Metal plate grinding device and grinding method, and metal plate manufacturing method

Abstract

To provide a metal plate grinding device and a metal plate grinding method as well as a metal plate manufacturing method that can prevent a cable from being caught by a grinding device main body during travelling without increasing the size of the grinding device main body.SOLUTION: A metal plate grinding device 300 includes: a grinding device main body 14; a grinding member 22 provided in the grinding device main body to grind a metal plate; a travelling drive mechanism 21 that allows the grinding device main body 14 to travel on a surface of a metal plate 10; a grinding drive mechanism that drives the grinding member 22 for bringing the grinding member 22 into contact with the surface of the metal plate 10 to grind the metal plate 10; and a cable connection port 28 provided at a position lower than the top of the grinding device main body 14 at one end in a width direction of the grinding device main body 14 to connect a power cable that supplies power to the travelling drive mechanism and the grinding drive mechanism or a communication cable that controls the travelling drive mechanism and the grinding drive mechanism.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a metal plate grinding apparatus and a metal plate grinding method that travels over a metal plate to grind the metal plate, and a metal plate manufacturing method. [Background technology]

[0002] Conventionally, various types of metal plate grinding devices have been proposed for grinding the surface of metal plates such as thick steel plates. For example, Patent Document 1 discloses a self-propelled scratch removal device that travels (self-propels) over a metal plate to repair scratches present on the surface of the metal plate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-237107 Summary of the Invention [Problem to be solved by the invention]

[0004] In the self-propelled scratch removal device disclosed in Patent Document 1, the power supply unit for supplying power to the device is located at a higher position than the device, and the cable connected to the power supply unit is suspended by a cable feeder, thereby preventing interference between the device and the cable (the cable getting caught on the device) while the device is moving.

[0005] However, in the above-mentioned document, the power supply unit is located higher than the device, and therefore a long support member must be attached to the device to support the power supply unit and supply power from the power supply unit to the device, resulting in an increase in the size of the device.

[0006] In view of the above, the present invention aims to provide a metal plate grinding device, a metal plate grinding method, and a metal plate manufacturing method that can prevent a cable from getting caught on the grinding device body while running without increasing the size of the grinding device body. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention provides the following (1) to (7).

[0008] (1) A metal plate grinding device for grinding the surface of a metal plate, comprising: A grinding device body, a grinding member provided in the grinding device body and configured to grind the metal plate; a travel drive mechanism for causing the grinding device body to travel on the surface of the metal plate; a grinding drive mechanism that drives the grinding member to bring the grinding member into contact with a surface of the metal plate to grind the metal plate; a cable connection port provided at one end of the grinding device body in a width direction at a position lower than a top of the grinding device body, for connecting a power cable for supplying power to the traveling drive mechanism and the grinding drive mechanism and / or a communication cable for controlling the traveling drive mechanism and the grinding drive mechanism; A grinding apparatus for a metal plate comprising:

[0009] (2) The metal plate grinding device described in (1), in which the cable connection port is provided at the rear of the grinding device body when the side on which the grinding member is provided is defined as the front of the grinding device body.

[0010] (3) The cable connection port is formed at only one location on the grinding device body, Both the power cable and the communication cable are connected to the cable connection port. A grinding apparatus for metal plates according to (1) or (2).

[0011] (4) A method for grinding a metal plate, which, when grinding a surface of a metal plate using a metal plate grinding device described in any one of (1) to (3), measures a self-position of the grinding device main body based on information from a position measuring means, and causes the grinding device main body to run over the surface of the metal plate based on the self-position.

[0012] (5) The method for grinding a metal plate according to (4), further comprising the step of: setting a moving path of the grinding device so that the running direction of the grinding device body is toward the other end side in the width direction when grinding the surface of the metal plate.

[0013] (6) A method for grinding a metal plate described in (5), in which, when grinding the surface of a metal plate, the grinding device body is moved a certain distance in the forward and backward directions and then moved toward the other end side in the width direction of the grinding device body, and this procedure is repeated multiple times.

[0014] (7) A method for manufacturing a metal plate, comprising grinding a surface of the metal plate by the method for grinding a metal plate according to any one of (4) to (6). Effect of the Invention

[0015] According to the present invention, by optimizing the arrangement and movement route of the cable of the grinding device, it is possible to prevent the cable from getting caught on the grinding device body when it is moving, without increasing the size of the grinding device body. [Brief description of the drawings]

[0016] [Figure 1] 1 is a perspective view showing an example of an entire system including a metal plate grinding device according to an embodiment of the present invention. [Diagram 2] 1 is a block diagram showing a grinding device for a metal plate according to an embodiment of the present invention. [Diagram 3] 1 is a side view showing a grinding device for a metal plate according to an embodiment of the present invention; [Figure 4] 1 is a top view showing a grinding device for a metal plate according to an embodiment of the present invention; [Diagram 5] 1 is a perspective view showing a main part of a grinding device for a metal plate according to an embodiment of the present invention; [Figure 6] 1 is a plan view showing an initial state when a grinding area of ​​a metal plate is actually ground by a metal plate grinding device according to an embodiment of the present invention; [Figure 7] 7 is a diagram showing a movement route of the grinding device when grinding a grinding region of the metal plate from the state shown in FIG. 6. [Figure 8] FIG. 2 is a schematic diagram showing the arrangement and coordinate system of a grinding device in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. <Grinding system including grinding device for metal plates> First, a grinding system including a grinding device for a metal plate according to an embodiment of the present invention will be described. FIG. 1 is a perspective view showing an example of a grinding system including a grinding device for a metal plate according to an embodiment of the present invention.

[0018] As shown in FIG. 1, the grinding system 100 includes an indoor position measuring system 200 as a position measuring means, and a grinding device 300 for metal plates (hereinafter simply referred to as grinding device 300).

[0019] The indoor positioning system 200 used in this example constitutes the position measuring means of the grinding machine 300, and measures its own position in indoor space based on the principle of triangulation. Specifically, the indoor positioning system 200 is composed of a plurality of navigation transmitters 11 installed indoors, a navigation receiver 12, and a host computer 13 including position calculation software.

[0020] The grinding device 300 travels on the metal plate 10 by itself, for example, grinding away (removing) minute scratches (defects) on the surface of the metal plate 10, and includes a carriage 14 constituting the grinding device main body, a grinding member 22 for grinding the metal plate 10, and a control system for autonomously driving the grinding device 300 to a predetermined target position that is separately given. It also includes a driving mechanism for driving the grinding device main body, and a driving mechanism for grinding. The control system includes a part of the host computer 13. A detailed configuration of the grinding device 300 will be described later.

[0021] For example, an indoor global positioning system (IGPS) can be applied to the indoor positioning system 200. The IGPS is an indoor positioning system that applies a global positioning system (GPS). The IGPS is described in detail in U.S. Patent No. 6,501,543.

[0022] When IGPS is applied to the indoor positioning system 200, each navigation transmitter 11 emits a rotating fan beam (fan-shaped beam). The rotating fan beam may be a laser fan beam or other light emitting means. The navigation receiver 12 is mounted on the carriage 14 of the grinding machine 300 and receives the rotating fan beam emitted from the navigation transmitter 11. At this time, the rotating fan beam is shifted at a predetermined angle, and the three-dimensional coordinate value (hereinafter referred to as "coordinate value") of the navigation receiver 12 receiving it, that is, the position or height, can be measured. The received information received by the navigation receiver 12 is wirelessly transmitted to the host computer 13, and the host computer 13 calculates the position of the navigation receiver 12 according to the principle of triangulation. By using signals received from multiple navigation transmitters 11 and repeating the calculation, the position information of the running grinding machine 300 equipped with the navigation receiver 12 can be obtained in real time.

[0023] <Grinding equipment> [Overall configuration] Next, the overall configuration of the grinding device 300 according to the embodiment of the present invention will be described in detail. FIG. 2 is a block diagram showing a grinding apparatus 300 according to an embodiment of the present invention, FIG. 3 is a side view showing the grinding apparatus 300, and FIG.

[0024] In this embodiment, as described above, the grinding device 300 includes the carriage 14 constituting the grinding device main body, the grinding member 22, and a control system for autonomously driving the grinding device 300 itself to a predetermined target position. In addition, the grinding device 300 further includes a traveling drive mechanism for driving the grinding device main body including the carriage 14, and a grinding drive mechanism for driving the grinding member 22.

[0025] The grinding drive mechanism has a scanning actuator 15 that causes the grinding member 22 to scan in a direction along the surface of the metal plate 10 (for example, in one axial direction), a lifting actuator 16 that slides up and down to raise and lower the grinding member 22 and presses the grinding member 22 perpendicularly against the metal plate 10 with a given pressing load, and a rotation mechanism (motor) 23 that rotates the grinding member 22. The cart 14 has wheels 20, and the traveling drive mechanism has a motor 21 that drives and rotates the wheels 20.

[0026] The grinding member 22 may be, for example, a wheel-type member made by laminating coated abrasives perpendicular to the grinding scanning direction, the coated abrasives being made of abrasive grains fixed with an adhesive to a substrate such as nonwoven fabric, cloth, paper, mesh, etc. When using a wheel-type grinding member made of laminated coated abrasives, the grinding member 22 is connected to a rotating mechanism 23, and the rotating mechanism 23 rotates the grinding member 22 to bring it into contact with the surface of the metal plate 10, thereby grinding the surface of the metal plate 10 and removing surface defects.

[0027] As shown in Fig. 2, the control system of the grinding apparatus 300 has an on-board computer 18. The control system further includes an I / O board 17 and a drive control section 19 including a controller and a driver. The drive control section 19 controls a motor 21 constituting a traveling drive mechanism, and a scanning actuator 15 and a lifting actuator 16 constituting a grinding drive mechanism that drives the grinding member 22. The host computer 13 also functions as a part of this control system. All components of the control system other than the host computer 13 are mounted on a carriage 14. The I / O board 17 transmits and receives signals between the host computer 13 and the on-board computer 18.

[0028] The host computer 13, which also functions as a part of the control system, has current position calculation software 31 for calculating the position of the navigation receiver 12 (see FIG. 1) of the above-mentioned indoor positioning system 200, and setting software 32 for setting a target grinding position and route information and evaluating the inspection data and grinding position information from the on-board computer 18, as shown in Fig. 2. Note that the control system of the grinding device 300 may be controlled only by the on-board computer 18 without using the host computer 13.

[0029] As shown in Fig. 3 and Fig. 4, the cart 14 forms the base of the grinding device 300 and is configured as a main part of the grinding device body, and the wheels 20 are provided near one end of the cart 14. The navigation receiver 12 is attached to a part of the cart 14 corresponding to the wheels 20. A frame member 41 extending in a direction perpendicular to the longitudinal direction of the cart 14 is attached to the other end of the cart 14, and the scanning actuator 15 can scan the grinding member 22 in the extension direction of the frame member 41, which is a direction parallel to the surface of the metal plate 10. The grinding member 22 is attached to the scanning actuator 15 via the lifting actuator 16, and is scanned by the scanning actuator 15 together with the lifting actuator 16.

[0030] A fixing portion 42 for fixing the grinding device 300 to the metal plate 10 is provided between the wheel 20 and the frame member 41. The fixing portion 42 is formed of, for example, an electromagnet. A driven wheel 43 is provided at a portion of the cart 14 corresponding to the fixing portion 42. The driven wheel 43 can freely change direction in response to the movement of the drive wheel 20. The frame member 41, the fixing portion 42, the driven wheel 43, and the cart 14 also constitute the main body of the grinding device.

[0031] An on-board computer 18 constituting a control system is mounted integrally with a drive control unit 19 on the end of the carriage 14 on the wheel 20 side.

[0032] The grinding device 300 has two functions: a function of autonomously traveling along a target route, and a function of removing scratches on the metal plate 10.

[0033] The former function is performed by the on-board computer 18, the drive control unit 19, the wheels 20, and the motor 21 based on information from a position measurement means such as the illustrated indoor position measurement system 200. That is, the position information of the grinding device 300 and the information on the target grinding position, which are the results of calculation in the host computer 13, are wirelessly transmitted to the on-board computer 18 by wireless communication, and the on-board computer 18 calculates the deviation of the current position from the target grinding position. A control signal such as a speed command is output from the drive control unit 19 to the motor 21 for the wheels 20 so that the deviation depending on the position of the grinding device 300 becomes 0, and feedback control of the speed and steering angle of the wheels 20 is performed to cause the vehicle to autonomously travel along the target travel route.

[0034] For the latter function, the on-board computer 18 issues ON / OFF commands for the operation of the grinding member 22, which grinds the metal plate 10 by contacting it, and also sends commands for the number of scans and lifting to the scanning actuator 15. The grinding member 22 starts grinding at a specified grinding position based on a command from the on-board computer 18, and then starts to lower by the lifting actuator 16. The grinding member 22 is moved a specified grinding length by the scanning actuator 15, grinding the surface of the metal plate 10. The grinding length and number of grinding are set in advance by the setting software 24 in the host computer 13, and the data is transferred to the on-board computer 18 via the I / O board 17.

[0035] During actual grinding, the grinding device 300 is stopped, and the grinding device 300 is fixed to the metal plate 10 by a fixing part 42 consisting of, for example, an electromagnet, and the lifting actuator 16 is lowered to press the grinding member 22 against the metal plate 10. In this state, the grinding member 22 is scanned in a direction along the surface of the metal plate 10 by the scanning actuator 15, thereby grinding the portion of the surface of the metal plate 10 including scratches.

[0036] [Main components of the grinding device] Next, the main parts of the grinding device 300 according to this embodiment will be described. Fig. 5 is a perspective view showing a main part of the grinding device 300 according to this embodiment. As shown in Fig. 5, in this embodiment, a power cable 29 that supplies power from a power source 26 to the grinding drive mechanism (scanning actuator 15, lift actuator 16, and rotation mechanism 23) and the traveling drive mechanism (motor 21) of the grinding device 300, and a communication cable 30 for remotely controlling the grinding drive mechanism and the traveling drive mechanism by communication are both connected to one cable connection port 28 formed on the grinding device body.

[0037] When the side where the grinding member 22 (see Figs. 3 and 4) is provided is the front of the grinding device body, the cable connection port 28 is provided at the rear of the grinding device body and at one end of the width direction of the grinding device body, at a position lower than the height of the top of the grinding device body. Note that "rear of the grinding device body" refers to a part on the rear side (opposite side to the grinding member 22) from the dimensional center in the front-rear direction (longitudinal direction of the cart) of the grinding device body. Also, "width direction of the grinding device body" refers to a direction perpendicular to the front-rear direction in a plan view. In this embodiment, the cable connection port 28 is formed on the side of the cart 14 constituting the grinding device body, and a cable 25 in which a power cable 29 and a communication cable 30 are integrated is connected to the cable connection port 28. An internal line 50 is provided inside the cart 14 to connect the cable connection port 28 to the drive mechanism (grinding drive mechanism and traveling drive mechanism).

[0038] In this way, by forming only one cable connection port 28 for connecting cables at the rear and widthwise end of the grinding device main body (cart 14), it is possible to prevent interference between the cables (power cable 29 and communication cable 30) and interference (getting caught) with the cart 14.

[0039] In particular, by providing the cable connection port 28 at the rear of the grinding device body (i.e., the opposite side to the grinding member 22), it is possible to prevent the cables 25 (power cable 29 and communication cable 30) from coming into contact with the grinding member 22 when the grinding device 300 is advanced to grind the metal plate with the grinding member 22.

[0040] Furthermore, by providing the cable connection port 28 at a position lower than the height of the top of the grinding device body, the cable connection port can be formed directly in the grinding device body (carriage 14), eliminating the need to use separate parts such as support materials, thereby preventing the grinding device 300 from becoming larger.

[0041] Furthermore, compared to a configuration in which the cable connection port is provided at a position higher than the top of the grinding device body, the distance from cable connection port 28 to the drive mechanism (grinding drive mechanism and traveling drive mechanism), etc. is shorter, so that the internal wire 50 connecting cable connection port 28 and the drive mechanism can be shortened, and the configuration of the grinding device 300 can be simplified.

[0042] In this embodiment, as shown in FIG. 6, when the grinding device 300 grinds the grinding area 27 of the metal plate 10 in front of the grinding device 300, the moving route (moving path) of the grinding device 300 is preferably in the order of (1) to (11) shown in FIG. 7. That is, the grinding device 300 repeats the procedure of moving forward in the front-rear direction (Y direction) from the grinding start position, and then moving to the other end side in the width direction (X direction) (opposite to the side where the cable connecting port is formed). The feeding in the X direction at this time is performed while returning the Y direction position of the grinding device 300 to its original position. Note that only the power cable 29 is shown in FIG. 6 and FIG. 7, and the communication cable 30 is not shown.

[0043] In this way, by setting the movement route of the grinding device 300 in the forward direction from the grinding start position to the cable connection port 28, and by setting the widthwise feed in the opposite direction to the cable connection port 28, it is possible to more effectively suppress interference between the cart 14 and the cable 25, making it possible to handle the cable in a simpler manner.

[0044] Normally, when handling cables, a tower-type cable handling device (such as the cable feeder disclosed in Patent Document 1) is installed, but by using this method, grinding operations can be performed without installing a handling device and without setting a complex movement path for the grinding device main body (carriage 14).

[0045] In the above embodiment, the cable connection port 28 is formed on the carriage 14 constituting the grinding device body as an example, but the cable connection port 28 may be formed on the frame member 41 or the fixed part 42 constituting the grinding device body. In the above embodiment, the cable connection port 28 is formed on the rear and one end in the width direction of the grinding device body (carriage 14) as an example, but the cable connection port may be formed on the other end side in the width direction of the grinding device body (carriage 14) (opposite side to the one end) or on the front side of the grinding device body. In that case, it is necessary to separately specify the movement route of the grinding device body according to the position of the cable connection port. That is, it is necessary to set the movement route of the grinding device body in the front-rear direction (Y direction) and width direction (X direction) to the opposite side to the position where the cable connection port is formed.

[0046] In the above embodiment, the grinding member 22 is a wheel type in which abrasive cloth with abrasive grains fixed to a base material (cloth or paper) by adhesive is laminated perpendicular to the grinding scanning direction, but the shape (type) of the grinding member is not limited to this and may be a belt type in which the grinding member is not laminated but is in the form of a belt, or a disk type in which the grinding member is in the form of a disk, etc. In the present embodiment, the cables connected to the cable connection port 28 are the power cable 29 and the communication cable 30, but only one of them may be used. EXAMPLES

[0047] Grinding of the metal plate surface was carried out using the grinding system shown in Figure 1. The equipment configuration shown in Figure 2 was used, and the layout and coordinate system of the grinding equipment are outlined in Figure 8. As a comparative example, grinding of the metal plate surface was carried out under conditions outside the scope of the present invention. Table 1 shows the results of a comparison between the present invention example and the comparative example.

[0048] It was revealed that by performing the grinding process using the cable arrangement and movement route during grinding of the example of the present invention as shown in Table 1, stable grinding operation is possible without causing cable interference with the grinding device.

[0049] [Table 1] [Explanation of symbols]

[0050] 10 metal plate 11 Navigation transmitter 12 Navigation receiver 13 Host Computer 14 Trolley 15 Scanning Actuator 16 Lift actuator 17 I / O Board 18 On-board computer 19 Drive control unit 20 wheels 21 Motor 22 Grinding section 25 Cable 26 Power supply 27 Grinding Area 28 Cable connection port 29 Power Cable 30 Communication Cable 100 Grinding System 200 Indoor Positioning System 300 Metal plate grinding equipment

Claims

1. A metal plate grinding device for grinding a surface of a metal plate, a grinding device body; a grinding member provided in the grinding device body and configured to grind the metal plate; a traveling drive mechanism for causing the grinding device body to travel on the surface of the metal plate; a grinding drive mechanism that drives the grinding member to bring the grinding member into contact with the surface of the metal plate and grind the metal plate; a cable connection port provided at one end of the grinding device body in the width direction at a position lower than the top of the grinding device body, for connecting a power cable for supplying power to the traveling drive mechanism and the grinding drive mechanism and / or a communication cable for controlling the traveling drive mechanism and the grinding drive mechanism; and A metal plate grinding device in which the power cable and / or the communication cable is connected to the cable connection port without a cable handling device that supplies the cable from a high place and controls the supply and winding of the cable, and the entire device is routed at a position lower than the top of the grinding device body.

2. 2. The metal plate grinding device according to claim 1, wherein the cable connection port is provided at the rear of the grinding device body when the side on which the grinding member is provided is defined as the front of the grinding device body.

3. The cable connection port is formed at only one location on the grinding device body, Both the power cable and the communication cable are connected to the cable connection port.

3. The metal plate grinding device according to claim 1 or 2.

4. A method for grinding a metal plate, when grinding the surface of a metal plate using the metal plate grinding device described in any one of claims 1 to 3, comprising measuring the self-position of the grinding device main body based on information from a position measuring means, and running the grinding device main body over the surface of the metal plate based on the self-position.

5. 5. The method for grinding a metal plate according to claim 4, wherein, when grinding the surface of the metal plate, the movement path of the grinding device is set so that the widthwise feed of the grinding device body during travel is in the direction toward the other end in the widthwise direction.

6. 6. The method for grinding a metal plate according to claim 5, wherein, when grinding the surface of a metal plate, the procedure of moving the grinding device body a certain distance in the forward and backward directions and then moving the grinding device body toward the other end in the width direction is repeated multiple times.

7. A method for manufacturing a metal plate, comprising grinding a surface of the metal plate by the method for grinding a metal plate according to any one of claims 4 to 6.

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