1 and 2 was set on one side of the inspection line and used. As the pressing mechanism 9 in FIG. 2, a pressing mechanism 9 composed of a rubber tube in which air 10 is enclosed is used.
【００３６】砥石の移動速度は鋼板長さ方向に１．５ｍ
／ｓｅｃ、砥石掛け中、鋼板の送りは停止させた。な
お、砥石の鋼板幅方向への送りピッチは１５ｍｍであ
る。使用した砥石掛け装置は、実施例１で使用したもの
と同一である。この砥石掛け試験においては、砥石の長
辺を砥石掛けの方向（鋼板の長さ方向）に平行にセット
した。研削した鋼板および研削に用いた砥石の諸元は前
記表１に示した通りである。The moving speed of the grindstone is 1.5 m in the lengthwise direction of the steel plate.
/ Sec, feeding of the steel plate was stopped during the grindstone application. The feed pitch of the grindstone in the width direction of the steel plate is 15 mm. The grindstone mounting device used is the same as that used in Example 1. In this grindstone mounting test, the long side of the grindstone was set parallel to the grindstone mounting direction (the length direction of the steel plate). The specifications of the ground steel plate and the grindstone used for the grinding are as shown in Table 1 above.
【００３７】上記鋼板の砥石掛け試験結果を、図４にま
とめた。同図は、鋼板表面を鋼板長さ方向に砥石掛けし
た場合の、鋼板幅側端近傍の表面研削不良部の幅に及ぼ
す、砥石稼働面のはみ出し幅の影響を示すグラフであ
る。同図からわかるように、砥石稼働面が鋼板幅側端か
ら５ｍｍ以上はみ出すと、研削不良部の幅が大きくなる
が、砥石稼働面のはみ出し幅をなくして砥石稼働面の幅
側端を鋼板の幅側端に合わせると、研削不良部の幅は１
０ｍｍ未満と狭く良好になる。The results of the grindstone application test of the above steel plates are summarized in FIG. The same figure is a graph showing the influence of the protruding width of the whetstone working surface on the width of the surface grinding defective portion near the steel plate width side end when the steel plate surface is grinded in the steel plate length direction. As can be seen from the figure, if the whetstone working surface protrudes from the steel plate width side edge by 5 mm or more, the width of the defective grinding portion increases, but the whetstone working surface protrusion width is eliminated and the whetstone working surface width side end is The width of the defective grinding part is 1 when adjusted to the width side edge.
If it is less than 0 mm, it becomes narrow and good.
【００３８】[0038]
【発明の効果】以上述べたように、この発明によれば、
鋼板表面を、鋼板の幅方向に砥石掛けする場合、あるい
は鋼板の長さ方向に砥石掛けする場合のいずれにおいて
も、特に幅側端近傍の表面を均一に研削することができ
るので、その部分に発生する微小な表面欠陥の検出精度
の向上を図ることができ、鋼板の表面品質保証体制のレ
ベルアップを図ることができる、工業上有益な効果がも
たらされる。As described above, according to the present invention,
In the case where the steel plate surface is grinded in the width direction of the steel plate, or in the case where it is grinded in the length direction of the steel plate, the surface in the vicinity of the width side end can be particularly uniformly ground, so that part It is possible to improve the detection accuracy of minute surface defects that occur, and to improve the level of the surface quality assurance system of the steel sheet, which is an industrially beneficial effect.
【図１】この発明の砥石掛け装置の１実施態様を示す概
略側面図である。FIG. 1 is a schematic side view showing an embodiment of a grindstone mounting device of the present invention.
【図２】図１中のハンドの構成を示す概略側面図であ
る。FIG. 2 is a schematic side view showing a configuration of a hand in FIG.
【図３】この発明の範囲内および範囲外の鋼板表面の砥
石掛け方法により、板幅方向に砥石掛けした場合の、鋼
板幅側端近傍の表面研削不良部の幅に及ぼす、砥石稼働
面のはみ出し長さの影響を示すグラフである。FIG. 3 is a diagram showing a method of grinding a wheel surface on a steel plate surface within and outside the range of the present invention, in which the grinding wheel working surface exerts an effect on the width of a surface grinding defect portion near the steel plate width side end when the grinding wheel is grinded in the plate width direction. It is a graph which shows the influence of the protrusion length.
【図４】この発明の範囲内および範囲外の鋼板表面の砥
石掛け方法により、鋼板長さ方向に砥石掛けした場合
の、鋼板幅側端近傍の表面研削不良部の幅に及ぼす、砥
石稼働稼働面のはみ出し幅の影響を示すグラフである。FIG. 4 is a diagram showing a method of operating a grindstone on a width of a surface-grinding defective portion near a side edge of a steel plate when the stone is grinded in a length direction of the steel plate according to a method of grinding a steel plate surface within and outside the scope of the present invention. It is a graph which shows the influence of the protrusion width of the surface.
【図５】この発明の砥石掛け装置の他の実施態様を示す
概略斜視図である。FIG. 5 is a schematic perspective view showing another embodiment of the grindstone mounting device of the present invention.
【図６】図１に示した砥石掛け装置による、鋼板表面上
の砥石掛けの軌跡の１例を示す概略平面図である。6 is a schematic plan view showing an example of a locus of grindstone mounting on a surface of a steel plate by the grindstone mounting device shown in FIG. 1. FIG.
【図７】従来の鋼板表面の砥石掛け方法により、鋼板幅
方向に砥石掛けした場合の、１方の鋼板幅側端近傍にお
ける砥石稼働面と鋼板表面との接触状態を示す概略横断
面図である。FIG. 7 is a schematic cross-sectional view showing a contact state between a whetstone operating surface and a steel plate surface in the vicinity of one side of the steel plate width side when the whetstone is hung in the steel plate width direction by a conventional steel plate surface grinding method. is there.
【図８】この発明の鋼板表面の砥石掛け方法により、鋼
板幅方向に砥石掛けした場合の、鋼板幅中央部における
砥石稼働面と鋼板表面との接触状態を示す概略横断面図
である。FIG. 8 is a schematic cross-sectional view showing a contact state between a whetstone operating surface and a steel plate surface at a central portion of the steel plate width when the whetstone is applied in the steel plate width direction by the steel plate surface grinding method of the present invention.
【図９】従来の鋼板表面の砥石掛け方法により、鋼板幅
方向に砥石掛けした場合の、他方の鋼板幅側端近傍にお
ける砥石稼働面と鋼板表面との接触状態を示す概略横断
面図である。FIG. 9 is a schematic cross-sectional view showing a contact state between a whetstone operating surface and a steel plate surface in the vicinity of the other steel plate width side end when the whetstone is hung in the steel plate width direction by a conventional steel plate surface grinding method. .
【図１０】この発明の鋼板表面の砥石掛け方法により、
鋼板幅方向に砥石掛けした場合の、鋼板幅側端近傍にお
ける砥石稼働面と鋼板表面との接触状態を示す概略横断
面図である。FIG. 10 is a plan view of a steel plate surface grinding method according to the present invention.
FIG. 5 is a schematic cross-sectional view showing a contact state between a whetstone operating surface and a steel plate surface in the vicinity of a steel plate width side end when a grindstone is hung in the steel plate width direction.
【図１１】この発明の鋼板表面の砥石掛け方法により、
鋼板長さ方向に砥石掛けした場合の、鋼板幅側端近傍に
おける砥石稼働面と鋼板表面との接触状態を示す概略横
断面図である。FIG. 11 is a diagram showing a method of mounting a grindstone on the surface of a steel plate of the present invention.
FIG. 4 is a schematic cross-sectional view showing a contact state between a whetstone working surface and a steel plate surface in the vicinity of a steel plate width side end when a grindstone is hung in the steel plate length direction.
【図１２】従来の鋼板表面の砥石掛け方法により、鋼板
長さ方向に砥石掛けした場合の、鋼板幅側端近傍におけ
る砥石稼働面と鋼板表面との接触状態を示す概略横断面
図である。FIG. 12 is a schematic cross-sectional view showing a contact state between a whetstone operating surface and a steel plate surface in the vicinity of a steel plate width side end when the whetstone is hung in the steel plate length direction by a conventional steel plate surface whetstone grinding method.
【図１３】表面疵を有する鋼板の表面を砥石掛けする直
前の鋼板表面および表面疵、並びに砥石稼働面の状態の
１例を示す概略縦断面図である。FIG. 13 is a schematic vertical cross-sectional view showing an example of a state of a steel plate surface and a surface flaw immediately before a grindstone is applied to the surface of a steel sheet having a surface flaw, and a grindstone working surface.
【図１４】表面疵を有する鋼板の表面を砥石掛けする直
前の鋼板表面および表面疵、並びに砥石稼働面の状態の
他の例を示す概略縦断面図である。FIG. 14 is a schematic vertical cross-sectional view showing another example of the state of the steel plate surface and the surface flaw immediately before the grindstone is applied to the surface of the steel sheet having the surface flaw, and the working state of the grindstone.
【図１５】図１３の状態の鋼板表面を砥石掛けした後の
状態を示す概略縦断面図である。FIG. 15 is a schematic vertical cross-sectional view showing a state after the surface of the steel sheet in the state of FIG. 13 has been grinded.
【図１６】図１４の状態の鋼板表面を砥石掛けした後の
状態を示す概略縦断面図である。16 is a schematic vertical cross-sectional view showing a state after the steel plate surface in the state of FIG. 14 has been lapped with a grindstone.
【図１７】鋼板の長さ方向の表面線状欠陥、および鋼板
の幅方向の表面線状欠陥を有する鋼板の、この発明の方
法による表面砥石掛けの軌跡の１例を示す概略平面図で
ある。FIG. 17 is a schematic plan view showing an example of a locus of surface grinding with a method of the present invention for a steel sheet having surface linear defects in the length direction of the steel sheet and surface linear defects in the width direction of the steel sheet. .
【図１８】先行技術１を示す概略斜視図である。FIG. 18 is a schematic perspective view showing Prior Art 1.
【図１９】先行技術２を示す概略正面図である。FIG. 19 is a schematic front view showing Prior Art 2.
【図２０】先行技術３を示す概略正面図である。FIG. 20 is a schematic front view showing Prior Art 3.
【図２１】先行技術３を示す概略側面図である。FIG. 21 is a schematic side view showing Prior Art 3.
【図２２】先行技術４を示す概略斜視図である。FIG. 22 is a schematic perspective view showing Prior Art 4.
１ 鋼板、 １’鋼板の幅側端近傍表面、 ２ 砥石、 ２’砥石稼働面、 ２”砥石稼働面の第１幅側端線、 ２＊ 砥石稼働面の第２幅側端線、 ３ 微小凸状欠陥、 ４ 微小凹状欠陥、 ５ 研削部、 ５’非研削部、 ６ 多軸ロボット、 ７ ア−ム、 ８ ハンド、 ９ 押付け機構、 １０ 空気、 １１ 長さ方向表面線状疵、 １２ 幅方向表面線状疵、 １３ ベルトサンダ−、 １４ 押付けシリンダ−、 １５ トラバ−スシリンダ−、 １６ バネ、 １７ サンドペ−パ−ロ−ル、 １８ 砥石掛け装置、 １９ 固定フレ−ム、 ２０ 移動フレ−ム、 ２１ 移動ボックス、 ２２ ロ−ラ、 ２３ 支持台、 ２４ 弾性体、 ２５ ロ−ル、 ２６ モ−タ−、 ２７ 歯車、 Ｌ 砥石稼働面長さ、 Ｌ’ 砥石稼働面のはみ出し長さ、 Ｗ 砥石稼働面の幅、 Ｐ 砥石掛けの軌跡、 図形ＡＢＣＤ 砥石掛け範囲。 1 steel plate, 1'side surface of width side end of steel plate, 2 grindstone, 2'grinding wheel working surface, 2 "grindstone working surface first width side end line, 2 * grindstone working surface second width side end line, 3 minute Convex defect, 4 Micro concave defect, 5 Grinding part, 5'non-grinding part, 6 Multi-axis robot, 7 Arm, 8 Hand, 9 Pressing mechanism, 10 Air, 11 Longitudinal surface linear defect, 12 Width Direction surface linear flaw, 13 belt sander, 14 pressing cylinder, 15 traverse cylinder, 16 spring, 17 sand paper roll, 18 grindstone mounting device, 19 fixed frame, 20 moving frame , 21 moving box, 22 roller, 23 support base, 24 elastic body, 25 roll, 26 motor, 27 gear, L grinding wheel working surface length, L'grinding tool working surface protrusion length, W Width of whetstone working surface, P whetstone locus, figure AB D grindstone seat range.
Claims (3)
の表面の少なくとも１方の面に砥石を接触させつつ移動
させて、前記鋼板の表面を研削する方法において、 前記鋼板の幅方向に前記砥石を移動させて研削する場合
には、前記鋼板の幅側端よりも外側へ砥石稼働面がはみ
出す位置まで移動させ、次いでその位置から反対方向に
移動させることを繰り返し行ない、且つ、前記砥石稼働
面の前記はみ出し部分の前記鋼板幅方向の長さを、前記
砥石稼働面の前記鋼板幅方向の全長の５分の１以上と
し、 前記鋼板の長さ方向に前記砥石を移動させて研削する場
合において、前記鋼板の幅側端近傍を研削するときは、
前記砥石稼働面の幅側端を前記鋼板の幅側端に重ねつ
つ、且つ、前記砥石稼働面を前記鋼板表面に接触させて
研削することを特徴とする、鋼板表面の砥石掛け方法。1. A method of grinding a surface of a steel sheet by moving a grindstone while contacting at least one surface of the steel sheet supported by a predetermined tension in the length direction, in the width direction of the steel sheet. In the case of grinding by moving the grindstone to, to the position where the grindstone working surface extends outward from the width side end of the steel sheet, and then repeatedly moving in the opposite direction from that position, and, The length of the protruding portion of the whetstone working surface in the steel plate width direction is set to ⅕ or more of the entire length of the whetstone working surface in the steel plate width direction, and the whetstone is moved in the length direction of the steel plate for grinding. In this case, when grinding the vicinity of the width side end of the steel plate,
A grindstone mounting method for a steel plate surface, characterized in that the whetstone working surface is overlapped with the widthwise end of the steel plate, and the whetstone working surface is brought into contact with the steel plate surface for grinding.
由度を有する移動機構と、前記移動機構に設けられたア
−ムと、前記ア−ムの先端に連結されたハンドと、押付
け機構を介して前記ハンドに設けられた砥石と、を備
え、 前記ア−ムは、前記砥石稼働面の全体が、前記鋼板の幅
側端の外側へはみ出す位置まで移動可能なストロ−クを
有することを特徴とする、鋼板表面の砥石掛け装置。2. A moving mechanism having degrees of freedom in at least three axial directions orthogonal to each other, an arm provided in the moving mechanism, a hand connected to a tip of the arm, and a pressing mechanism. And a grindstone provided on the hand, wherein the arm has a stroke in which the entire working surface of the grindstone is movable to a position protruding to the outside of the width side end of the steel plate. A grindstone mounting device for the steel plate surface.
回転角度に、前記砥石を回転させ停止させ保持する機構
を有することを特徴とする請求項２記載の鋼板表面の砥
石掛け装置。3. The grindstone mounting device for a steel plate surface according to claim 2, wherein the hand has a mechanism for rotating and stopping and holding the grindstone at a predetermined rotation angle around the axis thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21212294A JP2792442B2 (en) | 1994-08-12 | 1994-08-12 | Method and apparatus for grinding a steel plate surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21212294A JP2792442B2 (en) | 1994-08-12 | 1994-08-12 | Method and apparatus for grinding a steel plate surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0854326A true JPH0854326A (en) | 1996-02-27 |
| JP2792442B2 JP2792442B2 (en) | 1998-09-03 |
Family
ID=16617251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21212294A Expired - Fee Related JP2792442B2 (en) | 1994-08-12 | 1994-08-12 | Method and apparatus for grinding a steel plate surface |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2792442B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856035A (en) * | 2016-05-20 | 2016-08-17 | 王恒标 | Grinding and removing device for impurity scraps on surface of steel |
| CN109648440A (en) * | 2019-01-22 | 2019-04-19 | 安徽理工大学 | A kind of grinding device for rusty plate |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20230056224A (en) * | 2021-10-20 | 2023-04-27 | 주식회사 포스코 | Appratus for inspecting surface of plating strip |
-
1994
- 1994-08-12 JP JP21212294A patent/JP2792442B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856035A (en) * | 2016-05-20 | 2016-08-17 | 王恒标 | Grinding and removing device for impurity scraps on surface of steel |
| CN109648440A (en) * | 2019-01-22 | 2019-04-19 | 安徽理工大学 | A kind of grinding device for rusty plate |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2792442B2 (en) | 1998-09-03 |
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