Cylindrical material surface treatment device

Abstract

To provide a cylindrical material surface treatment device that can accurately and efficiently detect and treat surface defects in cylindrical materials. [Solution] The system comprises a surface defect longitudinal position measuring device 1 that detects surface defects with a surface defect detection sensor and measures the longitudinal position of the surface defects of the cylindrical material; a turning roller 2 that rotates the cylindrical material in the circumferential direction while supporting it; a trolley 3 that is movable parallel to the longitudinal direction of the cylindrical material supported by the turning roller 2; a surface defect circumferential position measuring device 4 that detects surface defects with a surface defect detection sensor and measures the circumferential position of the surface defects of the cylindrical material; a surface defect repair device 5 mounted on the trolley 3; and a control device 6 that controls the turning roller 2, the trolley 3, and the surface defect repair device 5 to repair surface defects based on surface defect position information in the longitudinal and circumferential directions of the cylindrical material obtained from the longitudinal position measuring device 1 and the circumferential position measuring device 4.

Description

[Technical Field]

[0001] This invention relates to a cylindrical material surface treatment device for treating surface defects in cylindrical materials such as steel pipes. [Background technology]

[0002] Cylindrical materials such as steel pipes may develop surface defects (hereinafter collectively referred to as "surface defects") due to various factors during the manufacturing process. Such surface defects must be removed by surface treatment, which involves grinding the defects with a grinder to smooth them out with the surrounding surface. While devices that automatically mark the location of surface defects are known, the surface treatment work itself (grinding of surface defects) is traditionally performed manually by workers using grinders.

[0003] However, this surface finishing process presents not only safety risks but also labor-related problems, such as workers being exposed to vibrations and dust associated with grinding. Furthermore, it necessitates securing workers to perform the finishing work. For these reasons, automation of surface finishing is highly desired. Regarding automation technology for surface maintenance of steel materials, for example, Patent Document 1 discloses an automated surface maintenance method and apparatus that involves marking the location of defects on the surface of a target material, including information about the nature of the defects, detecting these markings, processing the information, and using it as an operation command for an automated surface maintenance device. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-9320 [Overview of the project] [Problems that the invention aims to solve]

[0005] The technology disclosed in Patent Document 1 is intended for flat materials such as steel plates. Therefore, by moving the scratch repair device over the upper or lower surface of the target material such as a steel plate, it becomes possible to repair scratches on the surface of the target material. On the other hand, in the case of cylindrical materials such as steel pipes, surface defects may be distributed not only on the top or bottom surface of the cylindrical material, but also throughout the entire circumference, making it impossible to simply apply the technology described in Patent Document 1.

[0006] When automating the surface treatment of cylindrical materials, it is necessary to detect surface defects in the longitudinal and circumferential directions of the cylindrical material and accurately pinpoint their location, and to precisely control the orientation of the cylindrical material so that the detected and located surface defects can be accurately and efficiently treated by the treatment means. However, no surface treatment device that can satisfy such requirements is known to date. Therefore, the object of the present invention is to solve the problems of the prior art described above and to provide a cylindrical material surface treatment device that can accurately and efficiently detect and treat surface defects in cylindrical materials such as steel pipes. In this invention, "surface defect" refers to a defect or other flaw present on the surface of a cylindrical material. [Means for solving the problem]

[0007] The gist of the present invention for solving the above problems is as follows. [1] A longitudinal position measuring device (1) that detects surface defects of a cylindrical material moving in the longitudinal direction using a surface defect detection sensor and measures the longitudinal position of the surface defect of the cylindrical material, A turning roller (2) supports the cylindrical material after the surface defect location measurement by the longitudinal position measuring device (1) and rotates the cylindrical material in the circumferential direction, A trolley (3) that can move parallel to the longitudinal direction of the cylindrical material supported by the turning roller (2), A circumferential position measuring device (4) detects surface defects of a cylindrical material that is supported by the turning roller (2) and rotates in the circumferential direction using a surface defect detection sensor and measures the circumferential position of the surface defect of the cylindrical material, A surface defect repair device (5) mounted on the trolley (3) and supporting the cylindrical material on the turning roller (2) is used to repair surface defects, A cylindrical material surface treatment device is characterized by comprising a control device (6) that controls the driving of the turning roller (2), the trolley (3), and the surface treatment device (5) to treat surface defects in the cylindrical material based on surface defect position information in the longitudinal direction of the cylindrical material obtained from the longitudinal position measuring device (1) and surface defect position information in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device (4), thereby treating surface defects in the cylindrical material.

[0008] [2] The cylindrical surface treatment device described in [1] above, characterized in that the control device (6) performs the following controls in order (i) to (iii). (i) Based on the surface defect location information in the longitudinal direction of the cylindrical material obtained from the longitudinal position measuring device (1), the trolley (3) is controlled to move the trolley (3) to a position in the longitudinal direction of the cylindrical material where the surface defect repair device (5) can repair the surface defect related to the surface defect location information. (ii) Based on the surface defect location information in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device (4), the turning roller (2) is controlled to rotate the cylindrical material to a circumferential position where the surface defect repair device (5) can repair the surface defect related to the surface defect location information. (iii) Control the surface defect repair device (5) to repair the surface defect.

[0009] [3] A cylindrical material surface treatment device according to [1] or [2] above, wherein the circumferential position measuring device (4) comprises a surface defect detection sensor (s2) mounted on the trolley (3) and supported by the turning roller (2) to detect surface defects of the cylindrical material that rotates in the circumferential direction, and a rotational movement distance measuring device (8) that measures the rotational movement distance of the circumferential surface of the cylindrical material that rotates in the circumferential direction and is supported by the turning roller (2), and the cylindrical material surface treatment device is characterized in that the circumferential position of the surface defect of the cylindrical material is measured based on the detection of surface defects in the circumferential direction of the cylindrical material by the surface defect detection sensor (s2) and the rotational movement distance of the cylindrical material measured by the rotational movement distance measuring device (8).

[0010] [4] In the cylindrical material surface treatment apparatus described in [2] above, The circumferential position measuring device (4) is mounted on the trolley (3) and includes a surface defect detection sensor (s2) that detects surface defects on a cylindrical material that rotates circumferentially while being supported by the turning roller (2), and a rotational movement distance measuring device (8) that measures the rotational movement distance of the circumferential surface of the cylindrical material that rotates circumferentially while being supported by the turning roller (2). Based on the detection of surface defects in the circumferential direction of the cylindrical material by the surface defect detection sensor (s2) and the rotational movement distance of the cylindrical material measured by the rotational movement distance measuring device (8), the circumferential position of the surface defect on the cylindrical material is measured. The control device (6), when performing the control described in (ii), compares the rotational distance of the cylindrical material's circumferential surface measured by the rotational distance measuring instrument (8) with the rotational distance of the cylindrical material's circumferential surface calculated from the rotational speed of the turning roller (2). If a difference exceeding an allowable value occurs between the two rotational distances, the control device (6) adjusts the rotational distance of the cylindrical material's circumferential surface by controlling the rotation of the turning roller (2) according to the difference, thereby moving the surface defects to the position where the surface defects can be treated by the surface defect treatment device (5).

[0011] [5] A cylindrical surface treatment device according to any of the above [1] to [4], characterized in that at least a portion of the plurality of pairs of rollers (20) constituting the turning roller (2) are magnetic rollers that have magnets (15) built in and exert their magnetic force on the cylindrical material. [6] A cylindrical surface treatment device according to any of the above [1] to [4], characterized in that an electromagnet (16) is placed between at least a portion of the plurality of pairs of rollers (20) constituting the turning roller (2) to exert a magnetic force from below on the cylindrical material supported by the turning roller (2). [7] In the cylindrical material surface maintenance device according to any one of [1] to [6] above, the longitudinal position measuring device (1) includes a surface flaw detection sensor (s1) for detecting surface flaws on the surface of a cylindrical material moving in the longitudinal direction, and a speedometer (7) for measuring the moving speed of the cylindrical material. Based on the detection of surface flaws in the longitudinal direction of the cylindrical material by the surface flaw detection sensor (s1) and the moving speed of the cylindrical material measured by the speedometer (7), the longitudinal position of the surface flaw on the cylindrical material is measured. A cylindrical material surface maintenance device characterized by this.

[0012] [8] In the cylindrical material surface maintenance device according to [7] above, The surface flaw detection sensor (s1) detects surface flaws from a plurality of directions around the cylindrical material with respect to the cylindrical material moving in the longitudinal direction by a conveying roller. The speedometer (7) measures the moving speed of the cylindrical material when passing through the position of the surface flaw detection sensor (s1). The longitudinal position measuring device (1) further includes a passing sensor (9) for detecting that the tip of the cylindrical material has passed through the position of the surface flaw detection sensor (s1). By integrating the change in the moving speed of the cylindrical material measured by the speedometer (7) between the detection time of the tip of the cylindrical material by the passing sensor (9) and the detection time of the surface flaw by the surface flaw detection sensor (s1), the longitudinal position of the surface flaw from the tip of the cylindrical material on the cylindrical material is measured. A cylindrical material surface maintenance device characterized by this. [9] In the cylindrical material surface maintenance device according to [3] or [4] above, the rotation movement distance measuring device (8) constituting the circumferential position measuring device (4) includes a measuring ring roller (80) disposed below the cylindrical material supported by the turning roller (2), and a cylinder device (81) for holding the measuring ring roller (80). The cylinder device (81) presses the measuring ring roller (80) against the lower surface of the cylindrical material. A cylindrical material surface maintenance device characterized by this.

Effect of the Invention

[0013] The cylindrical material surface maintenance device of the present invention can accurately and efficiently detect and maintain the surface flaws of cylindrical materials such as steel pipes. In addition, in the surface maintenance of the cylindrical material by the device of the present invention, the smaller the diameter of the target material as a cylindrical material, the higher the required accuracy of rotation stop on the turning roller (2). For example, in the case of a cylindrical material with an outer diameter of φ60 to φ200 mm, it is desirable to stop the rotation within ±5 mm in the circumferential direction. In this regard, in the device of the present invention, by incorporating a magnet (15) in the roller (20) constituting the turning roller (2) or arranging an electromagnet (16) between the rollers (20) to apply a magnetic force to the cylindrical material, it is possible to suppress the slippage of the cylindrical material on the turning roller (2) and improve the rotation stop accuracy of the cylindrical material.

[0014] In addition, in the device of the present invention, the control device (6) compares the actually measured rotational movement distance of the cylindrical material on the turning roller (2) with the rotational movement distance of the cylindrical material calculated from the rotational speed of the turning roller (2). When a difference exceeding the allowable value occurs between the two rotational movement distances, the rotational movement distance of the cylindrical material is adjusted by controlling the rotation of the turning roller (2), and the surface flaw is moved to the maintenance position by the surface maintenance device (5), so that the maintenance of the surface flaw can be performed more accurately. Therefore, by using in combination with incorporating a magnet (15) in the roller (20) of the turning roller (2) or arranging an electromagnet (16) between the rollers (20), particularly high-precision surface maintenance can be performed.

Brief Description of the Drawings

[0015] [Figure 1] It is a plan view schematically showing an embodiment of the cylindrical material surface maintenance device of the present invention. [Figure 2] In the cylindrical material surface maintenance device of the embodiment of FIG. 1, it is a front view schematically showing the longitudinal position measuring device 1. [Figure 3] It is a view taken along the line A-A in FIG. 1. [Figure 4] It is a view taken along the line B-B in FIG. 1. [Figure 5] It is a block diagram showing the overall configuration and functions of the cylindrical material surface maintenance device of the embodiment of FIG. 1. [Figure 6]Figure 6(A) shows a schematic embodiment of the cylindrical material surface treatment device of the present invention in which the roller 20 constituting the turning roller 2 is a magnetic roller. Figure 6(B) is a side view of the roller 20 and Figure 6(A) is a front view of the roller 20. [Figure 7] Figure 6 schematically shows an example of the arrangement of the rollers 20 (magnetic rollers), with Figure 7(A) being a plan view of a pair of rollers 20 and Figure 7(B) being a front view of a pair of rollers 20. [Figure 8] Figure 8(A) schematically shows another example of the arrangement of the rollers 20 (magnetic rollers) shown in Figure 6, with Figure 8(B) being a plan view of a pair of rollers 20 and Figure 8(B) being a front view of a pair of rollers 20. [Figure 9] This graph shows the relationship between the amount of bending of the cylindrical material (pipe bending amount) and the eccentric torque tangential force when using a normal roller (non-magnetic roller) and a magnetic roller for the turning roller 2 in the cylindrical material surface treatment device of the present invention. [Figure 10] Figure 10(A) is a partial side view of the turning roller 2, and Figure 10(B) is a partial plan view of the turning roller 2. [Modes for carrying out the invention]

[0016] Figures 1 to 4 schematically show one embodiment of the cylindrical material surface treatment device of the present invention. Figure 1 is a plan view, Figure 2 is a schematic front view showing the longitudinal position measuring device 1, Figure 3 is a view taken along arrow AA in Figure 1, and Figure 4 is a view taken along arrow BB in Figure 1. Figure 5 is a block diagram showing the overall configuration and function of one embodiment of the device of the present invention. In the diagram, p is the cylindrical material (steel pipe) to be surface-treated, and 10 is a conveying roller (aligning roller) composed of multiple rollers 100. The cylindrical material p moves in the longitudinal direction as it is conveyed by the conveying roller 10.

[0017] The conveyor roller 10 (aligning roller) is a transport means for loading and unloading cylindrical material p into and out of the apparatus of the present invention, and there are no special restrictions on its length. However, considering the loading of cylindrical material p into the apparatus of the present invention and the unloading of cylindrical material p after surface defect treatment, it is desirable that the conveyor roller 10 be at least twice the maximum length of the cylindrical material. For example, if the maximum length of the cylindrical material is 14 m, it is desirable that the conveyor roller 10 be at least 28 m long. In addition, it is desirable that the spacing between each roller 100 constituting the conveyor roller 2 be 2 m or less in order to prevent transport failures caused by deflection due to the weight of the cylindrical material itself.

[0018] The present invention comprises a longitudinal surface defect position measuring device 1 that detects surface defects on a cylindrical material p moving in the longitudinal direction using a surface defect detection sensor and measures the longitudinal position of the surface defects on the cylindrical material; a turning roller 2 that supports the cylindrical material p after the surface defect position measurement by the longitudinal surface defect measuring device 1 and rotates the cylindrical material p in the circumferential direction; a trolley 3 that is movable parallel to the longitudinal direction of the cylindrical material p supported by the turning roller 2; a circumferential surface defect position measuring device 4 that detects surface defects on the cylindrical material p that is supported by the turning roller 2 and rotating in the circumferential direction using a surface defect detection sensor and measures the circumferential position of the surface defects on the cylindrical material; a surface defect repair device 5 mounted on the trolley 3; and a control device 6 that controls the driving of the turning roller 2, the trolley 3, and the surface defect repair device 5 based on surface defect position information obtained from the longitudinal surface defect measuring device 1 and the circumferential surface defect measuring device 4 to repair surface defects on the cylindrical material p.

[0019] The longitudinal position measuring device 1 comprises a surface defect detection sensor s1 for detecting surface defects in a cylindrical material p moving in the longitudinal direction, and a speedometer 7 for measuring the movement speed (conveying speed) of the cylindrical material p. Based on the detection of surface defects in the longitudinal direction of the cylindrical material by the surface defect detection sensor s1 and the movement speed of the cylindrical material p measured by the speedometer 7, the device measures (identifies) the longitudinal position of the surface defect in the cylindrical material. The longitudinal position measuring device 1 (measuring instruments) of this embodiment is positioned between the rollers 100 along the conveyor roller 10.

[0020] As shown in Figure 2, the longitudinal position measuring device 1 is equipped with a gate-shaped support frame 11 through which a cylindrical material p passes, and the measuring instruments that constitute the device are attached to this support frame 11. Specifically, multiple (four) surface defect detection sensors s1 are attached so as to surround the passing cylindrical material p, enabling detection of surface defects from multiple directions (four directions) around the cylindrical material p. In addition, a speedometer 7 is provided on the upper part of the support frame 11 so as to be able to measure the moving speed of the cylindrical material p as it passes the position of the surface defect detection sensors s1. Furthermore, a passage sensor 9 is provided on the side of the support frame 11, and this passage sensor 9 detects when the tip of the cylindrical material p has passed the position of the surface defect detection sensor s1.

[0021] This longitudinal position measuring device 1 measures (identifies) the longitudinal position of a surface defect in the cylindrical material from the tip of the cylindrical material p by integrating the change in the moving speed of the cylindrical material p, as measured by the speedometer 8, between the detection time of the tip of the cylindrical material p by the passage sensor 9 and the detection time of a surface defect by the surface defect detection sensor s1. As shown in Figure 5, it is equipped with a calculation means 12 (calculator) for performing this calculation. Information on the longitudinal position of surface defects in the cylindrical material measured by this longitudinal position measuring device 1 (i.e., surface defect position information F) L The output is sent to the control device 6, which will be described later, as shown in Figure 5. Here, the surface defect detection sensor s1 can be, for example, an image discrimination sensor. The speedometer 7 can be, for example, a laser Doppler speedometer. The passage sensor 9 can be, for example, a photoelectric sensor.

[0022] The turning roller 2 consists of multiple pairs of rollers 20 arranged at regular intervals along the longitudinal direction of the cylindrical material p, each pair being used to rotate the cylindrical material p in the circumferential direction while supporting it. As shown in Figure 3, the multiple pairs of rollers 20 are driven to rotate in the same direction, causing the supported cylindrical material p to rotate in the circumferential direction. Each of the pairs of rollers 20 is rotatably held by being pivotally supported on a suitable support (not shown) at its respective roll shaft. The turning roller 2 is installed in parallel with the conveyor roller portion of the conveyor roller 10 that is downstream of the longitudinal position measuring device 1. The cylindrical material p, which has passed through the longitudinal position measuring device 1 and been conveyed by the conveyor roller 10, stops in parallel with the turning roller 2 and is transferred onto the turning roller 2 by a transfer means such as a walking beam (not shown). The multiple pairs of rollers 20 that make up the turning roller 2 can be installed at appropriate intervals, and are usually installed at intervals of 2 to 3 meters.

[0023] The turning roller 2 is equipped with a drive motor 21 for rotating multiple pairs of rollers 20. The drive force of this drive motor 21 is transmitted to the multiple pairs of rollers 20, and the system is configured to rotate them simultaneously. It is preferable that the drive motor 21 be a servo motor. In this embodiment, a rotating shaft 22 is positioned (supported) along the longitudinal direction of the turning roller 2, and the rotation of the main shaft of the drive motor 21 is transmitted to the rotating shaft 22 via a reduction gear 23, etc., causing the rotating shaft 22 to rotate. Corresponding to each pair of rollers 20, a belt-pulley type power transmission mechanism 24 is provided to transmit the rotation of the rotating shaft 22 to a pair of rollers 20. This power transmission mechanism 24 consists of a pulley 241 provided on the rotating shaft 22, pulleys 242 provided on each roll shaft portion of a pair of rollers 20, a plurality of rotatable intermediate pulleys 243, and a belt 240 wrapped around these pulleys 241 to 243. The rotation of the rotating shaft 22 is transmitted to each pair of rollers 20 by this power transmission mechanism 24. The rotational speed of the rotating shaft 22 can be adjusted by the reduction gear 23 as needed. The belt 240 is usually a timing belt. The cylindrical material p, supported by the turning roller 2, rotates due to the frictional force between the turning roller 2 (roller 20) and the cylindrical material p. An embodiment in which the roller 20 of the turning roller 2 is composed of a magnetic roller will be described in detail later.

[0024] The trolley 3 is equipped with the surface defect detection sensor s2 and surface defect maintenance device 5 described below, and is a means of moving them parallel to the longitudinal direction of the cylindrical material p supported by the turning roller 2. The trolley 3 is provided to be movable (travel) along a guide section 13 (guide rail) provided parallel to the longitudinal direction of the turning roller 2. The trolley 3 is moved by the power of a drive means such as a drive motor. As shown in Figure 3, the surface scratch repair device 5 mounted on the trolley 3 repairs the upper surface of the cylindrical material p supported by the turning roller 2 from above (directly above). Therefore, the trolley 3 moves parallel to the turning roller 2, above the turning roller 2. Accordingly, the guide section 13 (guide rail) is provided above the turning roller 2.

[0025] The circumferential position measuring device 4 is mounted on a trolley 3 and includes a surface defect detection sensor s2 that detects surface defects on a cylindrical material p that rotates circumferentially while being supported by a turning roller 2, and a rotational movement distance measuring device 8 that measures the rotational movement distance of the circumferential surface of the cylindrical material p that rotates circumferentially while being supported by the turning roller 2. Based on the detection of surface defects in the circumferential direction of the cylindrical material by the surface defect detection sensor s2 and the rotational movement distance of the cylindrical material p measured by the rotational movement distance measuring device 8, the circumferential position measuring device 4 measures (identifies) the circumferential position of the surface defect on the cylindrical material. The surface defect detection sensor s2 detects surface defects from an oblique angle above the cylindrical material p supported by the turning roller 2, and its mounting position on the trolley 3 in the direction of trolley movement is the same as that of the surface defect maintenance device 5. Here, the same surface defect detection sensor s2 as the surface defect detection sensor s1 can be used.

[0026] In this embodiment, the rotational distance measuring device 8 is configured to measure the rotational distance of the circumferential surface of the cylindrical material p by pressing a measuring roller against the cylindrical material p. Specifically, the rotational distance measuring device 8 comprises a measuring roller 80 positioned below the cylindrical material supported by the turning roller 2, and a cylinder device 81 that holds the measuring roller 80. The measuring roller 80 is rotatably held at the tip of the operating rod 810 of the cylinder device 81. The measuring roller 80 is pressed against the lower surface of the cylindrical material p by the cylinder device 81 and rotates in sync with the rotation of the cylindrical material p due to the frictional force with the cylindrical material p, thereby measuring the rotational distance of the circumferential surface of the cylindrical material p.

[0027] This circumferential position measuring device 4 measures the rotational distance of the cylindrical material p's circumferential surface using a rotational distance measuring instrument 8, detects surface defects using a surface defect detection sensor s2, and measures (identifies) the circumferential position of the surface defect in the cylindrical material from the rotational distance of the cylindrical material p's circumferential surface at the time the surface defect is detected. Therefore, as shown in Figure 5, it is equipped with a calculation means 14 (calculator) for performing this calculation. Information on the circumferential position of surface defects in the cylindrical material measured by this circumferential position measuring device 4 (i.e., surface defect position information F) C The output is sent to the control device 6, which will be described later, as shown in Figure 5.

[0028] The surface defect repair device 5 is a means for repairing surface defects on a cylindrical material p supported by a turning roller 2, and is usually composed of a grinding device equipped with a grinder (rotating grinding wheel). In this embodiment, the surface defect repair device 5 is supported by a trolley 3 so that the cylindrical material p supported by the turning roller 2 is rotated and stopped so that the surface defects face upwards (i.e., the surface defects face directly upwards), and the surface defects can be repaired from directly above in that state. The drive of the surface scratch repair device 5 is controlled by the control device 6 described below. For example, if the surface scratch repair device 5 is a grinding device equipped with a grinder, the drive control of the surface scratch repair device 5 by the control device 6 may include, for example, drive control of the arm that holds the grinder and rotational drive control of the grinder.

[0029] The control device 6 receives surface defect location information F in the longitudinal direction of the cylindrical material from the longitudinal position measuring device 1. L And, surface defect location information F in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device 4. C Based on this, the drive of the turning roller 2, the trolley 3, and the surface defect treatment device 5 is controlled to treat surface defects on the cylindrical material p. Its main function is to sequentially perform the following controls (i) to (iii). (i) Surface defect location information F in the longitudinal direction of the cylindrical material obtained from the longitudinal position measuring device 1 L Based on this, the trolley 3 is controlled and the surface scratch repair device 5 receives the surface scratch location information F L The trolley 3 is moved to a position along the longitudinal direction of the cylindrical material where surface defects related to it can be repaired. (ii) Surface defect location information F in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device 4 C Based on this, the turning roller 2 is controlled and the surface defect repair device 5 receives the surface defect location information F C The cylindrical material p is rotated (and stopped rotating) to a circumferential position where the surface defects can be treated. In this embodiment, the circumferential position of the cylindrical material p where the surface treatment device 5 can treat the surface defects is the circumferential position where the surface defects are directly facing upwards. (iii) Control the surface defect repair device 5 to repair the surface defect. As described above, if the surface defect repair device 5 is a grinding device equipped with a grinder, the control of the surface defect repair device 5 may include, for example, drive control of the arm that holds the grinder and rotational drive control of the grinder. Furthermore, this control device 6 and the aforementioned calculation means 12, 14 (arithmetic units) are implemented as functions of a microcomputer.

[0030] Next, preferred embodiments of the apparatus of the present invention will be described. As described above, the cylindrical material p supported by the turning roller 2 is rotated by the frictional force between the turning roller 2 (roller 20) and the cylindrical material p. However, if slippage occurs due to the surface condition of both or the curvature of the cylindrical material, it will worsen the accuracy of stopping the rotation of the cylindrical material p. In the apparatus of the present invention, the turning roller 2 stops the rotation of the cylindrical material p based on the circumferential position of the surface defect of the cylindrical material measured by the circumferential position measuring device 4, so that the surface defect comes to a position where it can be treated by the surface defect treatment device 5 (usually facing directly upwards). In this case, if the accuracy of stopping the rotation of the cylindrical material p is poor, the surface defect treatment device 5 will not be able to accurately treat the surface defect, and areas of defects that cannot be treated will occur. In particular, for cylindrical materials with an outer diameter of φ60 to φ200 mm, it is more difficult to ensure rotational stopping accuracy for smaller diameter cylindrical materials p. Furthermore, if the cylindrical material is bent in the longitudinal direction, the cylindrical material p is more likely to slip on the turning roller 2 (the greater the bend in the cylindrical material, the more likely it is to slip), and the rotational stopping accuracy of the cylindrical material tends to decrease. To avoid such problems, it is necessary to increase the frictional force between the turning roller 2 and the cylindrical material p. One way to do this is to press down on the cylindrical material p from above with a roll or the like, but this method may cause the pressing means to interfere with the operating range of the surface finishing device. Therefore, increasing the frictional force between the turning roller 2 and the cylindrical material p without contact is desirable in order to ensure the rotational stopping accuracy of the cylindrical material p without causing such problems.

[0031] In the apparatus of the present invention, in order to increase the frictional force between the turning roller 2 and the cylindrical material p, at least some of the multiple pairs of rollers 20 that make up the turning roller 2 can be made into magnetic rollers that have magnets 15 built in and exert their magnetic force on the cylindrical material p. This makes it possible to increase the frictional force between the turning roller 2 and the cylindrical material p without contact. The magnets built into the rollers 20 are permanent magnets, and anisotropic magnets with particularly high magnetic force are preferred. The rollers 20 that are made into magnetic rollers may be only some of the total, but in order to ensure the effect, it is desirable to make all of the rollers 20 into magnetic rollers. Typically, the roller 20 (roller body) that makes up the turning roller 2 is made of a magnetic material. Therefore, the magnet inside the roller magnetizes the roll body, and this magnetic force improves the frictional force between the cylindrical material p and the turning roller 2. The arrangement of the magnets 15 embedded in the roller 20 is not particularly limited, but it is preferable to arrange multiple magnets 15 at intervals along the circumferential direction (all around) on the inner side of the outer surface of the roller body. Furthermore, in order to increase the attractive force on the cylindrical material p, it is preferable that the magnets 15 be anisotropic magnets and that their magnetic poles N and S be aligned in the axial direction of the roller body.

[0032] Figure 6 schematically shows one embodiment of such a magnetic roller (roller 20), where Figure 6(A) is a side view of the roller 20 and Figure 6(B) is a front view of the roller 20. In Figure 6, 200 is the roller body of the roller 20, and 201 is the roller shaft. Multiple magnets 15 are arranged at intervals along the circumferential direction (all around) on the inner side of the outer surface of the roller body 200. The magnets 15 are anisotropic magnets, and their magnetic poles N and S are aligned in the axial direction of the roller body 200. This makes it possible to make one side of the roller body 200 in the axial direction (the right half of Figure 6(A)) the S pole and the other side (the left half of Figure 6(A)) the N pole. In other words, the entire roller body can be given polarity, and the attractive force of the cylindrical material p can be increased. Conversely, if isotropic magnets are used for the magnets 15, or if anisotropic magnets are used but their magnetic poles N and S are not aligned, the attractive force of the cylindrical material p will be lower compared to the case in Figure 6.

[0033] Furthermore, as shown in Figure 6, an example of an arrangement of a pair of rollers 20 (magnetic rollers) in which the roll cylinder 200 has polarity due to the built-in magnets is shown in Figures 7 and 8. Figures 7 and 8 schematically show examples of arrangements of a pair of rollers 20, with Figures 7(A) and 8(A) being plan views of the pair of rollers 20, and Figures 7(B) and 8(B) being front views of the pair of rollers 20. Figure 7 shows an arrangement where a pair of rollers 20 have opposite magnetic poles facing each other, and Figure 8 shows an arrangement where a pair of rollers 20 have the same magnetic poles facing each other. In Figure 7, the pair of rollers 20 are attracted to each other, and in Figure 8, the pair of rollers 20 are repelled from each other. However, in either case, the necessary magnetic force acts on the cylindrical material p, causing it to be attracted to the rollers 20, so there is no problem.

[0034] Figure 9 shows the relationship between the amount of bending of the cylindrical material p (pipe bending amount) and the eccentric torque tangential force in the apparatus of the present invention, both when a magnetic roller is not used for the turning roller 2 and when a magnetic roller (Figure 6) is used. Figures 9(a) and (b) show the relationship between the amount of bending of the pipe and the eccentric torque tangential force for two types of cylindrical material p. Here, the amount of bending of the pipe is the maximum distance (eccentricity) between the center of gravity of the cylindrical material and the center line of the cylindrical material, and the eccentric torque tangential force is the normal tangential force generated between the cylindrical material p and the turning roller 2 when the cylindrical material p with that eccentricity rotates. As shown in Figure 9, the eccentric torque tangential force due to the bending of the pipe increases with increasing pipe bending. The slip limit force is the frictional force between the cylindrical material p and the turning roller 2, and when the roller 20 is not a magnetic roller, it is the frictional force due to the weight of the cylindrical material itself. When the eccentric torque tangential force due to the amount of bending of the pipe exceeds the slip limit force, the cylindrical material p will slide on the turning roller 2.

[0035] Figure 9(a) shows the relationship between the pipe bend and the eccentric torque tangential force in a cylindrical material p with an outer diameter of 100 mm and a wall thickness of 10 mm. According to the figure, if the roller 20 is not a magnetic roller, when the pipe bend exceeds 25 mm, the eccentric torque tangential force caused by the pipe bend exceeds the slip limit force, causing the cylindrical material p to slip on the turning roller 2. In contrast, if the roller 20 is a magnetic roller, the frictional force caused by the magnetic force increases in addition to the weight of the cylindrical material itself, and the slip limit force increases accordingly. As a result, even when the pipe bend is 50 mm, the eccentric torque tangential force does not exceed the slip limit force, and the cylindrical material p does not slip on the turning roller 2. Figure 9(b) shows the relationship between pipe bend and eccentric torque tangential force in a cylindrical material p with an outer diameter of 200 mm and a wall thickness of 40 mm. According to this figure, even with a cylindrical material p of this size, if the roller 20 is not a magnetic roller, the cylindrical material p will slip on the turning roller 2 when the pipe bend exceeds 45 mm. In contrast, if the roller 20 is a magnetic roller, the eccentric torque tangential force does not exceed the slip limit force even when the pipe bend exceeds 50 mm, and the cylindrical material p will not slip on the turning roller 2.

[0036] In the device of the present invention, it is preferable that the turning roller 2 consists of a pair of rollers 20, each equipped with approximately 15 to 25 magnets 15 (anisotropic magnets) in the circumferential direction of the roller, arranged at intervals of 2 to 3 m, as shown in Figure 6. This increases the frictional force between the turning roller 2 and the cylindrical material p, as a normal force of approximately 50 kgf is added in addition to the normal force due to the weight of the cylindrical material p itself, due to the magnetic force of the magnet rollers. In the apparatus of the present invention, by configuring the roller 20 of the turning roller 2 with a magnetic roller as shown in Figure 6, it becomes possible to rotate and stop the cylindrical material p with an accuracy of ±5 mm or less. Therefore, even for cylindrical materials p with an outer diameter of φ60 to φ200 mm, it is possible to repair surface defects with high precision, regardless of where they are located on the entire surface of the cylindrical material.

[0037] Alternatively, instead of using the magnetic rollers described above, the following configuration using electromagnets may be used to increase the frictional force between the cylindrical material p and the turning roller 2. Specifically, electromagnets 16 that exert a magnetic force from below on the cylindrical material p supported by the turning roller 2 may be placed between at least some of the multiple pairs of rollers 20 that make up the turning roller 2, so that the cylindrical material p is attracted from below by the magnetic force of the electromagnets 16. Figure 10 schematically shows one embodiment, where Figure 10(A) is a partial side view of the turning roller 2 and Figure 10(B) is a partial top view of the turning roller 2. As shown in the figure, electromagnets 16 are placed between multiple pairs of rollers 20 that make up the turning roller 2, and the cylindrical material p is attracted from below by the magnetic force of the electromagnets 16, thereby increasing the frictional force between the cylindrical material p and the turning roller 2. The electromagnets 16 may be placed in some of the multiple spaces between the rollers 20, but to ensure the effect, it is desirable to place them in all of the multiple spaces between the rollers 20.

[0038] Furthermore, in the apparatus of the present invention, when the control device 6 performs the control described in (ii) above, it is preferable that the control device 6 detects the slippage of the cylindrical material p on the turning roller 2 and, based on this, controls the rotation of the turning roller 2 so that the circumferential position of the surface defect is at the position to be treated by the surface defect treatment device 5 (in this embodiment, the position where the surface defect is directly facing upwards). That is, when the control device 6 performs the control described in (ii) above, it compares the rotational movement distance of the circumferential surface of the cylindrical material p measured by the rotational movement distance measuring instrument 8 which constitutes the circumferential position measuring device 4 with the rotational movement distance of the circumferential surface of the cylindrical material p calculated from the rotational speed of the turning roller 2 (output of the drive motor 21). If a difference exceeding an allowable value occurs between the two rotational movement distances, it determines that the cylindrical material p has slipped on the turning roller 2, and adjusts the rotational movement distance of the circumferential surface of the cylindrical material p by controlling the rotation of the turning roller 2 according to the difference, thereby moving the surface defect to the position to be treated by the surface defect treatment device 5. In other words, the rotational movement distance of the cylindrical material p is adjusted so that the position of the surface defect is at the position where the surface defect repair device 5 is repaired (in this embodiment, the position where the surface defect is directly above). In this case, as shown by the dashed line in Figure 5, the rotational movement distance information of the cylindrical material p measured by the rotational movement distance measuring instrument 8 (rotational movement distance information f0) is also output to the control device 6 and used for the control described above.

[0039] Next, the method of using the apparatus of the present invention will be described using the above-described embodiment as an example. First, the cylindrical material p is conveyed in the longitudinal direction of the cylindrical material by the conveying roller 10 (alignment roller). During this process, the longitudinal position measuring device 1 measures (identifies) the longitudinal position of the cylindrical material with surface defects. That is, this longitudinal position measuring device 1 detects surface defects with a plurality of surface defect detection sensors s1 surrounding the cylindrical material p for the cylindrical material p moving in the longitudinal direction. At the same time, the speedometer 7 measures the moving speed of the cylindrical material p, and further, the passing sensor 9 detects that the tip of the cylindrical material p has passed the position of the surface defect detection sensor s1. The calculation means 12 calculates the longitudinal position of the surface defect from the tip of the cylindrical material p in the longitudinal direction of the cylindrical material by integrating the change in the moving speed of the cylindrical material p measured by the speedometer 8 between the detection time of the tip of the cylindrical material p by the passing sensor 9 and the detection time of the surface defect by the surface defect detection sensor s1. Thereby, the longitudinal position of the surface defect on the cylindrical material is measured (identified) by the longitudinal position measuring device 1, and this surface defect position information F L is output to the control device 6. When there are multiple surface defects, of course, the longitudinal positions of the cylindrical material of each surface defect are measured (identified), and the surface defect position information F L is output to the control device 6.

[0040] The cylindrical material p that has passed through the longitudinal position measuring device 1 is conveyed to the position where the turning rollers 2 are arranged in parallel, and then transferred onto the turning rollers 2 by transfer means such as a walking beam. Next, the control device 6 controls the driving of the carriage 3 based on the above surface defect position information F L and moves the carriage 3 to the longitudinal position of the cylindrical material where the surface defect repair device 5 mounted on the carriage 3 can repair the surface defect related to the surface defect position information F L .

[0041] Next, the turning roller 2 is driven to rotate the cylindrical material p on the turning roller 2, and the circumferential position measuring device 4 measures (identifies) the circumferential position of the surface defect on the cylindrical material. That is, the circumferential position measuring device 4 measures the rotational distance of the circumferential surface of the cylindrical material p using the rotational distance measuring device 8, while detecting surface defects with the surface defect detection sensor s2 mounted on the trolley 3. The calculation means 14 calculates the position of the surface defect in the circumferential direction of the cylindrical material from the rotational distance of the circumferential surface of the cylindrical material p at the time the surface defect is detected. As a result, the circumferential position measuring device 4 measures (identifies) the circumferential position of the surface defect on the cylindrical material, and this surface defect position information F C This is output to the control device 6. The turning roller 2 may be driven in advance, or its drive may be started by a command from the control device 6 or by manual operation by the operator.

[0042] The control device 6 receives surface defect position information F in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device 4. C Based on this, the turning roller 2 is controlled and the surface defect repair device 5 receives the surface defect location information F C The cylindrical material p is rotated and stopped at a circumferential position where the surface defects can be repaired. In other words, in this embodiment, the cylindrical material p is rotated and stopped at a circumferential position where the surface defects are directly facing upwards. In this case, if the turning roller 2 is made of a magnetic roller, the slippage of the cylindrical material p on the turning roller 2 is suppressed, and the accuracy of stopping the rotation of the cylindrical material p can be ensured. Furthermore, the control device 6 may compare the actual rotational distance of the cylindrical material p circumferential surface measured by the rotational distance measuring instrument 8, which constitutes the circumferential position measuring device 4, with the rotational distance of the cylindrical material p circumferential surface calculated from the rotational speed of the turning roller 2 (output of the drive motor 21). If a difference occurs between the two rotational distances, the control device 6 may determine that the cylindrical material p has slipped on the turning roller 2, and adjust the rotational distance of the cylindrical material p circumferential surface by controlling the rotation of the turning roller 2 (driving the drive motor 21) according to the difference, thereby moving the surface defect to a position where it can be treated by the surface defect treatment device 5 (in this embodiment, a position where the surface defect is directly facing upwards).

[0043] Subsequently, the control device 6 controls the drive of the surface defect repair device 5 (for example, the drive of the arm that holds the grinder and the rotational drive of the grinder) to repair the surface defect. If the cylindrical material p has multiple surface defects, the operations (processes) described above, starting with the movement of the trolley 3, are repeated for each surface defect, and the surface defects are treated along the entire length and circumference of the cylindrical material. The cylindrical material p, whose surface has been treated as described above, is transferred from the turning roller 2 to the conveyor roller 10 by a transfer means, and then transported out by the conveyor roller 10.

[0044] There are no particular restrictions on the type or size of the material (cylindrical material) to be surface-treated by the apparatus of the present invention, but typically, tubular bodies such as steel pipes are used. For example, in the case of steel pipes, those with an outer diameter of φ60 to φ200 mm, a wall thickness of 5 mm to 40 mm, a length of 6 m to 14 m, a total length bend of 0 mm to 50 mm, and a weight of approximately 50 kg to 700 kg are particularly suitable. In addition, cylindrical materials other than steel pipes (e.g., steel bars or round billets) and cylindrical materials made of materials other than iron (preferably magnetic materials) may also be used. [Explanation of symbols]

[0045] 1. Longitudinal position measuring device 2 Turning Rollers 3 carts 4 Circumferential position measuring device 5. Surface scratch repair device 6. Control device 7 speedometer 8. Rotational Distance Measuring Device 9. Passage Sensor 10 Conveyor rollers 11 Support frame 12 Calculation means 13 Guide Section 14 Calculation means 15 Magnets 16 Electromagnet 20 Laura 21 Drive motor 22 Rotation axis 23 Reducer 24 Power transmission mechanism 80 Measuring Roller 81 Cylinder device 100 Laura 200 Roller body 201 Roller shaft section 240 belts 241,242 Pulley 243 Intermediate Pulley 810 Actuating Rod s1, s2 Surface defect detection sensors

Claims

1. A longitudinal position measuring device (1) detects surface defects on a cylindrical material moving in the longitudinal direction using a surface defect detection sensor and measures the longitudinal position of the surface defect on the cylindrical material, A turning roller (2) supports the cylindrical material after the surface defect location measurement by the longitudinal position measuring device (1) and rotates the cylindrical material in the circumferential direction, A trolley (3) that can move parallel to the longitudinal direction of the cylindrical material supported by the turning roller (2), A circumferential position measuring device (4) detects surface defects of a cylindrical material that is supported by the turning roller (2) and rotates in the circumferential direction using a surface defect detection sensor and measures the circumferential position of the surface defect of the cylindrical material, A surface defect repair device (5) mounted on the trolley (3) and supporting the cylindrical material on the turning roller (2) is used to repair surface defects, A cylindrical material surface treatment device is characterized by comprising a control device (6) that controls the driving of the turning roller (2), the trolley (3), and the surface treatment device (5) to treat surface defects in the cylindrical material based on surface defect position information in the longitudinal direction of the cylindrical material obtained from the longitudinal position measuring device (1) and surface defect position information in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device (4), thereby treating surface defects in the cylindrical material.

2. The cylindrical material surface treatment apparatus according to claim 1, characterized in that the control device (6) sequentially performs the following controls (i) to (iii). (i) Based on the surface defect location information in the longitudinal direction of the cylindrical material obtained from the longitudinal position measuring device (1), the trolley (3) is controlled to move the trolley (3) to a position in the longitudinal direction of the cylindrical material where the surface defect repair device (5) can repair the surface defect related to the surface defect location information. (ii) Based on the surface defect location information in the circumferential direction of the cylindrical material obtained from the circumferential position measuring device (4), the turning roller (2) is controlled to rotate the cylindrical material to a circumferential position where the surface defect repair device (5) can repair the surface defect related to the surface defect location information. (iii) Control the surface defect repair device (5) to repair the surface defect.

3. The cylindrical material surface treatment device according to claim 1 or 2, characterized in that the circumferential position measuring device (4) is mounted on the trolley (3) and includes a surface defect detection sensor (s2) that detects surface defects on a cylindrical material that rotates in the circumferential direction while being supported by the turning roller (2), and a rotational movement distance measuring device (8) that measures the rotational movement distance of the circumferential surface of the cylindrical material that rotates in the circumferential direction while being supported by the turning roller (2), and measures the circumferential position of the surface defect on the cylindrical material based on the detection of surface defects in the circumferential direction of the cylindrical material by the surface defect detection sensor (s2) and the rotational movement distance of the cylindrical material measured by the rotational movement distance measuring device (8).

4. The circumferential position measuring device (4) is mounted on the trolley (3) and includes a surface defect detection sensor (s2) that detects surface defects on a cylindrical material that rotates circumferentially while being supported by the turning roller (2), and a rotational movement distance measuring device (8) that measures the rotational movement distance of the circumferential surface of the cylindrical material that rotates circumferentially while being supported by the turning roller (2). Based on the detection of surface defects in the circumferential direction of the cylindrical material by the surface defect detection sensor (s2) and the rotational movement distance of the cylindrical material measured by the rotational movement distance measuring device (8), the circumferential position of the surface defect on the cylindrical material is measured. The cylindrical material surface treatment device according to claim 2, characterized in that when the control device (6) performs the control described in (ii), it compares the rotational distance of the cylindrical material surface measured by the rotational distance measuring device (8) with the rotational distance of the cylindrical material surface calculated from the rotational speed of the turning roller (2), and when a difference exceeding an allowable value occurs between the two rotational distances, it controls the rotation of the turning roller (2) according to the difference to adjust the rotational distance of the cylindrical material surface, thereby moving the surface defects to the treatment position by the surface defect treatment device (5).

5. The cylindrical material surface treatment device according to claim 1 or 2, characterized in that at least a portion of the plurality of pairs of rollers (20) constituting the turning roller (2) are magnetic rollers that incorporate magnets (15) and exert their magnetic force on the cylindrical material.

6. The cylindrical material surface treatment device according to claim 1 or 2, characterized in that an electromagnet (16) is placed between at least some of the multiple pairs of rollers (20) constituting the turning roller (2) to exert a magnetic force from below on the cylindrical material supported by the turning roller (2).

7. The cylindrical material surface treatment device according to claim 1 or 2, wherein the longitudinal position measuring device (1) comprises a surface defect detection sensor (s1) for detecting surface defects on a cylindrical material moving in the longitudinal direction and a speedometer (7) for measuring the moving speed of the cylindrical material, and measures the longitudinal position of the surface defect on the cylindrical material based on the detection of surface defects in the longitudinal direction of the cylindrical material by the surface defect detection sensor (s1) and the moving speed of the cylindrical material measured by the speedometer (7).

8. The surface defect detection sensor (s1) detects surface defects from multiple directions around a cylindrical material that is moving longitudinally by a transport roller. The speedometer (7) measures the speed at which the cylindrical material moves as it passes the position of the surface defect detection sensor (s1). The cylindrical material surface treatment device according to claim 7, further comprising a passage sensor (9) that detects when the tip of the cylindrical material has passed the position of the surface defect detection sensor (s1), and integrating the change in the moving speed of the cylindrical material measured by the speedometer (7) between the time of detection of the tip of the cylindrical material by the passage sensor (9) and the time of detection of the surface defect by the surface defect detection sensor (s1), thereby measuring the longitudinal position of the surface defect from the tip of the cylindrical material.

9. The cylindrical material surface treatment device according to claim 3 or 4, wherein the rotational movement distance measuring instrument (8) constituting the circumferential position measuring device (4) comprises a measuring roller (80) positioned below the cylindrical material supported by the turning roller (2), and a cylinder device (81) that holds the measuring roller (80), wherein the measuring roller (80) is pressed against the lower surface of the cylindrical material by the cylinder device (81).

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