Machining system and manufacturing method of product

Abstract

To provide a machining system which can accurately machine an object material during transportation of the object material without increasing the size of the machining device, and to provide a manufacturing method of a product.SOLUTION: A machining system performs machining to a transported object material and includes: a shape measuring device (4) which is provided at a transport path of the object material and measures a shape of the object material; a processing device (7) which is provided at the downstream side in the transport path relative to the shape measuring device and performs machining to the object material by using a processing member (10); and a control device (6) which adjusts a position of the processing member in advance based on a measurement result of the shape measurement device.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates to a machining system and a method for manufacturing a product. FIELD OF THE DISCLOSURE The present disclosure relates to a machining system and a method for manufacturing a product, in particular, for machining a target material such as a steel product during transportation. [Background technology]

[0002] For example, in a manufacturing line that manufactures steel products, the cutting process of the target material may be carried out on the manufacturing line (online) after the rolling process of the target material. During the cutting process, defects such as burrs may occur on the cut surface of the target material, but traditionally, these defects have been removed by workers outside the manufacturing line (offline) using a grinder.

[0003] Here, methods for performing machining such as removing defects online are being considered. For example, Patent Document 1 discloses a system that has a fixed roller that fixes the position of a product during transportation, and processes the product by pressing a grinding wheel with a cylinder against the end face of the product fixed by the fixed roller. Patent Document 2 discloses a system that measures the shape and position of the product while the product is stopped between materials during transportation, and grinds off burrs generated on the cut surface while correcting the movement of the robot arm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6120543 [Patent Document 2] Patent No. 2802187 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the system of Patent Document 1, the product is processed while being fixed by fixed rollers, so that the product can be processed with high precision. However, when the product is a relatively light product with a small cross-sectional area such as a rail or a right-angle scalene steel, the equipment cost for the fixed rollers becomes inexpensive and it becomes an economical method, but when the product is a large-section H-beam or a large unit-weight steel material such as a steel sheet pile or a thick plate, the equipment becomes large-scale and the introduction cost rises.

[0006] In the system of Patent Document 2, the production needs to be stopped when the burrs are ground off, and the process of stopping the production for cutting becomes a bottleneck and there is a risk of reducing productivity.

[0007] The object of the present disclosure, made in consideration of the above circumstances, is to provide a machining system and a product manufacturing method that can precisely machine a target material while it is being transported without increasing the size of the equipment. [Means for solving the problem]

[0008] (1) A machining system according to an embodiment of the present disclosure, A machining system for machining a target material during transportation, comprising: A shape measuring device that is provided on a conveying path of the target material and measures a shape of the target material; a processing device that is provided downstream of the shape measuring device on the conveying path and that performs machining on the target material using a processing member; and a control device that pre-adjusts the position of the processed member based on the measurement result of the shape measuring device.

[0009] (2) As an embodiment of the present disclosure, in (1), A holding device is provided for holding the processed member so that the pressure acting from the processed member on the target material during the execution of the machining is constant.

[0010] (3) As an embodiment of the present disclosure, in (1) or (2), The processing member is a grinding member that grinds the target material.

[0011] (4) A method for producing a product according to an embodiment of the present disclosure includes: A method for manufacturing a product by machining a target material during transportation, comprising the steps of: a shape measuring step of measuring a shape of the target material on an upstream side of a conveying path of the target material; an adjustment step of adjusting in advance a position of a processing member of a processing device provided downstream of the conveying path based on the measured shape of the target material; and a machining process for machining the target material using the machining member whose position has been adjusted.

[0012] (5) As an embodiment of the present disclosure, in (4), The processing step includes machining the target material while holding the workpiece so that the pressure acting from the workpiece to the target material is constant. Effect of the Invention

[0013] According to the present disclosure, it is possible to provide a machining system and a method for manufacturing a product that can precisely machine a target material while it is being transported without increasing the size of the apparatus. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram illustrating a target material. [Diagram 2] FIG. 2 is a diagram illustrating an overview of a machining system according to an embodiment of the present disclosure. [Figure 3A] FIG. 3A is a diagram for explaining shape measurement and position adjustment of a processed member. [Figure 3B] FIG. 3B is a diagram for explaining shape measurement and position adjustment of a processed member. [Figure 3C] FIG. 3C is a diagram for explaining shape measurement and position adjustment of a processed member. [Figure 3D] FIG. 3D is a diagram for explaining shape measurement and position adjustment of a processed member. [Figure 3E]FIG. 3E is an example of a flowchart of the processing. [Figure 4A] FIG. 4A is a diagram illustrating a holding device. [Figure 4B] FIG. 4B is a diagram illustrating a change in shape of the retaining device. [Diagram 5] FIG. 5 is a diagram showing an example of application to multiple steel plates. [Figure 6] FIG. 6 is a diagram illustrating the effect of reducing the work time. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, a machining system and a method for manufacturing a product according to an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0016] <Machining system> The machining system according to the present embodiment performs machining on the target material being transported. Machining is a process in which a machine is used to shape the target material into a desired shape, and includes grinding and cutting as specific examples. In the description of this embodiment, it is assumed that grinding is performed as the machining process, and the target material is a workpiece to be ground. In this embodiment, a case will be described in which burrs, defects, shape defects, and other parts of a workpiece that exist on its surface are ground and removed from the workpiece 3 (see FIG. 1). However, as described above, the machining process is not limited to grinding, and can be, for example, cutting. In addition, the machining system according to the present embodiment is used in a product manufacturing line, and a product is manufactured by machining the target material. For example, machining is performed to grind and remove burrs, defects, shape defects, and other parts that exist on the surface of the target material (workpiece), and the target material after machining can become a product. Here, the machining is performed on the manufacturing line (online) without stopping the transport of the target material.

[0017] Fig. 1 shows an example of a target material having a processing object 3. Examples of the target material include an H-shaped steel 1 and a thick plate 2 transported on a production line. In this embodiment, burrs, defects, and shape defects that occur continuously parallel to the transport direction on the end of the target material become the processing object 3. Here, the processing object 3 is not limited to burrs, defects, and shape defects that occur continuously parallel to the transport direction, but may also be burrs, defects, and shape defects that occur on a cut surface (division surface) of the target material perpendicular to the transport direction.

[0018] FIG. 2 shows an example of the system of the present disclosure. In FIG. 2, an H-shaped steel 1 is illustrated as an example of the target material. The machining system includes a shape measuring device 4, a control device 6, a processing device 7, and a processing member 10. As in this embodiment, the machining system may further include a measurement result processing device 5, a holding device 8, and a grinder 9. The processing device 7 may be, for example, a robot, but is not limited to a specific type of device as long as it is a device that performs machining on the target material using the processing member 10. In this embodiment, the processing device 7 is described as being an articulated robot. In addition, the control device 6 controls the operation of the processing device 7 as one of the controls in the machining system. Therefore, the control device 6 can be referred to as a robot operation control device. The processing member 10 may be, for example, a grinding member that grinds the target material. In this embodiment, the processing member 10 is described as being a grinding wheel that is attached to the grinder 9 and used. However, the processing member 10 is not limited to a grinding member, and may be, for example, a cutting member such as a blade.

[0019] The shape measuring device 4 is provided on the transport path of the target material and measures the shape of the target material. As in this embodiment, the shape measuring device 4 may also measure the position of the target material. The shape measuring device 4 is, for example, a two-dimensional laser distance meter, but is not limited to this. The shape measuring device 4 is provided upstream of the transport path of the H-shaped steel 1 and measures the range of the H-shaped steel 1 that includes the processing target 3.

[0020] The measurement result processing device 5 identifies the shape and position of the workpiece 3 of the H-shaped steel 1 from the data measured by the shape measuring device 4, and calculates the amount of positional deviation from the estimated target material position 11 (see FIG. 3A), which is a reference position. The measurement result processing device 5 determines the amount of correction for the position of the workpiece 10 from this amount of positional deviation, and transmits it to the control device 6. A specific method of correcting the positional deviation will be described later.

[0021] The control device 6 adjusts the position of the processed member 10 by controlling the driving of the processing device 7. The control device 6 adjusts the position of the processed member 10 in advance, i.e., before machining, based on the measurement results of the shape measuring device 4, as will be described in detail later. Here, the measurement result processing device 5 and the control device 6 may be configured as devices capable of control and calculation, and may be, for example, a computer. The measurement result processing device 5 and the control device 6 may be independent devices capable of transmitting and receiving information to each other via a network, but may also be configured as an integrated device. For example, the control device 6 may be a computer integrated with the measurement result processing device 5, and may execute the above calculations of the measurement result processing device 5.

[0022] The processing device 7 performs machining on the target material using the processed member 10. The processing device 7 is provided downstream of the shape measuring device 4 on the conveying path. There is a certain distance between the processing device 7 and the shape measuring device 4 so that they do not interfere with each other. Here, the distance between the shape measuring device 4 and the processing device 7 is 3 m as an example, but it may be appropriately determined depending on the conveying speed of the H-shaped steel 1. In other words, it is preferable to set the distance to a level that allows for adjustment of the positional deviation of the processed member 10 based on the measurement results of the shape measuring device 4 in time.

[0023] The processing device 7 has multiple axes (six axes as an example) and thus can operate flexibly, and the positions of the grinder 9 and the processing member 10 can be freely adjusted. The processing member 10 is attached to the tip of the processing device 7, and is rotated by the grinder 9 to grind the processing object 3 of the H-shaped steel 1.

[0024] The holding device 8 is a device that holds the processed member 10. In this embodiment, the holding device 8 not only holds the processed member 10 via the grinder 9, but also controls the pressure acting on the target material from the processed member 10 during machining so that it is constant. In other words, the holding device 8 has a function of a pressure control device. As shown in FIG. 4A, the holding device 8 has a cylinder portion 8A connected to the processing device 7 side and a stroke portion 8B connected to the grinder 9 side. The stroke portion 8B moves (expands and contracts) relative to the cylinder portion 8A, making it possible to finely adjust the positions of the grinder 9 and the processed member 10 relative to the processing device 7 by the stroke amount.

[0025] <Product manufacturing method> The manufacturing method for manufacturing a product by grinding and removing the processing target 3 of the H-shaped steel 1 includes a shape measuring step, an adjusting step, and a processing step.

[0026] First, a conveying device (not shown) conveys the target material, an H-shaped steel 1, along a conveying path. The conveying device is set to convey the target material with a driving force large enough to counter the reaction force generated by the grinding process. Therefore, the machining system can continuously remove the workpiece 3 over the entire length of the target material while conveying it.

[0027] In the shape measurement process, the shape of the target material (H-beam 1) is measured by a shape measuring device 4 on the upstream side of the transport path of the target material being transported.

[0028] In the adjustment step, the measurement result processing device 5 adjusts in advance the position of the processed member 10 of the processing device 7 provided downstream of the conveying path based on the shape of the target material measured by the shape measuring device 4 (shape measurement result). That is, the measurement result processing device 5 calculates the amount of positional deviation of the processing device 7 based on the shape measurement result, and outputs the calculated amount of positional deviation to the control device 6. The control device 6 drives the processing device 7 based on the amount of positional deviation, and moves the grinder 9 and the processed member 10 to appropriate processing positions.

[0029] In the machining process, a machining process is performed to remove a processing target 3 from a target material by a processing member 10 whose position has been adjusted. Here, as shown in FIG. 2, a coordinate system is set in which the direction parallel to the conveying direction is y, the up-down direction of the target material is z, and the width (horizontal) direction is x. x is the direction perpendicular to the conveying direction, and is also the width (horizontal) direction of the conveying line. This coordinate system is also commonly used in FIG. 3A to FIG. 3D. Here, in this embodiment, the direction of movement (expansion and contraction) of the stroke portion 8B is the z direction.

[0030] 3A to 3D are diagrams for explaining shape measurement and position adjustment of the workpiece 10. In this embodiment, a case where a workpiece 3 exists at the upper end of the target material (H-shaped steel 1) will be described. First, as shown in FIG. 3A, an assumed processing position (x0, z0) of the workpiece 3 on the xz plane is set by calculation based on the shape and dimensions of the target material and the line configuration of the conveying equipment. The assumed processing position (x0, z0) is the position of the upper end of the target material where the workpiece 3 exists. The estimated target material position 11 is the reference position of the H-shaped steel 1 obtained by calculation. First, the drive (movement) of the processing device 7 is set on the assumption that the workpiece 3 and the workpiece 10 come into contact at the assumed processing position (x0, z0).

[0031] Next, as shown in FIG. 3B, a shape measuring device 4 is placed in advance at a position where the two-dimensional shape of the vicinity of the object 3 can be measured, and the shape measuring device 4 measures the actual shape of the vicinity of the object 3. The actually measured position of the object 3 on the xz plane is (x t ,z t ) The measured position 12 of the target material indicates the position of the H-shaped steel 1 that was actually measured.

[0032] Next, as shown in FIG. 3C, the assumed processing position (x0, z0) of the processing object 3 and the actually measured position (x t ,z t ) is calculated by the following formula: where Δx is the difference in the x direction and Δz is the difference in the z direction.

[0033]

number

[0034] Next, as shown in Fig. 3D, the control device 6 operates the processing device 7 to move the grinder 9 and the processed member 10 by the calculated positional deviation amount (Δx, Δz). Through the above steps, the position of the processed member 10 is adjusted.

[0035] FIG. 3E is an example of a flowchart of the above-mentioned processing process. First, an assumed processing position is set based on information on the shape of the target material to be transported (step S1). Then, processing preparation is performed (step S2). Processing preparation includes, for example, turning on the power of the grinder 9 and the shape measuring device 4, and moving the shape measuring device 4 to the measurement position. After processing preparation is completed, transportation of the target material is started (step S3). After the target material transportation starts, the control device 6 operates the processing device 7 to move the processed member 10 to the processing position (step S4). If the transportation of the target material is not completed (No in step S5), the shape measuring device 4 measures the shape of the vicinity of the target material 3 (step S6). The measurement result processing device 5 calculates the positional deviation amount (Δx, Δz) (step S7). The control device 6 executes a correction process to adjust the position of the processed member 10 by the calculated positional deviation amount (Δx, Δz) (step S8). The control device 6 operates the processing device 7 to move the processing member 10 to the corrected processing position, and machining is performed using the processing member 10 (step S9). Until the transportation of the target material is completed, the processes of steps S6, S7, S8, and S9 are repeated to machine the processing object 3. When the transportation of the target material is completed (Yes in step S5), the series of processes ends.

[0036] Through the above processing, the workpiece 3 is removed from the target material to manufacture the product. Here, adjusting the position of the workpiece 10 by the processing device 7 based on the measurement results of the shape measuring device 4 makes it possible to accommodate target materials of various shapes or dimensions. For example, it is possible to flexibly accommodate changes in shape such as bending or warping of the target material that occur during the manufacture of the product, and it becomes possible to remove burrs and the like over the entire length of the product. In this way, the machining system adjusts the position of the workpiece 10 in advance and can accurately machine the target material while it is being transported, without increasing the size of the device.

[0037] <Position adjustment> As described above, in the machining system, the position of the workpiece 3 of the target material is measured before machining, and the position of the processed member 10 is adjusted according to the measurement result. Therefore, the position of the processed member 10 can be corrected in advance (before machining) to match the actual position of the target material. However, in order to prevent interference between the machining device 7 and the shape measuring device 4, a certain distance is provided between the machining device 7 and the shape measuring device 4, and the position of the target material may shift while being transported from the measurement position to the machining position. In this embodiment, the machining system fine-tunes the position of the processed member 10 even during machining.

[0038] Specifically, as shown in Fig. 4A, the position of the processed member 10 is adjusted by the holding device 8. When the processed member 10 is not in contact with another object, the holding device 8 is in a state in which the stroke portion 8B protrudes at the maximum stroke amount by a power such as hydraulic pressure, pneumatic pressure, or electric pressure.

[0039] FIG. 4B is a diagram for explaining the shape change of the holding device 8. In the initial state, the processing member 10 contacts the target material (workpiece) and the stroke portion 8B is pushed in to a certain extent, and the pressure (pressurization of grinding) and the hydraulic, pneumatic, or electric power of the cylinder are balanced. At this time, a preset pressure is applied to the target material from the holding device 8 via the grinder 9 and the processing member 10. Here, if the target material is large, that is, if the height of the target material is higher than expected (measurement result measured by the shape measuring device 4), the stroke portion 8B is pushed in more than in the initial state, and the position of the processing member 10 moves upward. At this time, the pressure remains the same as in the initial state, and the preset pressure is applied to the target material. On the other hand, if the target material is small, that is, if the height of the target material is lower than expected, the stroke portion 8B extends more than in the initial state, and the position of the processing member 10 moves downward. At this time, the pressure remains the same as in the initial state, and the preset pressure is applied to the target material. In this way, by attaching the workpiece 10 to the processing device 7 via the holding device 8, a control mechanism is provided in which the position of the workpiece 10 automatically follows any deviation in the size or position of the target material within the movable stroke range. The target material is machined while the workpiece 10 is held by the holding device 8 so that the pressure applied to the target material from the workpiece 10 is constant. This absorbs deviations within the movable stroke range, enabling more stable removal of the workpiece 3 over the entire length of the target material.

[0040] <Modification> FIG. 5 shows an application example where the target material is multiple thick plates 2. In the example of FIG. 2, it is assumed that the workpieces 3 exist at two points, the upper left and right ends of the cross section of one H-shaped steel 1. In the example of FIG. 5, two thick plates 2 are transported simultaneously on the same line. As in the example of FIG. 5, by installing the shape measuring device 4 and the processing device 7 so as to avoid interference, it is possible to simultaneously machine the workpieces 3 of multiple target materials.

[0041] FIG. 6 is a diagram illustrating the effect of reducing work time. "Conventional" indicates the work time required for deburring work on rolled products that has been performed offline by workers. "Present embodiment" indicates the work time required when the above-mentioned machining system and method are applied to automate the deburring work. The work time in this embodiment is shown as a relative time with the conventional time set at 100. As shown in FIG. 6, the automation enabled a reduction in work man-hours by approximately 82%.

[0042] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications or corrections based on the present disclosure. Therefore, it should be noted that these modifications or corrections are included in the scope of the present disclosure. For example, the functions included in each component or each step (process) can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined into one or divided. The embodiments of the present disclosure can also be realized as a program executed by a processor included in the device or a storage medium on which a program is recorded. It should be understood that these are also included in the scope of the present disclosure. [Explanation of symbols]

[0043] 1 H-beam 2 Planks 3. Processing target 4 Shape measuring device 5. Measurement result processing device 6. Control device 7 Processing equipment 8 Holding device 8A Cylinder section 8B Stroke section 9. Grinder 10. Processed materials 11 Estimated location of target material 12 Measurement position of target material

Claims

1. A machining system for machining a target material during transportation, comprising: A shape measuring device that is provided on a conveying path of the target material and measures a shape of the target material; a processing device that is provided downstream of the shape measuring device on the conveying path and that performs machining on the target material using a processing member; A control device that pre-adjusts a position of the workpiece based on a measurement result of the shape measuring device.

2. The machining system according to claim 1 , further comprising a holding device for holding the processed member such that a pressure acting from the processed member on the target material is constant during the execution of the machining.

3. The machining system according to claim 1 or 2, wherein the processing member is a grinding member that grinds the target material.

4. A method for manufacturing a product by machining a target material during transportation, comprising the steps of: a shape measuring step of measuring a shape of the target material on an upstream side of a conveying path of the target material; an adjustment step of adjusting in advance a position of a processing member of a processing device provided downstream of the conveying path based on the measured shape of the target material; and a processing step of machining the target material with the processing member whose position has been adjusted.

5. The method for manufacturing a product according to claim 4 , wherein the machining step comprises machining the target material while holding the processed member so that a pressure applied from the processed member to the target material is constant.

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