JP7207448B2 - Method for calculating corrected position of steel plate and method for manufacturing steel plate - Google Patents

Description

TECHNICAL FIELD The present invention relates to a steel plate correction position calculation method and a steel plate manufacturing method.

In a steel sheet production line, a straightening device called a cold leveler or a hot leveler is generally arranged to correct the shape of the steel plate, and the straightening device corrects the shape such as warpage generated during manufacturing.

However, in the case of steel plates with a thickness of 40 mm or more, which are generally called thick materials, the bending moment required to correct the shape is proportional to the cube of the plate thickness. Then the shape cannot be corrected. Therefore, when a shape defect occurs in a thick material, the steel plate is removed from the production line and the shape is corrected off-line.
2. Description of the Related Art As a conventional off-line steel plate shape correcting apparatus, for example, the one disclosed in Patent Document 1 is known.

The steel plate shape correcting apparatus disclosed in Patent Document 1 redirects a laser beam from one laser light source with a galvanomirror, scans the deflected laser beam, and corrects a predetermined shape on a steel plate stationary on a conveying line. A steel plate shape measuring device is provided for measuring the detection point group and measuring the shape of the steel plate from the measured detection group data. Further, the shape correcting device includes a control device for controlling the press machine and the conveying line based on the shape measurement result of the steel plate measured by the steel plate shape measuring device and the position information of the steel plate detected by the position detection device. there is

According to the steel plate shape correcting apparatus disclosed in Patent Document 1, the shape of a stationary steel plate can be measured easily and accurately, and the shape of the steel plate can be corrected from this accurate shape of the steel plate.

JP 2010-155272 A

By the way, a straightening worker usually grasps the shape of the steel plate using a straight-bar-shaped stretcher, and specifies the straightening position based on the result. At this time, the straightening operator is obliged to keep the deviation of the steel sheet from the target surface shape to a predetermined value or less. Here, when the correction worker performs correction at the specified correction position, a return distortion may occur due to the correction. There is a problem that the number of times of correction increases and the efficiency of the correction work deteriorates. In order to solve this problem, it is necessary to calculate the straightened position of the steel plate so that the number of straightenings can be reduced as much as possible.

On the other hand, in the steel plate shape correcting device disclosed in Patent Document 1, the press machine and the conveying line are adjusted based on the shape measurement result of the steel plate measured by the steel plate shape measuring device and the position information of the steel plate detected by the position detection device. Although the steel plate is corrected by control, there is no disclosure regarding calculation of the corrected position of the steel plate.

Therefore, the present invention has been made to solve this conventional problem, and its object is to correct the number of corrections based on the surface shape information of the steel plate measured off-line when correcting the steel plate off-line. To provide a method for calculating a corrected position of a steel plate and a method for manufacturing a steel plate, which can calculate the corrected position of the steel plate so as to reduce the strain as much as possible.

To achieve the above object, a steel plate correction position calculation method according to an aspect of the present invention includes a steel plate correction position calculation step of calculating a steel plate correction position based on surface shape information of the steel plate measured off-line. In the steel plate correction position calculation method, in the steel plate correction position calculation step, as the correction position, the deviation of the surface shape of the steel plate from the target surface shape exceeds a correction judgment reference value that is a predetermined value. The gist of calculating a plurality of positions including one position and one or more second positions at which the deviation of the surface shape of the steel plate from the target surface shape is equal to or less than the correction judgment reference value and is equal to or more than the correction execution reference value. do.

Further, a method for manufacturing a steel plate according to another aspect of the present invention includes a straightening step of straightening the steel plate at the straightening position of the steel plate calculated by the straightening position calculation method of the steel plate described above, and a steel plate straightened in the straightening step. and a step of cutting the product to a predetermined length.

According to the method for calculating the straightened position of a steel plate and the method for manufacturing a steel plate according to the present invention, when straightening the steel plate offline, the number of times of straightening can be reduced as much as possible based on the surface shape information of the steel plate measured offline. can be calculated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of an example of a steel plate shape correcting apparatus to which a steel plate correction position calculation method according to a first embodiment to a third embodiment of the present invention is applied; FIG. 2 is a schematic configuration diagram of a laser range finder in the shape measuring device shown in FIG. 1; 4 is a flow chart for explaining the flow of processing by the control device of the steel plate shape correction apparatus to which the steel plate correction position calculation method according to the first embodiment of the present invention is applied. 1 shows an example of the relationship between the surface shape of a steel plate and the position of the steel plate in the longitudinal direction for explaining a plurality of straightening positions in the longitudinal straightening calculated by the steel plate straightening position calculation method according to the first embodiment of the present invention. It is a diagram. 9 is a flowchart for explaining the flow of processing by a control device of a steel plate shape correction apparatus to which a steel plate correction position calculation method according to a second embodiment of the present invention is applied. FIG. 1 is a diagram showing an example of strain identification processing performed on the surface shape data of a steel plate of steel type A obtained from the steel plate shape measuring device shown in FIG. (b) is a diagram of an example of strain identification processing using a virtual stretcher with a length of 2 m. An example of a correction position (calculated correction position) calculated based on the distortion identified by the distortion identification process shown in FIG. ) is a diagram showing an example of the correction position calculated based on the distortion and the number of correction points specified in the distortion identification process using the virtual stretcher with a length of 1 m shown in FIG. It is a figure which shows an example of the correction|amendment position calculated based on the distortion and correction|amendment point number which were identified by the distortion identification process using the 2-m-long virtual stretcher shown by (b). Fig. 7(a) shows an example of the correction position (actual correction position) obtained from the actual correction results when the straightening operator actually performed the correction of the steel plate. FIG. 7(b) is a diagram showing an example of the correction position obtained from the actual correction results when the worker actually corrected the steel plate, and FIG. It is a figure which shows an example of the correction position obtained from the correction performance at the time of performing correction. FIG. 8 is superimposed on FIG. 7, where (a) is a view in which FIG. 8(a) is superimposed on FIG. 7(a), and FIG. 8(b) is superimposed on FIG. 7(b). It is a combined figure. 8A shows a spatial pattern obtained by converting the point distribution of each correction position. FIG. 8A is an actual correction position spatial pattern obtained by converting the point distribution of the correction positions (actual correction positions) obtained from the correction results shown in FIG. 8A. A diagram showing an example of a (teaching pattern), and FIG. 7B is a diagram showing an example of a calculated correction position spatial pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions (calculated correction positions) shown in FIG. is. A calculated correction position spatial pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions shown in FIG. FIG. 10 is a diagram showing an example of a deviation evaluation value representing the magnitude of the difference between spatial patterns (teaching patterns); FIG. 1 shows an example of strain identification processing performed on shape data before straightening of a steel plate of steel type B obtained from the shape measuring device shown in FIG. (b) is a diagram of an example of strain identification processing using a virtual stretcher with a length of 2 m. FIG. 12 shows an example of a correction position (calculated correction position) calculated based on the distortion identified in the distortion identification process shown in FIG. ) is a diagram showing an example of the correction position calculated based on the distortion and the number of correction points specified in the distortion identification process using the virtual stretcher with a length of 1 m shown in FIG. It is a figure which shows an example of the correction|amendment position calculated based on the distortion and correction|amendment point number which were identified by the distortion identification process using the 2-m-long virtual stretcher shown by b). Fig. 13(a) shows an example of the correction position (actual correction position) obtained from the actual correction results when the straightening operator actually performed the correction of the steel plate. FIG. 13(b) is a diagram showing an example of correction positions obtained from actual results of correction when a worker actually corrects a steel plate, and FIG. It is a figure which shows an example of the correction position obtained from the correction performance at the time of performing correction. FIG. 14 is superimposed on FIG. 13, where (a) is a view of FIG. 13(a) superimposed on FIG. 14(a), and (b) is a view of FIG. 13(b) superimposed on FIG. It is a combined figure. Fig. 14(a) shows a spatial pattern obtained by converting the point distribution of each correction position. Fig. 14(a) is an actual correction position spatial pattern obtained by converting the point distribution of correction positions (actual correction positions) obtained from the actual correction shown in Fig. 14(a). A diagram showing an example of a (teaching pattern), and (b) is a diagram showing an example of a calculated correction position spatial pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions (calculated correction positions) shown in FIG. is. A calculated correction position spatial pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions shown in FIG. FIG. 10 is a diagram showing an example of a deviation evaluation value representing the magnitude of the difference between spatial patterns (teaching patterns); 7 is a graph showing an example of the relationship between the deviation evaluation value and the effective ram length; 10 is a flow chart for explaining the flow of processing by the control device of the steel plate shape correction apparatus to which the steel plate correction position calculation method according to the third embodiment of the present invention is applied.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments shown below exemplify apparatuses and methods for embodying the technical idea of the present invention. It is not intended to be specific to the following embodiments. Also, the drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc. between the thickness and the planar dimensions are different from the actual ones, and the drawings include portions where the relationship and ratio of the dimensions are different from each other.
(First embodiment)
FIG. 1 shows a schematic configuration of an example of a steel plate shape correction apparatus to which a steel plate correction position calculation method according to a first embodiment of the present invention and second and third embodiments described later is applied.

As described above, the steel plate shape correcting apparatus 1 shown in FIG. 1 is equipment for offline correction of shape defects of a steel plate that cannot be corrected on-line.
This steel plate shape correcting apparatus 1 includes a press machine 2 for correcting the shape of a steel plate S. As shown in FIG. An entry-side conveying table 3 is arranged on the entry side of the press machine 2 , and an exit-side conveyance table 4 is arranged on the exit side of the press machine 2 . The entry-side conveying table 3 is provided with a plurality of entry-side rollers 3 a for conveying the steel sheet S to the press machine 2 , and the exit-side conveying table 4 is provided with a plurality of rollers for conveying the steel sheet S from the press machine 2 . exit side roller 4a is arranged.

Further, a steel plate shape measuring device 5 for measuring the surface shape of the steel plate S is arranged on each of the entrance side and the exit side of the press machine 2 . Each steel plate shape measuring device 5 includes a laser rangefinder 50 (see FIG. 2) that measures the distance from the emission point of the laser light to the detection point, and the distance data detected by the laser rangefinder 50. and a computer system (not shown) for measuring the surface profile. As shown in FIG. 2, the laser rangefinder 50 has a rotating table 51 that rotates about a rotating shaft, and a laser light source 52 and a galvanomirror 53 that face each other so as to be orthogonal to the rotating shaft. The galvanomirror 53 rotates about a rotation axis orthogonal to the rotation axis of the turntable 51 . By rotating the galvanomirror 53, the laser beam from the laser light source 52 is mainly deflected in the longitudinal direction of the steel plate S, and by rotating the turntable 51, the laser beam deflected from the galvanomirror 53 mainly The steel plate S is scanned in the latitudinal direction. Thereby, three-dimensional point cloud data from the laser rangefinder 50 to the laser reflection position on the surface of the steel plate S is measured, and the surface shape of the steel plate S is measured.

Further, as shown in FIG. 1, the press machine 2 includes a pedestal 2c on which the steel plate S conveyed from the entrance-side conveying table 3 is placed, and a pressure head 2a having a pressure ram 2b on the lower surface thereof. there is The pressure head 2a is movable in the width direction of the steel plate S and can be raised and lowered. Longitudinal correction and width correction are switched by rotating the pressure head 2a. The pressure head 2a descends at a predetermined position in the width direction of the steel plate S on the pedestal 2c. to correct. The pressing machine 2 is operated by a straightening operator based on the straightening position of the steel plate S displayed on the display device 8, which will be described later. As shown in FIG. 1, the pressure ram 2b has a rectangular shape whose front end (lower end) is elongated in the width direction of the steel plate S when viewed from above. 2b means the width direction length of the elongated steel plate S. The press machine 2 is also provided with a load meter 2d for detecting the load when the pressure ram 2b straightens the steel plate S. As shown in FIG.

A position detection device 6 for detecting the position of the steel sheet S with respect to the press machine 2 is installed on each of the entrance side and the exit side of the press machine 2 . Each position detection device 6 measures the surface shape of the steel plate S on the longitudinal direction of the steel plate S on the same principle as the steel plate shape measuring device 5 (however, the turntable 51 in the laser rangefinder 50 is not rotated), From the measured shape, the control device 7, which will be described later, is used to calculate the position of the feature amount (step at the tip of the steel plate S), and the position of the steel plate S with respect to the press machine 2 is detected. The position detection device 6 may detect the position of the steel sheet S with respect to the press machine 2 by image processing using a camera.

Further, a control device 7 is provided in the steel plate shape correcting device 1 . The control device 7 calculates the corrected position of the steel plate S by the pressure ram 2 b and outputs the calculated corrected position of the steel plate S to the display device 8 . The control device 7 is connected with the steel plate shape measuring device 5, the position detecting device 6, and the load cell 2d. The control device 7 is a computer system comprising a hard disk, a ROM, a RAM, a CPU, etc. By executing various dedicated programs pre-stored in the hard disk, etc., each step described below is executed on software. come true.

FIG. 3 shows a flowchart for explaining the flow of processing by the control device 7 to which the steel plate correction position calculation method according to the first embodiment of the present invention is applied.
First, in order to calculate the corrected position of the steel plate S, the control device 7 acquires the surface shape information of the steel plate S measured off-line in step S1 (steel plate shape acquisition step). Specifically, the control device 7 acquires surface shape information (shape data before correction) of the steel plate S measured by the steel plate shape measuring device 5 installed on the entry side of the press machine 2 .
Next, in step S2, the control device 7 calculates the corrected position of the steel plate S based on the surface shape information of the steel plate S acquired in step S1 (steel plate corrected position calculation step).

In this steel plate correction position calculation step, as the correction position of the steel plate S, the deviation (distortion) of the surface shape of the steel plate S obtained in step S1 from the target surface shape exceeds the correction determination reference value N1, which is a predetermined value. exists within a first position p1 (see FIG. 4) and a predetermined region based on the first position p1 (the range until the deviation of the surface shape of the steel sheet S from the target surface shape reaches the correction execution reference value N2), A plurality of positions including one or a plurality of second positions p2 (see FIG. 4) where the deviation (distortion) of the surface shape of the steel plate S from the target surface shape is equal to or less than the correction determination reference value N1 and equal to or more than the correction execution reference value N2. calculate.

Specifically, there are two methods for evaluating the deviation (strain) of the surface shape of the steel sheet S from the target surface shape, strain (1 m) and strain (2 m). 1m and 2m are the wavelengths of strain. For each of the strain (1 m) and the strain (2 m), a correction criterion value N1 is determined for each steel type. This correction judgment reference value N1 is set to a predetermined value at which the operator is obliged to correct the aforementioned deviation (distortion) within that value. Here, the predetermined value is 2 mm, for example. The distortion (1 m) has a high spatial resolution and can estimate an accurate correction position for small wave distortion (short wavelength distortion), but cannot express large wave distortion (long wavelength distortion). On the other hand, the distortion (2 m) cannot accurately estimate the correction position for the small wave distortion, but can express the large wave distortion. As a correction method, since the large wave distortion is corrected after the small wave distortion is corrected, the correction position for the correction of the distortion (1 m) is first calculated. 2m) to calculate the correction position in the correction. In each of the straightening of the strain (1 m) and the straightening of the strain (2 m), the longitudinal direction of the steel plate S (the steel plate S has a long side and a short side, and the long side direction of the steel plate S (conveyance direction)) and width correction in the lateral direction of the steel plate S (the short side direction of the steel plate S (the direction perpendicular to the conveying direction)). 2m), the correction position is calculated for each of the longitudinal correction and the width correction.

When calculating the correction position in each of the longitudinal correction and width correction of the strain (1 m) and the longitudinal correction and width correction of the strain (2 m), the surface shape of the steel plate S acquired in step S1 is used as the correction position of the steel plate S. One or a plurality of first positions p1 at which the deviation (distortion) from the target surface shape exceeds a predetermined correction criterion value N1, and the deviation (distortion) of the surface shape of the steel sheet S from the target surface shape exceeds the correction criterion value N1. A plurality of positions including one or a plurality of second positions p2 (see FIG. 4) that are equal to or less than the correction execution reference value N2 and equal to or greater than the correction execution reference value N2 are calculated.

Here, as the correction position of the steel plate S, correction is not performed only at the first position p1 where the deviation (distortion) of the surface shape of the steel plate S from the target surface shape exceeds the correction determination reference value N1. is also corrected at the second position p2 where is equal to or less than the correction determination reference value N1 and equal to or more than the correction execution reference value N2. The reason for this is that when the straightening operator straightens the steel plate S at the first position p1, a return strain may occur due to the straightening. This is because if only the correction at the first position p1 is performed, the number of times of correction increases and the efficiency of the correction work deteriorates.

Therefore, in the steel plate correction position calculation step, as the correction positions of the steel plate S, one or a plurality of first positions where the deviation (distortion) of the surface shape of the steel plate S from the target surface shape exceeds the correction determination reference value N1, which is a predetermined value. In addition to p1, one or a plurality of second positions p2 at which the deviation (distortion) of the surface shape of the steel sheet S from the target surface shape is equal to or less than the correction determination reference value N1 and equal to or more than the correction execution reference value N2 are also calculated as correction positions. At the time of straightening, the straightening (over-straightening) is performed at the second position p2 to eliminate the return distortion caused by the straightening of the steel sheet S at the first position p1, and as a result, the number of times of straightening is reduced, and the efficiency of straightening is reduced. I'm trying to raise

Here, the lower limit of the deviation (distortion) of the surface shape of the steel sheet S to be corrected (overcorrected) from the target surface shape at the second position p2 is the correction execution reference value N2. According to the method for calculating the straightened position of a steel plate according to a second embodiment, which will be described later, learning was performed from the actual straightening data of about 100 sheets. Met. On the other hand, the correction execution reference value for width correction was N2=N1 (correction determination reference value).

In addition, regarding the distribution of a plurality of correction positions including one or a plurality of first positions p1 and one or a plurality of second positions p2, among the one or a plurality of first positions p1, the target surface of the surface shape of the steel plate S Centered on the first position p1 where the deviation (distortion) with respect to the shape is the largest, among one or more second positions p2, towards the second position p2 where the deviation (distortion) is the smallest (in the case of longitudinal correction, the deviation (distortion) is the largest first position p1 toward the second position p2 where the deviation (distortion) is the smallest on the leading end side and the trailing end side in the longitudinal direction of the steel plate. Correction positions are distributed at a predetermined pitch length δ (see FIG. 4) toward a second position p2 where the deviation (distortion) on the one end side and the other end side in the lateral direction of the steel plate is the smallest with the position p1 as the center. As the pitch length δ, a value obtained from past correction results or a pitch length (parameter) value adjusted by a steel plate correction position calculation method according to a second embodiment described later can be used. It is known from study that the pitch length δ in longitudinal straightening decreases as the thickness and hardness of the steel sheet S increase.

FIG. 4 shows the surface shape of the steel sheet and the position in the longitudinal direction of the steel sheet for explaining a plurality of straightening positions in the longitudinal straightening calculated by the straightening position calculation method for the steel sheet according to the first embodiment of the present invention. An example relationship is shown. In this example, three first positions p1 and two second positions p2 are calculated where the shape of the surface Sa of the steel plate S protrudes to the (+) side with respect to the target surface shape of the steel plate S. Further, three first positions p1 and two second positions p2 are calculated where the surface shape of the steel plate S is recessed to the (-) side with respect to the target surface shape of the steel plate S.
Next, when step S2 ends, the process proceeds to step S3, the control device 7 outputs the plurality of correction positions calculated in step S2 to the display device 8, and the processing by the control device 7 ends.

The straightening operator can refer to the straightening position of the steel plate S displayed on the display device 8 and operate the press machine 2 to straighten the steel plate S. FIG. In this correction step, it is preferable to correct the second position p2 before the first position p1. The reason for this is that, for example, when the left side in FIG. Even if the correction is performed from the tail end side, the steel sheet S can be corrected efficiently without waste by correcting the second position p2 before the first position p1.
Then, after the straightening operator corrects the steel plate S at the straightening position of the steel plate S calculated by the steel plate straightening position calculation method, the straightened steel plate S is returned to the production line, and the steel plate is returned to the production line. The steel plate S is manufactured through a product cutting step of cutting the steel plate S into a predetermined length.

As described above, in the steel plate correction position calculation method according to the first embodiment, in the steel plate correction position calculation step (step S2), as the correction position of the steel plate S, the deviation (distortion) of the surface shape of the steel plate S from the target surface shape One or a plurality of first positions p1 exceeding the correction determination reference value N1, which is a predetermined value, and a predetermined region (the deviation of the surface shape of the steel plate S from the target surface shape of the steel plate S with the first position p1 as a reference) is the correction execution reference value N2 and one or a plurality of second positions p2 where the deviation of the surface shape of the steel plate S from the target surface shape is equal to or less than the correction determination reference value N1 and is equal to or more than the correction execution reference value N2. Compute multiple positions.

As a result, when the steel plate S is corrected offline, the correction position of the steel plate can be calculated so that the number of corrections can be reduced as much as possible based on the surface shape information of the steel plate S measured offline. That is, when the steel plate S is straightened, not only the straightening at the first position p1 but also the straightening (over-straightening) at the second position p2 are performed to eliminate the return distortion due to the straightening of the steel plate S at the first position p1. As a result, the number of times of correction is reduced and the efficiency of correction is improved.
(Second embodiment)
Next, a method for calculating a corrected position of a steel plate according to a second embodiment of the present invention will be described with reference to FIGS. 5 to 18. FIG. FIG. 5 shows a flowchart for explaining the flow of processing by the control device 7 to which the steel plate correction position calculation method according to the second embodiment of the present invention is applied.

In the method for calculating the corrected position of the steel plate according to the second embodiment, first, in step S11, the control device 7 acquires the surface shape information of the steel plate S measured off-line in order to calculate the corrected position of the steel plate S. (steel plate shape acquisition step). Specifically, the control device 7 acquires surface shape information (shape data before correction) of the steel plate S measured by the steel plate shape measuring device 5 installed on the entry side of the press machine 2 .
Next, in step S12, the control device 7 calculates the straightening position of the steel plate based on the surface shape information of the steel plate S acquired in step S11 and the program including the adjustable parameters (steel plate straightening position calculation step).

Here, the program includes surface shape information of the steel sheet S, a plurality of set values given to each of a plurality of parts of the press machine 2 for correcting the steel sheet S, a reference value (amount of distortion allowed as a product), Straightening of the steel plate S off-line based on information including plate dimension information (information on the plate dimensions represented by the thickness, length, and width of the steel plate S to be straightened) and the steel type (strength of the plate). It calculates the position. The parameters are the above-mentioned multiple set values (ram length, ram width, longitudinal correction position interval, width correction position interval, insensible strain value, compounding ratio of 1m strain and 2m strain, leading and trailing end length, leading and trailing end correction interval), which is the ram length L of the pressure ram 2b in this embodiment. These parameters include the correction execution reference value N2 described in the first embodiment, and the correction execution reference value N2 can also be learned. When the steel plate S is corrected in the width direction, the value obtained by dividing the width of the steel plate S by the ram length L is approximately the number of correction points in the width direction, which serves as a guideline for determining the correction position. A program is stored in the control device 7 . In addition, information including a plurality of set values given to each of a plurality of parts of the press machine 2 for correcting the steel sheet S, reference values, and plate dimension information is input to the control device 7 from a host computer (not shown). .

Then, prior to calculating the corrected position, the control device 7 performs distortion specifying processing (image processing in this embodiment) on the surface shape information (image data in this embodiment) of the steel sheet S acquired in step S11. .

FIG. 6 shows an example in which the surface shape data (image data) of the steel plate S of the steel type A obtained from the steel plate shape measuring device 5 is subjected to the distortion specifying process. FIG. 6(a) shows an example of strain identification processing using a virtual stretcher with a length of 1 m, and FIG. 6(b) shows an example of strain identification processing using a virtual stretcher with a length of 2 m. It is shown. In FIGS. 6(a) and 6(b), the area indicated by symbol R is the area outside the above-described reference value, and the other area is the area within the above-described reference value. In FIGS. 6(a) and 6(b), numerical values indicating the unevenness of the surface of the steel sheet S are shown on the right side.

Then, the control device 7 calculates the correction position of the steel sheet S from the distortion identified by the surface distortion identification processing of the steel sheet S, the ram length L as a parameter, and the number of correction points calculated from the sheet dimension information. FIG. 7 shows an example of the correction position (calculated correction position) calculated based on the distortion specified in the distortion specifying process shown in FIG. It is shown. FIG. 7(a) shows the correction position P1 calculated based on the distortion and correction points identified in the distortion identification process using the virtual stretcher with a length of 1 m shown in FIG. 6(a). b) shows the correction position P1 calculated based on the strain and the number of correction points specified in the strain specifying process using the virtual stretcher with a length of 2 m shown in FIG. 6(b).
Next, in step S13, the control device 7 outputs the correction position calculated in step S12 to the display device 8 that can be viewed by the correction operator (output step).

The correction worker refers to the correction position displayed on the display device 8 or the correction positions calculated by the correction position calculation method according to the first embodiment and output to the display device 8, and determines the correction position. A final decision is made as to whether to correct the steel plate S, and the pressing machine 2 is operated to actually correct the steel plate S. For example, the correction worker performs the correction work while considering his own experience so that the area R deviated from the reference value in FIGS. 7A and 7B is within the reference value.
Next, in step S14, the control device 7 acquires the correction position obtained from the correction performance when the straightening operator actually performed the correction of the steel plate S (actual correction position acquisition step).

Here, the corrected position obtained from the corrected results is based on the load value obtained from the load meter 2d provided in the pressing machine 2 that executes the correction and the position of the steel sheet S obtained from the position detecting device 6 with respect to the pressing machine 2. identified based on

FIG. 8 shows an example of the correction position (actual correction position) obtained from the correction results when the straightening operator actually performed the correction of the steel plate. Fig. 8(a) shows the correction position (actual correction position) obtained from the actual correction results when the correction worker actually performed the correction of the steel plate S with reference to the correction position (calculated correction position) P1 shown in Fig. 7(a). position) P2 is shown. Fig. 8(b) shows the correction position (actual correction position) obtained from the actual correction results when the correction worker actually performed the correction of the steel plate with reference to the correction position (calculated correction position) P1 shown in Fig. 7(b). ) P2 is shown.

In FIG. 9, (a) is obtained by superimposing FIG. 8(a) on FIG. 7(a), and FIG. 9(b) is obtained by superimposing FIG. 8(b) on FIG. 7(b). It is shown.
Next, in step S15, the control device 7 determines whether or not the calculated number of corrected positions in step S12 and the acquired number of corrected positions obtained from the correction results in step S14 have reached the target number ( judgment process). The calculation of the correction position in step S12 and the acquisition of the correction position obtained from the actual correction results in step S14 are in one-to-one correspondence, and the number of calculations and the number of acquisitions are the same.
If it is determined that each has not achieved the target number (YES), the processing by the control device 7 ends.

On the other hand, when it determines with each reaching the target number (NO), it transfers to step S16. This target number is a number necessary for parameter adjustment, which will be described later.
In step S16, the control device 7 sets the correction position calculated in step S12 as a calculated correction position, and sets the correction position obtained from the actual correction obtained in step S14 as an actual correction position. Based on the calculated correction position and the actual correction position, Adjust the ram length L as a parameter (parameter adjustment step). The ram length L as a parameter is a calculated correction position (calculated correction position calculated in step S12) calculated by applying a program to the surface shape information of another steel plate S that has been corrected in the past, and the other steel plate It is configured to be adjustable based on the actual correction position obtained from the actual correction results for S (actual correction position obtained from the actual correction results acquired in step S14).

That is, the control device 7 compares the calculated straightened position of the steel plate S with the actual straightened position of the steel plate S, and adjusts the ram length L as a parameter so that the calculated straightened position approaches the actual straightened position by the straightening operator. .

Specifically, the control device 7 calculates a plurality of deviation evaluation values based on the difference between the calculated corrected positions of the plurality of steel plates S and the actual corrected positions of the plurality of steel plates S, and based on the calculated plurality of deviation evaluation values to adjust the ram length L as a parameter.

Here, the deviation evaluation value is the magnitude of the difference between the calculated correction position space pattern obtained by converting the point distribution of the calculated correction positions on the steel plate S and the actual correction position space pattern obtained by converting the point distribution of the actual correction positions on the steel plate S. Average value.
The actual correction position space pattern is a teacher pattern. For example, as shown in FIG. It is converted into a spatial pattern that is a set.

Further, the calculated correction position spatial pattern is a guidance pattern. For example, as shown in FIG. It is converted into a spatial pattern that is the union of distribution surfaces. In FIGS. 10A and 10B, it is considered that the probability that the correction point exists in the white area is high and the probability that the correction point exists in the black area is low.

FIG. 11 shows a calculated correction position space pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions shown in FIG. 10B and an actual correction position obtained by converting the point distribution of the actual correction positions shown in FIG. An example of a deviation evaluation value representing the magnitude of the difference between spatial patterns (teaching patterns) is shown. In FIG. 11, the darker the color, the smaller the difference between the calculated correction position space pattern and the actual correction position space pattern. In this example, the difference between the calculated correction position space pattern and the actual actual correction position space pattern is almost It can be seen that the two are consistent with each other. Therefore, it can be seen that the correction position of the steel plate S can be calculated appropriately for the steel type A.

On the other hand, FIG. 12 shows an example in which the surface shape data of the steel plate S of the steel type B obtained from the steel plate shape measuring apparatus 5 shown in FIG. 1 is subjected to the distortion specifying process. FIG. 12(a) shows an example of strain identification processing using a virtual stretcher with a length of 1 m, and FIG. 12(b) shows an example of strain identification processing using a virtual stretcher with a length of 2 m. It is shown.

Further, FIG. 13 shows an example of a correction position (calculated correction position) calculated based on the distortion specified in the distortion specifying process shown in FIG. It is shown. FIG. 13(a) shows an example of the correction position calculated based on the distortion and correction points identified in the distortion identification process using the virtual stretcher with a length of 1 m shown in FIG. 12(a). FIG. 13(b) shows an example of the correction position calculated based on the distortion identified in the distortion identification process using the virtual stretcher with a length of 2 m shown in FIG. 12(b) and the number of correction points.

Further, FIG. 14 shows an example of the correction position (actual correction position) obtained from the correction results when the correction worker actually performed the correction of the steel plate. FIG. 14(a) shows an example of the correction position obtained from the actual correction results when the correction worker actually corrected the steel plate with reference to the correction position shown in FIG. 13(a). FIG. 14(b) shows an example of the correction positions obtained from the actual correction results when the correction worker actually corrected the steel plate with reference to the correction positions shown in FIG. 13(b).

In addition, in FIG. 15, (a) is obtained by superimposing FIG. 14 (a) on FIG. 13 (a), and (b) is obtained by superimposing FIG. 14 (b) on FIG. 13 (b). It is shown.
In FIG. 16, (a) shows an example of an actual correction position space pattern (teaching pattern) obtained by converting the point distribution of correction positions (actual correction positions) obtained from the actual correction shown in FIG. 14 (a). ing. (b) shows an example of a calculated correction position spatial pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions (calculated correction positions) shown in FIG. 13(a).

FIG. 17 shows a calculated correction position space pattern (guidance pattern) obtained by converting the point distribution of the calculated correction positions shown in FIG. An example of the deviation evaluation value representing the magnitude of the difference between the actual corrected position space pattern (teaching pattern) whose distribution is converted is shown.

As can be seen from FIG. 17, for steel type B, there is a difference between the calculated correction position space pattern and the actual correction position space pattern.
Then, in step S16, the ram length L as a parameter is adjusted to a value that minimizes the objective function with the deviation evaluation value as the objective function.

FIG. 18 shows an example of the relationship between the deviation evaluation value and the effective ram length. In this case, when the actual number is 58 and the effective ram length as a parameter is 1.7m, the deviation evaluation value (objective function) becomes the minimum (minimum), and the optimum value of the ram length as a parameter is 1.7m. I know there is.
Next, after step S16, the process returns to step S11, and the control device 7 controls the surface of the steel plate S to be corrected, which is different from the other steel plates S corrected in the past (the steel plates S in steps S11 to S16 described above). Get shape information. The control device 7 acquires surface shape information (shape data before correction) of the steel plate S measured by the steel plate shape measuring device 5 .

Then, in step S12, the control device 7 sets the program including the ram length L as the parameter adjusted in step S16 to a steel plate different from the other previously straightened steel plate S acquired in step S11. The correction position of the steel plate S is calculated by applying to the surface shape information of S.

Thereafter, the control device 7 repeats steps S13, S14, S15, and S16.
Thus, the processing by the control device 7 ends.

In step S13, the correction position of the steel plate S to be corrected is output to the display device 8, and the correction operator refers to the correction position of the steel plate S displayed on the display device 8 and operates the press machine 2. The steel plate S can be straightened.
Then, after the straightening operator corrects the steel plate S at the straightening position of the steel plate S calculated by the steel plate straightening position calculation method, the straightened steel plate S is returned to the production line, and the steel plate is returned to the production line. The steel plate S is manufactured through a product cutting step of cutting the steel plate S into a predetermined length.

As described above, according to the method for calculating the corrected position of the steel plate S and the method for manufacturing the steel plate S according to the second embodiment, the surface shape information of the steel plate S measured off-line and the program including the adjustable parameters are used. a steel plate correction position calculation step (step S12) for calculating the correction position of the steel plate. Then, the parameter is based on the calculated corrected position calculated by applying the program to the surface shape information of another steel plate S that has been corrected in the past, and the actual corrected position obtained from the actual correction of the other steel plate S. It is configured to be adjustable (step S16). Then, in the steel plate straightened position calculation step (step S12), the program including the parameters adjusted based on the calculated straightened position and the actual straightened position is applied to the surface shape information of the steel plate S measured off-line. Calculate the correction position.

As a result, when the steel plate S is straightened off-line, the straightened position of the steel plate S can be calculated with the same accuracy as that of a skilled straightener based on the surface shape information of the steel plate S measured off-line. By displaying the corrected position of the steel plate S calculated by adjusting the parameters on the display device 8, any straightening worker can perform the same straightening work as the skilled straightening worker, and work efficiency and the quality of the straightened steel plate can be achieved. can be improved.
Since the straightened position of the steel plate S is calculated and displayed on the display device 8, the straightening operator does not need to enter the line for measurement using a stretcher and for specifying the calculated position afterward, thereby improving safety. And work efficiency is improved. Specifically, the efficiency of the entire correction work is improved by about 20%.

Further, according to the method for calculating the straightening position of the steel plate S and the method for manufacturing the steel plate S according to the second embodiment, the adjustable parameters included in the program for straightening the steel plate S are the parameters of the press machine 2 for straightening the steel plate S. It is a setting value included in a plurality of setting values given to each of a plurality of parts. Therefore, when calculating the correction position of the steel sheet S, the effects of the set values given to each of the plurality of parts of the press machine 2 that require the most skill can be effectively considered.

Further, according to the method for calculating the straightened position of the steel plate S and the method for manufacturing the steel plate S according to the second embodiment, the parameters are the calculated straightened positions in the other steel plates S that have been straightened in the past, and the other steel plates. A plurality of deviation evaluation values are calculated based on the difference from the actual corrected position in S, and adjustment is made based on the calculated plurality of deviation evaluation values. Then, this deviation evaluation value is a calculated correction position space pattern obtained by converting the point distribution of the calculated correction positions in another steel plate S that has been corrected in the past, and the actual correction obtained by converting the point distribution of the actual correction positions in the other steel plate S. It is the average value of the magnitude of the difference from the position space pattern. Then, the parameter is adjusted to a value that minimizes the objective function with the deviation evaluation value as the objective function. As a result, it is possible to accurately and accurately adjust the parameters similar to those of a skilled straightening operator, and based on the surface shape information of the steel plate S measured off-line, a more accurate accuracy similar to that of a skilled straightening operator can be obtained. , the corrected position of the steel plate S can be calculated.
(Third Embodiment)
Next, a method for calculating a corrected position of a steel plate according to a third embodiment of the present invention will be described with reference to FIG. FIG. 19 is a flowchart for explaining the flow of processing by the control device of the steel plate shape correction apparatus to which the steel plate correction position calculation method according to the second embodiment of the present invention is applied.

As shown in FIG. 19, in the steel plate correction position calculation method according to the second embodiment, similarly to the steel plate correction position calculation method according to the second embodiment, the control device 7 performs step S21 (steel plate shape acquisition step). , step S22 (steel plate correction position calculation step), and step S23 (output step) are executed.
In the steel plate correction position calculation method according to the third embodiment, unlike the steel plate correction position calculation method according to the second embodiment, the control device 7 performs step S24 (shape determination step) after step S23 (output step). to run.

In step S24, the control device 7 determines whether or not the difference between the surface shape of the steel plate S after correction and the target surface shape is within an appropriate range. Here, information on the "target surface shape" is input in advance to the control device 7 from a host computer (not shown). Also, the "appropriate range" is the permissible range of 1m strain and 2m strain, which is determined in advance according to plate thickness, steel type, application, and the like. For example, 1 m strain is within 1 mm, and 2 m strain is within 2 mm.
Then, when the determination result in step S24 indicates that the aforementioned difference is within the appropriate range (when YES), the control device 7 executes step S25 (acquisition of actual corrected position). Get the actual corrected position obtained from .
Next, the control device 7 executes step S26 (determining step) and step S27 (parameter adjusting step).

On the other hand, when the result of determination in step S24 (shape determination step) is that the difference is out of the proper range (NO), the processing by the control device 7 ends.

As described above, according to the steel plate correction position calculation method according to the third embodiment, when the difference between the surface shape when the steel plate S is corrected and the target surface shape is within the appropriate range, the steel plate A correction position (actual correction position) obtained from the correction record for S is acquired.

As a result, when the surface shape of the steel plate S after correction is out of the appropriate range of the target surface shape, the correction position when the straightening operator actually performed the straightening of the steel plate is taught in step S17 (parameter adjustment step). It will not be used as data. Therefore, it is possible to appropriately adjust the parameters based on an appropriate actual corrected position. For example, the straightening operator is inexperienced and the surface shape of the steel plate S after straightening is outside the proper range of the target surface shape.

If the surface shape of the steel plate S after straightening is out of the proper range of the target surface shape, the processing by the control device 7 ends as described above. is not completed, the appropriate correction position is recalculated from the difference between the surface shape of the steel plate S when the steel plate is actually corrected and the target surface shape associated with the steel plate S, and is calculated in step S22. The parameters may be adjusted so that the calculated correction position becomes the recalculated correction position.

Although the embodiment of the present invention has been described above, the present invention is not limited to this and can be modified and improved in various ways.

For example, in both the second embodiment and the third embodiment, the parameter is the ram length L as one setting value included in the plurality of setting values given to each of the plurality of parts of the press machine 2. be. However, the parameter is not limited to one set value included in the plurality of set values described above, and may be two or more set values. Further, the set value is not limited to the ram length L, but may be the ram width, the correction position interval during longitudinal correction, or the like.

In addition, in the second embodiment, an example of adjusting parameters according to steel grades A and B has been described, but the present invention is not limited to this. may be adjusted. For example, a thick steel plate having a thickness of 80 mm or more cannot be sufficiently straightened at the straightening position on the line. Therefore, in the first embodiment, in step S12 (steel plate correction position calculation step), when the steel plate S is a thin steel plate having a thickness less than a predetermined thickness (80 mm), the front end portion and the rear end portion of the steel plate S When the steel plate S is a thick steel plate having a predetermined thickness (80 mm) or more, the correction position over the entire length of the steel plate S may be calculated. This also applies to the steel plate correction position calculation method according to the third embodiment.

Further, in the second and third embodiments, the pressing machine 2 is operated by the straightening operator, but the control device 7 may be configured to control its operation. Then, the control device 7 may control the press machine 2 based on the straightening position of the steel plate S calculated in step S12 (steel plate straightening position calculating step) to automatically perform straightening work.
Also, if it is desired to adopt the teacher data of skilled workers, step S13 or step S23 may be eliminated. By eliminating step S13 or step S23, it is possible to acquire teacher data that is not affected by the program.

In the present specification and claims, the calculated correction position calculated by applying the program to the surface shape information of the other steel plate S is the first correction position, and the actual correction obtained from the correction performance of the other steel plate S The position may be read as the second correction position.

When the calculated correction position is read as the first correction position and the actual correction position is read as the second correction position, the parameter is a predetermined evaluation value indicating the deviation between the first correction position and the second correction position. (A deviation evaluation value in the above description) may be used as an objective function and adjusted so that the objective function has a minimum value. Here, this predetermined evaluation value is a first distribution curved surface based on the first correction position (in the above description, the calculated correction position spatial pattern) and a second distribution curved surface based on the second correction position (in the above description, actual It is a value calculated by averaging the error from the correction position spatial pattern). Further, the first distribution curved surface is a distribution curved surface showing the distribution of corrected positions in the steel sheet with the first corrected position as the maximum value, and the second distribution curved surface is the distribution of the corrected positions in the steel sheet with the second corrected position as the maximum value. is a distribution surface showing

REFERENCE SIGNS LIST 1 shape correction device 2 press machine 2a pressure head 2b pressure ram 2c pedestal 2d load meter 3 entry-side transfer table 3a entry-side roller 4 exit-side transfer table 4a exit-side roller 5 steel plate shape measuring device 6 position detector 7 control device 8 display device 50 laser rangefinder 51 turntable 52 laser light source 53 galvanomirror p1 first position p2 second position S steel plate

Claims (10)

A steel plate correction position calculation method including a steel plate correction position calculation step of calculating a steel plate correction position based on surface shape information of the steel plate measured offline,
In the steel plate correction position calculation step, as the correction positions, one or more first positions where the deviation of the surface shape of the steel plate from the target surface shape exceeds a correction judgment reference value that is a predetermined value, and the surface shape of the steel plate. A correction position calculation method for a steel plate, comprising: calculating a plurality of positions including one or a plurality of second positions at which a deviation from a target surface shape is equal to or less than the correction determination reference value and equal to or more than the correction execution reference value. The corrected position is calculated in the steel plate corrected position calculation step based on the surface shape information of the steel plate measured off-line and a program including adjustable parameters,
The parameter can be adjusted based on the calculated correction position calculated by applying the program to the surface shape information of another steel plate that has been corrected in the past and the actual correction position obtained from the correction performance of the other steel plate. configured to
In the steel plate straightened position calculation step, the program including the parameters adjusted based on the calculated straightened position and the actual straightened position is applied to the surface shape information of the steel plate measured off-line to correct the steel plate. 2. The method for calculating a corrected position of a steel plate according to claim 1, wherein the corrected position is calculated. The program calculates off-line correction positions of the steel plate based on information including surface shape information of the steel plate and a plurality of setting values assigned to respective portions of a press machine for correcting the steel plate. is a
3. The method of claim 2, wherein the parameter is one or more set values included in the plurality of set values. The parameter calculates a plurality of deviation evaluation values based on the difference between the calculated corrected position of the plurality of other steel plates and the actual corrected position of the plurality of other steel plates, and the calculated plurality of deviation evaluation values 4. The method for calculating a corrected position of a steel plate according to claim 2 or 3, wherein the adjustment is made based on the correction position. The deviation evaluation value is a difference between a calculated corrected position space pattern obtained by converting the point distribution of the calculated corrected positions on the other steel plate and an actual corrected position space pattern obtained by converting the point distribution of the actual corrected positions on the other steel plate. 5. The corrected position of the steel plate according to claim 4, wherein the parameter is adjusted to a value that minimizes the objective function of the deviation evaluation value as an objective function. calculation method. The actual corrected position of the other steel plate is a load value obtained from a load meter provided in a pressing machine that performs correction, and the position detection device that detects the position of the other steel plate with respect to the pressing machine. 6. The method for calculating a corrected position of a steel plate according to any one of claims 2 to 5, wherein the position is specified based on the positions of other steel plates. In the steel plate correction position calculation step, when the steel plate is a thin steel plate having a thickness less than a predetermined thickness, the correction positions at the front end portion and the rear end portion of the steel plate are calculated, and the thickness of the steel plate is the predetermined thickness. 7. The method for calculating a corrected position of a steel plate according to claim 2, wherein when the steel plate is thicker than 10 mm, the corrected position in the entire length of the steel plate is calculated. When the difference between the surface shape and the target surface shape when the other steel plate is corrected is within an appropriate range, the actual corrected position obtained from the correction results for the other steel plate is acquired. The method for calculating a corrected position of a steel plate according to any one of claims 2 to 7. A straightening step of straightening the steel plate at the straightening position of the steel plate calculated by the straightening position calculation method for a steel plate according to any one of claims 1 to 8; A method for manufacturing a steel sheet, comprising a step of cutting a product into pieces. 10. The method of manufacturing a steel plate according to claim 9, wherein in the correcting step, the second position is corrected before the first position.

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