JP3663050B2 - Automatic stripping method and stripping apparatus for long materials - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for automatically cutting a long material such as a round bar steel, a steel pipe, etc., which uses a full cross section scoring device to automatically scoop the surface of the long material, and automatically picks up the material based on the obtained scissor position information. It relates to an automatic scraping device. In particular, the present invention relates to an automatic material cutting method and an automatic material cutting device that can perform automatic material cutting quickly and accurately even when there are a plurality of wrinkles.
[0002]
[Prior art]
As this type of prior art, there is, for example, Japanese Patent Publication No. 52-15054 “A method for defining the wrinkle position in a separation type automatic picking apparatus”.
[0003]
In this method, the wrinkle inspection device and the grinding machine are separated from each other, and a reference point such as a label that can be detected by optical means is provided on the material to be processed at the time of inspection, and is detected by an optical detector during grinding. The grinding position of the grinding machine is controlled based on the reference.
[0004]
[Problems to be solved by the invention]
As in the example shown in the above-mentioned “prior art”, a method of attaching a label to a test material such as a round steel bar or spraying a quick-drying ink or paint is actually inaccurate with various positions. It was never enough in terms of accuracy with respect to the wrinkle pattern. In particular, it has been difficult to apply to a material having a high flaw detection speed (for example, 100 m / min or more) line or a small-diameter bend.
[0005]
In addition, there may be an ultrasonic flaw detector that uses water immediately after the surface inspection device, and in such a line configuration, label detachment, marking blurring, etc. occur, and the accuracy and certainty of the origin position are improved. It is difficult to apply to the required automatic scraping device.
[0006]
Further, during flaw detection, the material often twists and runs due to wear of the transport roll, etc. When there is only one reference mark, the position information map of the flaw becomes inaccurate and causes a position shift in automatic picking processing.
[0007]
[Means for Solving the Problems]
The present invention solves the above-mentioned problems, and the gist thereof is as described in the claims. That is,
1. A round bar steel, steel pipes and other long-surface surface ridges are crushed by a full-section crustal exploration device, and the crushed position information obtained by the full-section crustal exploration device, It is stored as wrinkle position coordinate data based on the coordinate system in which the surface of the long material is developed. On the other hand, the twist of the long material at the time of wrinkle exploration is obtained from the long material surface skin noise data obtained by the full-section wrinkle exploration device. An automatic scooping method characterized by measuring movement, correcting the scissors position coordinate data based on the measurement data, and scoring based on the corrected scissor position coordinate data.
[0008]
2. A round bar steel, steel pipes and other long-surface surface ridges are crushed by a full-section crustal exploration device, and the crushed position information obtained by the full-section crustal exploration device, It is stored as wrinkle position coordinate data based on the coordinate system in which the surface of the long material is developed. On the other hand, the twist of the long material at the time of wrinkle exploration is obtained from the long material surface skin noise data obtained by the full-section wrinkle exploration device. When the movement is measured, the wrinkle position coordinate data is corrected and stored based on the measured data, the corrected wrinkle position coordinate data is tracked in the order of materials, and then the material reaches the cutting processing position , Based on the longitudinal heel position coordinate data of the heel selected under predetermined conditions from the corrected heel position coordinate data obtained by performing the tracking process on the material. The material is moved to the longitudinal direction coordinate position of the material, further rotated, and the circumferential direction position data is obtained by the circumferential direction probe, and this is collated with the selected position coordinate data of the selected position. An automatic scooping method characterized by finalizing and scoring all wrinkle positions of the corrected wrinkle position coordinate data. 3. The flaw position coordinate data, elongated material according to claim 1 wherein characterized in that the position data of the resolution obtained by dividing the entire circumference at a predetermined angle unit in the circumferential direction flaws chamfering width less crack-up machine Automatic collection method.
4). Item 2 above is characterized in that the circumferential direction position data and the longitudinal position coordinate data are resolution position data obtained by dividing the entire circumference into predetermined angle units equal to or smaller than the circumferential direction machining width of the machining machine. The automatic stripping method of the described long material.
[0009]
5. Long-section material cross-section scissor exploration device, and scissor position coordinate data input means for inputting scissor position information obtained by the full-section scissor survey device as reed position coordinate data based on a coordinate system in which the surface of the long material is developed When a flaw position coordinate data storage means for storing flaw position coordinate data input by該疵position coordinate data input means, wherein the surface skin to enter the elongated material surface texture noise data obtained by the total cross-sectional flaw locator By means of noise data input means, torsional motion measuring means for measuring the torsional motion of a long material at the time of scissor exploration from the long material surface skin noise data input by the surface skin noise data input means, and torsional motion measuring means疵 position coordinate data correcting means for correcting the heel position coordinate data based on the measured torsional motion measurement data, and the heel position coordinate data correcting means Automatic flaw-up apparatus characterized by having a crack-up processing means for processing flaws up on the basis of the amended flaw position coordinate data.
[0010]
6). Long-section material cross-section scissor exploration device, and scissor position coordinate data input means for inputting scissor position information obtained by the full-section scissor survey device as reed position coordinate data based on a coordinate system in which the surface of the long material is developed When a flaw position coordinate data storage means for storing flaw position coordinate data input by該疵position coordinate data input means, wherein the surface skin to enter the elongated material surface texture noise data obtained by the total cross-sectional flaw locator By means of noise data input means, torsional motion measuring means for measuring the torsional motion of a long material at the time of scissor exploration from the long material surface skin noise data input by the surface skin noise data input means, and torsional motion measuring means疵 position coordinate data correcting means for correcting the heel position coordinate data based on the measured torsional motion measurement data, and the heel position coordinate data correcting means The corrected heel position coordinate data storage means for storing the corrected heel position coordinate data for each long material, and the corrected heel position coordinate data stored for each long material by the corrected heel position coordinate data storage means疵 selection means for selecting heel position coordinate data of a certain heel according to a predetermined condition, and moving to the longitudinal heel position of the heel based on the heel position coordinate data of the heel selected by the heel selection means The circumferential direction dredging probe directly connected to the dredging processing means, and the circumferential dredging data obtained by the circumferential dredging probe are collated with the selected dredging position coordinate data of the selected dredging An automatic device comprising: a wrinkle position determining means for determining the total wrinkle position of the corrected wrinkle position coordinate data; and a scooping processing means for scoring based on the wrinkle position determined by the wrinkle position determining means. Tacking . It is.
[0011]
The first feature of the present invention is to store the wrinkle position information obtained by the full-section wrinkle exploration device as wrinkle position coordinate data based on the coordinate system in which the long material surface is developed, The torsional motion of the elongate material during eaves exploration is measured from elongate material surface skin noise data obtained by the apparatus, and the eaves position coordinate data is corrected based on the measured data. By configuring in this way, highly accurate and accurate eyelid position coordinate data can be obtained.
[0012]
As shown in FIG. 3, the present inventor found that the background noise of the soot exploration device has a flow depending on how the material proceeds (twisting, etc.), and this phenomenon is caused by the torsional motion of the material to be explored. I thought it could be used for measurement, and paid attention to it. As a result, it has been found that the torsional motion of the material to be probed can be measured from the noise flow angle, and the present invention has been completed.
[0013]
Accordingly, as in the invention described in claim 2 of the present application, even in the case where there are a plurality of wrinkles, the circumferential position of one axial wrinkle is determined and the circumferential wrinkle positions of other axial wrinkles are also determined. It becomes possible to confirm.
[0014]
The above points will be further described in detail based on the drawings. As shown in FIG. 1, the full-section scissor survey device generally has a mechanical origin and is fixed. Therefore, for example, a map divided into 80 circumferences having the same origin is made, and information flawed by the whole cross-section scissor exploration device is put on the map, but when the material goes straight, as shown in FIG. However, when the material is twisted, since the map origin is fixed, the flaw detection signal recorded on the fixed map is recorded with a deviation as shown in FIG.
[0015]
On the other hand, it has been found that the material skin noise of the rolled long material is generated almost uniformly in the long axial direction.
[0016]
Therefore, for example, by storing the material skin noise data when the material is forced to go straight ahead, and comparing this with the material skin noise data at the time of actual work, the deviation between them is measured. It has been found that the torsional motion of long materials can be measured during exploration.
[0017]
The invention described in claim 5 of the present application relates to an apparatus for carrying out the present invention.
[0018]
As the entire cross-section flaw detection device used in the present invention, a leakage magnetic flux flaw detection device or an eddy current flaw detection device is used, and the sensor rotates and the material goes straight, and conversely the sensor is fixed and the material rotates. There are things and both are applicable.
[0019]
The wrinkle position information obtained by this full-section wrinkle exploration device is input as wrinkle position coordinate data based on the coordinate system in which the surface of the long material is developed. This is what is called a soot map.
[0020]
As the eyelid position coordinate data input means, for example, there is a method of placing eyelid data on a map prepared in advance by an all-section eyelid search device.
[0021]
On the other hand, the long material surface skin noise data is input by the full-section flaw detection apparatus. This surface skin noise data is handled separately from the wrinkle position coordinate data. For example, a map for noise data different from the wrinkle map is prepared, and the data may be put on this.
As the surface skin noise data input means, it is sufficient to use the above-mentioned all-cross wrinkle exploration device, separate wrinkle data and noise data based on the phase of the signal, and input only the noise data to the noise data map.
[0022]
The torsional motion of the long material at the time of scissor exploration is measured from the long material surface skin noise data input as described above. The torsional motion can be measured by comparing the noise signal recorded in the noise data map with the noise signal when the material is forced to go straight ahead.
[0023]
Next, the eyelid position coordinate data is corrected based on the measured torsional motion measurement data. The correction of the eyelid position coordinate data may be performed by correcting the surface skin noise data by the same angle in the direction in which the noise data is aligned.
[0024]
Finally, the wrinkle removal processing is performed based on the corrected wrinkle position coordinate data. As the scraping processing means, known means such as a grinder can be applied and is not limited at all.
[0025]
The invention according to claim 2 of the present application measures the torsional motion of a long material at the time of exploration, corrects and stores the heel position coordinate data based on the measurement data, and stores the corrected heel position coordinate data. After the tracking process in the order of the materials, when the material arrives at the cutting position, the corrected vertical position coordinate data obtained by performing the tracking process on the material in the circumferential direction roving probe directly connected to the cutting apparatus Based on the heel longitudinal heel position coordinate data selected under the predetermined condition from the inside, the material moves to the longitudinal heel coordinate position of the material, further rotates the material, and the circumferential direction position data is obtained by the circumferential heel probe. It is characterized in that the total wrinkle position of the corrected wrinkle position coordinate data is determined and collated by comparing the selected wrinkle position coordinate data with the selected wrinkle position coordinate data.
[0026]
The invention described in claim 6 of the present application relates to an apparatus for carrying out the inventive method described in claim 2 of the present application.
[0027]
The corrected wrinkle position coordinate data is synchronized with the material, and tracking processing is performed up to the wrinkle removal processing table, but if the wrinkle position information finely divided in the circumferential direction is also taken together, the number distribution of wrinkles can be found in advance, Based on the information, it is possible to efficiently control the scraping apparatus.
[0028]
It is preferable to use a flaw detection device having a wrinkle detection capability equivalent to that of a full-section wrinkle search device for the circumferential wrinkle position searcher directly connected to the wrinkle removal processing device. The automatic scraping processing device and the circumferential scissor position searcher are directly connected to each other, so that there is almost no mechanical misalignment between the searcher and the scissor processing device, and the searched scissors can be reliably scraped.
The present invention relates to information on the circumferential position information of the kite selected from the modified kite position coordinate data (the kite map) under a predetermined condition, and the kite obtained by the circumferential kite explorer directly connected to the kite processing device. It is characterized in that the circumferential position information is collated, the position of the whole eyelid is determined on the basis of the collation result, and automatic scraping is performed. Thereby, a reliable and accurate automatic scraping process can be performed quickly.
[0029]
That is, when there are a plurality of wrinkles, it takes time to process the circumferential direction position of each wrinkle determined by the wrinkle exploration device directly connected to the wrinkle removal processing device. When the heel position coordinate data is not corrected as in the present invention, if the material is crushed while the material is twisted at the stage of inputting the heel position coordinate data (入 力 map) with the entire cross-sectional surface hunting apparatus, the map map data and actual Therefore, it is necessary to determine the wrinkle position in the circumferential direction by the wrinkle exploration device directly connected to the wrinkle removal processing device one by one in the axial direction.
[0030]
On the other hand, according to the present invention, even in the case of a long material having a plurality of wrinkles in the axial direction, the second wrinkle exploration device directly connected to the wrinkle removal processing device in a single wrinkle is a circumferential direction. There is no need to determine the wrinkle position, and the remaining wrinkle position can be determined and the wrinkle-cutting process can be performed only by determining one wrinkle position. As a result, it is possible to construct a highly productive automatic scraping system.
[0031]
In the present invention, a heel that is a predetermined condition is selected from the corrected heel position coordinate data (the heel map), and the heel position in the circumferential direction of the heel is determined.
[0032]
The condition for selecting the eyelids may be set such that, for example, the eyelid closest to the current position of the second eyelid exploration device directly connected to the eyelet removal processing device is selected.
[0033]
Next, in the invention described in claim 3 of the present application, in the invention described in claim 1 of the present application, the wrinkle position coordinate data is set to a predetermined angle unit equal to or less than the circumferential cutting width of the cutting processing device on the entire circumference. It is characterized by the fact that the position data has a divided resolution. The invention described in claim 4 of the present application is the invention described in claim 2 of the present application, wherein the circumferential direction position data and the heel position coordinate data are set to a predetermined width equal to or less than the circumferential direction machining width of the machining apparatus. It is characterized in that it is position data with resolution divided into angular units.
[0034]
By configuring in this way, it is possible to process a plurality of wrinkles within the cutting width with a single cutting process, and enjoy the merit that an efficient cutting process can be performed.
[0035]
For example, when the circumferential cutting width of the cutting machine is 10 mm and the cutting target is a round steel bar having a diameter of φ50 or less, the map information obtained by dividing the circumference into 16 pieces may be collated. .
[0036]
By configuring in this way, effective automatic scraping can be achieved.
[0037]
DETAILED DESCRIPTION OF THE INVENTION
[0038]
【Example】
FIG. 5 is a layout diagram showing an embodiment of the automatic picking method according to the present invention.
[0039]
In this embodiment, the present invention was applied to round steel bars φ20 to φ80. The material 1 is kicked in from the deburring table 2 to the inspection table 3, and the entire length of the entire cross section is flawed by the rotary leakage magnetic flux flaw detector 4, and the flawed material (rejected material, maintenance required material) 8 Is tracked and transferred to the grinding table 9 of the scraping processing station. At this time, the wrinkle position information (the wrinkle map data) of each wrinkled material 8 is also tracked in synchronization with the tracking (forward feed) of each wrinkled material 8.
[0040]
Here, the heel position information is displayed as shown in FIG. 2B by inputting data into the heel map divided into 16 circumferences by the rotary leakage magnetic flux flaw detector 4.
[0041]
In addition, the material skin noise data of the material 1 is input to the noise data map obtained by dividing the circumference by 80 when the wrinkle data is collected by the rotary leakage magnetic flux flaw detector 4. At this time, FIG. When the material 1 is conveyed by being screwed, it is recorded as shown in FIG. This torsional motion is measured, and the wrinkle map data is corrected in the circumferential direction so as to be aligned with the data in FIG.
[0042]
The stored eyelid position coordinate data after correction is shown in FIG.
[0043]
The inspection speed of the inspection table 3 is as fast as 80 to 120 m / min, and since there is a rotating ultrasonic flaw detector 6 that uses water as a contact medium on the rear surface, accurate origin mark or labeling cannot be applied. The mark by the marking device 5 is for confirmation.
[0044]
The material that has passed the rotary leakage magnetic flux flaw detector 4 goes straight without jumping out as a wrinkle-free material (accepted material, maintenance unnecessary material) 7. In other words, only the ridged material (failed material, care required material) 8 is arranged in a line on the jumping table 14. The wrinkle-free material (accepted material, maintenance-unnecessary material) 7 is only required to pass through the grinding table 9, and it is not always necessary to sort good products and defective products.
[0045]
The wrinkle position coordinate data after correction of the wrinkle-containing material (rejected material, care required material) 8 is processed and stored by the signal processing device 15 of the rotary leakage magnetic flux flaw detector 4, and the wrinkled material (not-good) is detected by tracking. When an acceptable material (maintenance material) 8 comes on the grinding table 9, a control signal is transmitted to the control device of the grinding machine 11.
[0046]
That is, the hail exploration device 10 moves to the hail center position in the longitudinal direction based on the hail map information stored in the signal processing device 15, and the hulled material 8 is chucked by the chucking device 12 and the material rotating device 13. It is rotated and the circumference position of the kite is confirmed. Thereafter, the wrinkled material 8 is fixed with the wrinkle position directly above. After that, the grinding tool of the automatic grinding machine 11 directly connected to the scissor exploration machine 10 descends to the scissors-containing material 8 and picks up while moving in the longitudinal direction.
[0047]
The main functions of the signal processing device 15 in the present embodiment are batch creation / storage of the heel map, tracking of the heel map, position control of the heel explorer 10, position of the grinding machine 11, control of grinding conditions, and the like. To do.
[0048]
【The invention's effect】
It has become possible to automate the surface wrinkle removal work, which has been impossible with conventional high speed automatic surface flaw detectors and automatic grinding equipment. This eliminates the need for conventional inspection and removal work by magnetic particle flaw detection, and the sensory inspection and manual removal work, which depended on the skills of these people, is mechanized, reducing errors such as oversight. As a result, it contributed to improving product quality.
[0049]
In addition, even when there are multiple rivets, it is possible to perform automatic grinding quickly without causing misalignment of automatic grinding, and it is possible to provide an automatic picking system with higher reliability and productivity. It was.
[Brief description of the drawings]
1A and 1B are schematic views showing an example of a full cross-sectional surface exploration device, where FIG. 1A is a front view and FIG. 1B is a side view.
FIGS. 2A and 2B are diagrams showing an example of position information (a map) of a wrinkle obtained by a full-section wrinkle exploration apparatus, where FIG. 2A shows a case where the material to be searched goes straight, and FIG. It is a figure which shows the case where it exercised, respectively.
FIGS. 3A and 3B are diagrams showing an example of surface skin noise data obtained by a full-section wrinkle exploration device, where FIG. 3A shows a case where the exploration material goes straight, and FIG. 3B shows a case where the exploration material twists. FIG.
FIG. 4 is a diagram illustrating an example of eyelid position information (an eyelid map) after correction.
FIG. 5 is a layout diagram showing an embodiment of the present invention.
[Explanation of symbols]
1… Material (Round steel bar) [Workpiece]
2 ... Deburing table 3 ... Inspection table 4 ... Rotary leakage magnetic flux flaw detector 5 ... Marking device 6 ... Rotary ultrasonic flaw detector 7 ... Flawless material (accepted material, maintenance-free material)
8 ... Material with defects (failed materials, materials for care)
DESCRIPTION OF SYMBOLS 9 ... Grinding table 10 ... Scissor probe 11 ... Automatic grinding machine 12 ... Chucking device 13 ... Material rotating device 14 ... Bounce table 15 ... Signal processing device 16 ... Clamp device

Claims (6)

  A round bar steel, steel pipes and other long material surface ridges are scrutinized by a full cross section scrutiny exploration device, and the sledge position information obtained by the full cross section scrutiny exploration device, It is stored as heel position coordinate data based on the coordinate system in which the surface of the long material is developed. On the other hand, the twist of the long material at the time of cocoon exploration from the long material surface skin noise data obtained by the whole cross-section moth investigation device An automatic scooping method characterized by measuring movement, correcting the scissors position coordinate data based on the measurement data, and scoring based on the corrected scissor position coordinate data.   A round bar steel, steel pipes and other long material surface ridges are scrutinized by a full cross section scrutiny exploration device, and the sledge position information obtained by the full cross section scrutiny exploration device, It is stored as heel position coordinate data based on the coordinate system in which the surface of the long material is developed. On the other hand, the twist of the long material at the time of cocoon exploration from the long material surface skin noise data obtained by the whole cross-section moth investigation device When the movement is measured, the wrinkle position coordinate data is corrected and stored based on the measured data, the corrected wrinkle position coordinate data is tracked in the order of materials, and then the material reaches the cutting processing position , Based on the longitudinal heel position coordinate data of the heel selected under predetermined conditions from the corrected heel position coordinate data obtained by performing the tracking process on the material. The material is moved to the longitudinal coordinate position of the material, further rotated, and the circumferential position data is obtained by the circumferential direction probe, and this is collated with the selected coordinate position data of the selected position. An automatic scooping method characterized by finalizing and scoring all wrinkle positions of the corrected wrinkle position coordinate data. 2. The position data of the long material according to claim 1, wherein the position coordinate data is resolution position data obtained by dividing the entire circumference into predetermined angle units equal to or less than the circumferential direction cutting width of the cutting machine. Automatic collection method. The flaw circumferential position data and flaw position coordinate data, it has the position data of the resolution obtained by dividing the entire circumference at a predetermined angle unit in the circumferential direction flaws chamfering width less crack-up machine to claim 2, characterized in The automatic stripping method of the described long material. Long-section material cross-section scissor exploration device, and scissor position coordinate data input means for inputting scissor position information obtained by the full-section scissor survey device as reed position coordinate data based on a coordinate system in which the surface of the long material is developed When a flaw position coordinate data storage means for storing flaw position coordinate data input by該疵position coordinate data input means, wherein the surface skin to enter the elongated material surface texture noise data obtained by the total cross-sectional flaw locator By means of noise data input means, torsional motion measuring means for measuring the torsional motion of a long material at the time of scissor exploration from the long material surface skin noise data input by the surface skin noise data input means, and torsional motion measuring means疵 position coordinate data correcting means for correcting the heel position coordinate data based on the measured torsional motion measurement data, and the heel position coordinate data correcting means Automatic flaw-up apparatus characterized by having a crack-up processing means for processing flaws up on the basis of the amended flaw position coordinate data. Long-section material cross-section scissor exploration device, and scissor position coordinate data input means for inputting scissor position information obtained by the full-section scissor survey device as reed position coordinate data based on a coordinate system in which the surface of the long material is developed When a flaw position coordinate data storage means for storing flaw position coordinate data input by該疵position coordinate data input means, wherein the surface skin to enter the elongated material surface texture noise data obtained by the total cross-sectional flaw locator By means of noise data input means, torsional motion measuring means for measuring the torsional motion of a long material at the time of scissor exploration from the long material surface skin noise data input by the surface skin noise data input means, and torsional motion measuring means疵 position coordinate data correcting means for correcting the heel position coordinate data based on the measured torsional motion measurement data, and the heel position coordinate data correcting means The corrected heel position coordinate data storage means for storing the corrected heel position coordinate data for each long material, and the corrected heel position coordinate data stored for each long material by the corrected heel position coordinate data storage means疵 selection means for selecting heel position coordinate data of a certain heel according to a predetermined condition, and moving to the longitudinal heel position of the heel based on the heel position coordinate data of the heel selected by the heel selection means The circumferential direction dredging probe directly connected to the dredging processing means, and the circumferential dredging data obtained by the circumferential dredging probe are collated with the selected dredging position coordinate data of the selected dredging An automatic device comprising: a wrinkle position determining means for determining the total wrinkle position of the corrected wrinkle position coordinate data; and a scooping processing means for scoring based on the wrinkle position determined by the wrinkle position determining means. Tacking .

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