JPH049633B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> This invention is used in a steel rolling line to melt-cut a steel plate for the purpose of re-cutting a coupon into a large number of test pieces. This relates to a sorting device.

<Prior art> Conventionally, a wide variety of so-called test piece cutting machines have been used as auxiliary equipment for rolling lines in steel plants. Techniques such as those shown in Japanese Patent Publication No. 59-113973 have been developed.

<Problems to be Solved by the Invention> However, in the above-mentioned conventional technology, the pattern of collecting test piece materials is more diverse than that of coupons, and it is difficult to respond to changes in board thickness, material, etc., and it becomes a complicated device that requires automation. was difficult. Furthermore, it is difficult to organize a series of processes including loading of coupons, sorting of cut pieces, and unloading into a line, and a complicated conveyance line is required. In particular, when comparing the cutting length per coupon and the cutting time associated with it, and the coupon processing cycle time, it was found that the cutting time was too long, so the cutting process was divided and the line branched and merged. The composition had become completely complex. Conventionally, the flow of loading, multiple cutting processes, and unloading involves moving the workpiece in a straight line, and the net machining involves positioning or detecting the position of the workpiece each time it is moved. There are problems in that it requires unrelated setup work and equipment, and the control becomes complicated, making the entire device extremely expensive.

The problems to be solved by the present invention are that when measuring test piece materials from the above-mentioned coupons, there are particular problems such as adjusting the coupon loading cycle time to the coupon loading, cutting, and unloading cycle times, plate thickness, It is possible to eliminate the time required to select a cutting torch and tip when the material changes, it is possible to quickly respond to a variety of cutting patterns, and it is possible to quickly respond to the variety of cutting patterns. This fundamentally solves the problem of positioning or detecting the position of the processed material as it only needs to be done once, eliminating additional time and equipment.
It also streamlines the sorting of cut pieces by purpose and provides a completely new technology that takes into account inaccuracies in coupon dimensions.

<Means for solving the problems> The present invention is a completely new invention that can fundamentally solve the above-mentioned conventional problems. This technology makes it possible to efficiently cut test piece materials in a short time using a simple device.

The method is to load coupons to be cut on a horizontally rotating turntable, divide the rotation angle of the turntable into equal parts according to the number of processes, and configure several work stations. This is a fusing and sorting device for steel plates, characterized in that each station after the second station is provided with a cutting device capable of cutting the test piece material from the coupon.

<Function> As described above, according to the method of the present invention, processes such as carrying in the material, setting it in the correct position, cutting, and dispensing the product can be carried out at separate locations without being bothered by other processes, allowing the main work to be carried out. During cutting, additional setup work such as loading and unloading is performed, so these setup works are not included in the working time, and are treated as so-called "outside" work. Efficiency can be significantly increased. In addition, since the work in each process is specialized and there is no need to worry about other processes, mechanization and automation are easy. Furthermore, since the movement of materials between processes is limited to the turntable, there is no need for a complicated conveyor line, and great benefits can be obtained in terms of equipment costs and maintenance. Furthermore, in response to increased production, the number of processes on the turntable can be increased in advance and used as a pre-processing station, making it easier to increase production capacity in the future.
Not only is it possible to replace equipment in each process as technology advances, but it is also possible to install a new part while the old part is still in operation.

<Example> FIG. 1 shows an example according to the present invention. In the figure, reference numeral 1 indicates a horizontally provided turntable, 2 indicates the rotation axis of the turntable, and the arrow indicates the direction of rotation. In this example, the rotation angle is 0° (360°) 60°,
Divided into 6 stations of 120°, 180°, 240°, and 300°, each workstation 1, 2, 3, 4,
Shown as 5 and 6. In the above embodiment, the angle is divided by 60 degrees, but if the angle is divided by 72 degrees, there will be 5 stations, and if it is 45 degrees, there will be 8 stations, and the indexing angle can be arbitrarily determined according to the number of processes. In the workstation 1, the coupons are loaded onto the turntable, set in a fixed position, and the dimensions of the coupons are measured, but these loading steps may be further subdivided and the workstation may be divided. 3 is a coupon, which is covered one after another at a steel rolling line. This coupon 3 is guided to the front of the workstation 1 by a suitable conveyor or carriage 4 capable of conveying the coupon 3 to the apparatus, which is a pre-processing step of the apparatus of the invention. 5 is a crane-type loading device that loads the coupon 3 onto the turntable 1, and shows a loading method using a magnet as a hanging device, but there are other loading methods such as an air cylinder, etc. A push-in method etc. can also be adopted. 6 is 1 of 3 coupons
It is a coupon positioning device fixedly placed on the floor that serves as a reference guide for the position of a piece (defined as the x-coordinate axis, for example), and includes a positioning cylinder 7 in the x-axis direction and a positioning cylinder in the y-axis direction perpendicular to the x-axis. 8, the stroke of the cylinder is determined by the signal from the encoder detector 9, and the exact dimensions of the coupon 3 and its position on the turntable 1 can be detected when the positioning is completed. 10 is a stopper for positioning the coupon 3 provided on the turntable 1, x
This serves as a reference for the stopping position when the coupon 3 is pushed into the turntable 1 by the positioning cylinder 7. Reference numeral 11 denotes a clamp device attached to the stopper 10, which is provided to securely grip the coupon 3. Reference numeral 12 denotes a receiving device, which is provided concentrically along the outside of the turntable 1, and is configured to prevent the coupon 3 from being cantilevered and to always support the coupon 3 horizontally. 3a shows the coupons loaded on the turntable at one station.
2, 3, 4... are cutting stations, respectively;
In this embodiment, there are three stations. However, the number of these cutting stations can be freely selected depending on the cycle time of the device. 5 is a preliminary processing station. 3b, 3c, 3d, . . . indicate the coupons 3 to be cut at these stations 2, 3, 4, . 13~
18 are the x-axis and y-axis, respectively, as shown in FIG. 1B.
It shows a cutting machine and a torch that can control three orthogonal three-dimensional axes consisting of the axis and the z-axis. Of these, 13 indicates a rail or sliding surface that serves as a guide for the x-axis on a plane, 14 indicates a traveling saddle that runs along the rail 13, and 15 indicates a cross rail provided on the saddle that serves as a guide for the y-axis. Structure: 16 is a y-axis traveling block; 17 is a torch block 18 holding a plurality of cutting torches, which is driven in the vertical direction (z-axis) to automatically set the height of the torch relative to the thickness of the coupon 3; This figure shows the torch raising and lowering mechanism.
This example shows the system of x, y axis control of rail running and z axis control of torch up and down.
The positional control of the orthogonal three-dimensional space (z) may be performed using a body structure such as that seen in an arm-type robot, for example. Furthermore, since the cutting shapes are limited, it is also possible to enter and store the trajectory of the torch for each cutting pattern by numerical control or teaching, and then playback and cutting depending on the type of pattern. In the proposed method, if the objects to be cut at stations 2, 3, and 4 were limited, the test piece material cut from coupon 3 would fall on the spot and be sorted by purpose. become. In the figure, reference numeral 19 indicates a selection conveyor for carrying out cut test piece materials at each station. The 6th station is the last station and is configured so that the scraps left uncut at the 2nd, 3rd, and 4th stations can be discharged to the outside by a scrap conveyor 20. The apparatus in FIG. 2 shows another embodiment slightly different from that in FIG. In the embodiment shown in FIG. 1, the coupon 3 is clamped and fixed to the turntable 1, whereas in FIG.
1 and loaded with coupon 3. 6
The station is a station for transporting cut pieces and scraps. In the method shown in FIG. 1, the coupon is held by a clamp, and the pieces separated by cutting are separated on the spot.
In the 6 station, only the scrap was discharged, but in the method shown in FIG.
Since the material remains on top of the material, it is picked using a manipulator that can be controlled according to the orthogonal coordinates (x, y, z) and moved to a designated sorting and carrying conveyor. Reference numeral 22 is an unloader device which has a driving mechanism similar to that described above for the cutting machine, and is driven by (x, y, z) orthogonal coordinate values, and an electromagnet or the like is used as a lifting device for picking. 23a, 23b...
is a conveyor line for discharging cut pieces 24 classified by type. In particular, the cutting machine at the 2 station is as shown in Figure 2B.
z) Other embodiments taken for coordinate control, 1
5' is a y-axis drive guide, 16' is a y-axis drive block, 17' is a column structure fixed on the block 16' that serves as a z-axis guide, and 13' is a column structure 1.
This is a block that performs Z-axis positioning by moving up and down with 7', and is configured so that x-axis control can be performed by moving an arm 14', which supports a torch block 18' at its tip, back and forth. FIG. 3 is a diagram illustrating the concept of a coupon for collecting test piece materials generated in the rolling process of a steel mill. In the present invention, coupons are cut into test piece materials, and the test pieces are classified and discharged according to the purpose of each test.Although the pattern of collecting test piece materials is standardized, in general, test piece materials are cut into test piece materials for each thickness.
Classified into 200 patterns. The test pieces are divided into several types, such as those for tensile tests and those for Charpy impact tests, and after being melt-cut by the apparatus of the present invention, they are further processed into predetermined test pieces by machining. In Figure 3, 24 is test piece material, and 25 is a portion called surplus material or leftover material, which is kept for remanufacturing test pieces, chemical analysis, and other irregular test piece materials. It is. 2
6 is the scrap part left at the end. Generally, the dimensions of a coupon are rectangular, and the accuracy is extremely poor, and the dimensions indicated by l and m in the figure have an error of plus or minus several tens of millimeters. Also, in the figure, 27 indicated by a dotted line indicates a cutting line, but for example, 24, 25
If we decide to separate them at separate stations,
In the example shown in FIG. 1, sorting can be performed at the same time as cutting. In the method shown in FIG. 2, since each piece material 24 maintains the positional relationship of the original pattern, sorting can be performed based on positional coordinates. In particular, the parts with different symbols from those in FIG. 1 are the parts that have different configurations between FIG. 1 and FIG. 2, and the other same symbols are the same as in FIG. 1. In Figure 2, 2
1 shows a cutting surface plate in the form of a concentric lattice provided on the outer periphery of the turntable 1, on which a coupon is loaded,
It is designed to support the load and allow the sparks from cutting to escape downward. At the station 1, a loading device 5, positioning devices 6 to 8,
It consists of a detector 9 with an encoder and a stopper 10 for positioning the x-coordinate of the coupon on the turntable. 2, 3... Cutting machine 1 at the station
Cutting is performed by dividing the cutting range into sections 3 to 18 and 13' to 18'. The separation line of the test piece material 27 and the like is defined by (x ₀ , y ₀ ) orthogonal coordinates. In the figure l,
Since the dimensional accuracy indicated by m normally involves an error of plus or minus several tens of millimeters, the origin of the coordinate definition of the cutting line is the corner on the reporting side as the origin, one piece of it as the main (for example, the x-axis), and the other. Let be the slave (y-axis). Figure 4 is an example assuming the order in which the coupons are cut. In the figure, 1, 2, . . . 7 is a model of the cutting order, 1 is a diagram of the coupon before cutting,
The dotted line in the figure shows the cutting line, and the solid line shows the edge of the plate. a, b, c...f, g indicate the order of the piece materials to be cut, and if the order and classification of the pieces to be cut are specified in advance in the cutting program, automatic distribution and payout according to destination becomes possible. For example, you can plan to cut a, b, and c first, and then d, e, and f in the later process using two stations on the turntable. If it is necessary to perform three processes, arrange three cutting machines against the turntable, and plan for example a and b to be the first cut, c, d, and e to be the second cut, f to be the third cut, and It can be adjusted to the line speed of FIG. 5 is a diagram illustrating the relationship between uneven dimensions of coupons and coordinates due to positional movement. Originally, the coverage and processing lines of the piece on the coupon are collectively defined by the plate thickness, material, and pattern type, but the pattern type is defined by (x ₀ , y ₀ ) having its origin on the coupon plane. , to control the height of the torch during the cutting process depending on the plate thicknessz ₀
The coordinates are determined, and information on operations such as cutting and carrying out is given as (x ₀ , y ₀ , z ₀ ). On the other hand, in the method of the present invention, in order to selectively use cutting torches according to changes in plate thickness and material, the positional relationship of other cutting torches with respect to the reference torch, the value indicated by e in the figure, is used. The (x ₀ , z ₀ , z ₀ ) coordinates are (x ₁ , y ₁ ,
The coordinates are transformed to z ₁ ). When this coupon is placed on the turntable, the drive of the cutting machine is controlled relative to the turntable, so the coordinate system is converted to (x ₂ , y ₂ , z ₂ ) with its origin on the turntable,
When performing work, the cutting machine, conveyance device, etc. operate according to the drive coordinate system (X, Y, Z). The above coordinate transformation is complicated at first glance, but when the coupon is placed on a turntable, the dimensional accuracy of the coupon varies, and except for the part that requires detection by an encoder, the coordinate transformation is performed as a constant on the machine. All you have to do is FIG. 5 shows the concept of the coordinate system explained above. In the figure, 28 is a single coupon, 29 is a coupon placed on a turntable, O is the coupon material coordinate origin, and P ₁
is the coordinate origin on the coupon set on the turntable and corresponds to O. P ₂ is the coordinate origin on the turntable, and P _{1 and} P ₂ are not constant due to uneven coupon dimensions and poor dimensional accuracy. The detection and correction are as described in the embodiments of FIGS. 1 and 2 above. Reference numerals 13 to 18 indicate working machines such as the cutting machines mentioned above in Figs. It has a coordinate origin and a coordinate axis, and is driven using (X, Y, Z) coordinates with Qi as the origin. The illustration of this example uses three coordinate systems (x ₀ , y ₀ , z ₀ ),
(x ₂ , y ₂ , z ₂ ) and (X, Y, Z) are parallel or have one axis in common. This is due to the characteristics of the outer shape of the coupon, which is rectangular.
Even if the coordinate axis system is tilted, it is only necessary to perform detection and perform Euler transformation of the mutual coordinate axis system, so there is no particular need for parallel movement. FIG. 6 illustrates the process of processing and converting the digital information shown in FIG. 5 in digital control, in which 30 is the process of creating digital data for processing, 31 is the function of the digital control controller, 32 indicates the movement of the mechanical device. Note that the above process shows the necessary processing steps, and there is no problem in changing the general classifications 30 and 31.

<Effects of the Invention> Since the device according to the present invention has the above-described configuration and operation, it can transfer coupons taken one after another on a steel rolling line to a turntable while responding to changes in material thickness, material quality, etc. The test piece material is cut extremely efficiently at a station divided into several sections while rotating along the same axis, and the required test piece materials are collected one after another. It can be transported to any location, and its overall structure is extremely simple and compact, requiring only a small installation space.
Moreover, it has characteristics such as being able to be mass-produced at low cost.

[Brief explanation of drawings]

Fig. 1A is a simplified plan view of the device according to the present invention, Fig. 1B is an enlarged view of the main parts thereof, Fig. 2A is a simplified plan view of another example of the device, and Fig. 2B is the main part of the device. A perspective view, FIGS. 3 and 4 are explanatory views of picking up a test piece material from a coupon, FIG. 5 is an explanatory view showing the relationship between uneven dimensions of the coupon and coordinates due to positional movement, and FIG. 6 is a digital FIG. 3 is a block diagram showing the process in control.

Claims (1)

[Scope of Claims] 1. A coupon to be cut is loaded on a horizontally rotating turntable, and the rotation angle of the turntable is divided into equal parts according to the number of work steps to be added to the coupon to separate work stations. configure and first
A work station loads and positions the coupon, and each work station after the second work station is provided with a cutting device for cutting the test piece material from the coupon, and the test piece material cut by the cutting device is A fusing and sorting device for steel plates, characterized in that a conveyance device capable of conveying individual sheets is provided adjacent to a cutting device. 2. When inserting the coupon into the first working station, a fixed ruler capable of guiding the coupon independently of the turntable is provided, a stopper for positioning the coupon is provided on the turntable, and the coupon is inserted into the first work station. 2. The steel sheet fusing and sorting device according to claim 1, further comprising a retracting device that can be pressed against the ruler and the stopper. 3 Load coupons to be cut on a horizontally rotating turntable, divide the rotation angle of the turntable into equal parts according to the number of work steps to be added to the coupons, and configure each work station.
The work station loads and positions the coupon, and the work stations after the second work station are provided with a cutting device for cutting the test piece material from the coupon, and the last work station loads and positions the test piece material cut from the coupon. A fusing and sorting device for steel plates, characterized in that it is equipped with a take-out device for taking out. 4 Claims 1 and 2, characterized in that a clamping device consisting of an air cylinder for fixing the coupon to the turntable is provided.
3. The fusing and sorting device for steel plates according to any one of Items 1 and 3.