JP5374114B2 - Slab grinding method and control device for slab grinding apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a slab grinding method and a control device for a slab grinding attachment, uniformly grinding the whole of the upper surface F1 and lateral surface F2 of the slab S having warpage of an individually different shape. <P>SOLUTION: This grinding method includes: a warpage detection step S3 in detecting the vertical position of a grinding wheel 11 following the warpage on the upper surface F1 of the slab S, and detecting and memorizing the warpage of the slab S in a longitudinal direction X based on the vertical position; an upper surface grinding process S4 in applying all over a grinding process to the upper surface F1 by reciprocating the grinding wheel 11 relatively in the longitudinal direction X of the slab S while pushing the grinding wheel 11 to the upper surface F1; and a lateral surface grinding process S6 in applying all over a grinding process to the lateral surface F2 by relatively reciprocating the grinding wheel 11 along a grinding path being parallel to the warpage memorized in the warpage detecting step S3 while pushing the grinding wheel 11 to the lateral surface F2. Therefore, the whole of the upper surface F1 and lateral surface F2 of the slab S having the warpage is uniformly ground. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a slab grinding method for grinding a top surface and a side surface of a slab (plate-shaped steel piece) and a control device for a slab grinding apparatus that executes the method.

In a continuous slab casting facility, for example, a slab or scale is present on the surface of a plate-like slab cut to a predetermined length by a gas cutter and sent to the next rolling step. Various defects resulting from the above-described wrinkles or the like are generated on the surface of the steel sheet produced by rolling the slab in which the wrinkles or the like are present. This causes the quality of the product to become unstable and the manufacturing yield to decrease. For this reason, it is required to remove wrinkles and the like on the surface of the slab before the slab is rolled. As the method, for example, a method of blowing the melted portion with high-pressure air or the like while melting the surface of the slab, or a method of grinding the surface of the slab with a grinding wheel can be considered. Since special steels such as stainless steel are required not to remove excess parts as much as possible, the above-mentioned grinding method, which can set the removal amount more finely, is widely used. For example, those described in Patent Document 1 and Patent Document 2.
JP-A-6-218663 JP-A-7-136929

  By the way, the slab has a plane warp having a different shape for each slab, particularly in the longitudinal direction. Some of these warpages are 40 mm or more. For this reason, according to the conventional method of grinding without grasping the shape of the warp, there is a problem that it is difficult to uniformly grind the upper surface of the slab or the entire upper surface and side surfaces. That is, during top surface grinding, an excessively ground part may occur in the rising part in the grinding direction, and an underground part or an unground part may occur in the descending part in the grinding direction. If you try to grind without leaving one side, there will be excessively ground parts in the corners in the thickness direction of the side, and if you try to avoid it, unground parts may occur in the corners in the thickness direction . Such inconvenience is particularly noticeable for warpage of 40 mm or more. On the other hand, it is conceivable to detect the warpage of the slab using a shape measuring instrument such as a laser displacement meter and perform grinding according to the detected warpage. In a grinding environment with a lot of smoke and dust, there is a problem that sufficient detection accuracy cannot be obtained due to the influence of the atmosphere.

  The present invention has been made against the background of the above circumstances, and the object of the present invention is to uniformly grind the upper surface of the slab or the entire upper surface and side surfaces of the slab having warpages of different shapes. An object of the present invention is to provide a slab grinding method that can be performed and a control device for a slab grinding device that executes the method.

  The invention according to claim 1 for achieving the above object is as follows: (a) The rotating grinding wheel is pressed against the upper surface and the side surface of the plate-like slab, and the grinding wheel is placed in a grinding path parallel to the longitudinal direction of the slab. A slab grinding method in which grinding is performed on an upper surface and a side surface of a plate-shaped slab by sequentially performing relative movement linearly along the path, and then sequentially moving along another grinding path parallel to the grinding path. And (b) on the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a first load along a grinding path parallel to the longitudinal direction of the slab to thereby grind the plurality of grinding wheels. A warp detection step of detecting the vertical position of the grinding wheel while detecting and storing the longitudinal warp of the slab based on the vertical position while relatively feeding along a predetermined grinding path of the path; (c) on the upper surface of the slab The grinding wheel is pressed against the upper surface of the slab with a second load that is greater than the first load, and the grinding wheel is reciprocated relatively along the plurality of grinding paths. And an upper surface grinding step of grinding one surface of the upper surface.

  The invention according to claim 2 is the invention according to claim 1, wherein (d) the grinding stone is pressed against the side surface of the slab with a third load larger than the first load on the side surface of the slab. A side grinding step of grinding the entire side surface of the slab by reciprocating relatively along a plurality of grinding paths parallel to the warp stored in the warp detecting step. , Further included.

  The invention according to claim 3 is the invention according to claim 1 or 2, wherein the upper surface grinding step is executed next to the warpage detection step, and the second grinding step used in the upper surface grinding step. The load is determined based on the warp from a previously stored relationship.

According to a fourth aspect of the present invention, in the third aspect of the invention, the second load is calculated based on the previously stored relationship from a grinding allowance of the grinding wheel, a temperature of the slab, and a grinding of the grinding wheel. It is determined based on at least one of speed, the feed pitch of the grinding wheel, and the number of layers ground by the grinding wheel.

Further, in the invention according to claim 5, in the invention according to claim 2 , the third load used in the side grinding step is a pre-stored relationship, so that the grinding allowance by the grinding wheel, the temperature of the slab , And determined based on at least one of the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the number of layers ground by the grinding wheel.

Further, the invention is, (e) and carriage being movable in a direction perpendicular to the longitudinal direction of the movable and the slab in a direction parallel to the longitudinal direction of the slab, the vertical direction in該台vehicle according to claim 6 a vertical direction moving member provided movably in, provided at the lower end of the upper and lower direction moving member, the grinding wheel driving device for rotating the grinding grindstone rotation axis around a direction parallel to the longitudinal direction of said slab And the rotation axis of the drive device in a direction parallel to the longitudinal direction of the slab so that the grinding wheel is pressed against the slab by any one of a first load, a second load, and a third load. A pressing device biasing around, and a grinding position switching device for selectively positioning the grinding wheel at one of an upper surface grinding position for grinding the upper surface of the slab and a side grinding position for grinding the side surface of the slab. Control device for slab grinding machine (F) On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a first load along a grinding path parallel to the longitudinal direction of the slab to thereby grind the grinding wheels. A warp detection means for detecting the vertical position of the grinding wheel while detecting and storing the longitudinal warp of the slab based on the vertical position while relatively feeding along a predetermined grinding path of the path; (g) On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a second load larger than the first load, and the grinding wheel is reciprocated relatively along the plurality of grinding paths. And upper surface grinding means for grinding the entire surface of the slab with respect to the upper surface.

  The invention according to claim 7 is the invention according to claim 6, wherein (h) the grinding wheel is pressed against the side surface of the slab with a third load larger than the first load on the side surface of the slab. Side grinding means that grinds one side of the side surface of the slab by relatively reciprocating the grinding wheel along a plurality of grinding paths parallel to the warp stored in the warp detecting means. , Further including.

  The invention according to claim 8 is the invention according to claim 6 or 7, wherein the upper surface grinding means grinds the upper surface of the slab after the warpage detection by the warpage detection means. The second load used in the means is determined based on the warp from a previously stored relationship.

Further, the invention according to claim 9 is the invention according to claim 8 , wherein the second load is calculated based on the previously stored relationship, such as a grinding allowance for the grinding wheel, a temperature of the slab, and grinding of the grinding wheel. It is determined based on at least one of speed, the feed pitch of the grinding wheel, and the number of layers ground by the grinding wheel.

The invention according to claim 10 is the invention according to claim 7 , wherein the third load used in the side grinding means is preliminarily stored, so that the grinding allowance by the grinding wheel, the temperature of the slab, , And determined based on at least one of the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the number of layers ground by the grinding wheel.

  According to the slab grinding method of the first aspect of the invention, (b) on the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a first load along a grinding path parallel to the longitudinal direction of the slab. The vertical position of the grinding wheel is detected while the grinding wheel is relatively fed along a predetermined grinding path among the plurality of grinding paths, and the warp in the longitudinal direction of the slab is detected based on the vertical position. And (c) pressing the grinding wheel against the upper surface of the slab with a second load larger than the first load on the upper surface of the slab, and detecting the plurality of grinding wheels. After detecting the warpage of the slab using the first load as well, the upper surface grinding step of grinding the entire surface of the slab by reciprocating along the grinding path. And larger than the first load Since the upper surface is ground using two loads, the surface of the upper surface of the slab is not affected by changes in the shape of the grindstone due to wear of the grinding wheel, and the surface of the upper surface of the slab with respect to slabs having different warpages in the second load The whole can be ground uniformly. Moreover, since the curvature of the slab is detected while contacting the rotating grinding wheel with the first load, it is possible to perform highly accurate and stable detection without being affected by smoke and dust.

  In addition, the first load used in the warp detection step is smaller than the second load used in the upper surface grinding step and the side surface grinding step in which grinding is actually performed. Even if the gradient in the longitudinal direction is large, the rotating grinding wheel can reliably follow the warp, and the warp can be accurately detected without using a laser displacement meter or a displacement meter having a contact. In this way, by causing the grinding wheel to function as a contact, warpage of the slab can be accurately and inexpensively detected in an environment with a lot of smoke and dust.

  According to the slab grinding method of the invention according to claim 2, (d) on the side surface of the slab, the grinding wheel is pressed against the side surface of the slab with a third load larger than the first load, A side grinding step in which grinding is performed on one side of the side surface of the slab by reciprocating the grinding wheel relatively back and forth along a plurality of grinding paths parallel to the warp stored in the warp detection step; Therefore, the entire upper surface and side surfaces of the slab having differently shaped warpage can be ground uniformly.

  According to the slab grinding method of the invention of claim 3, the upper surface grinding step is executed next to the warpage detection step, and the second load used in the upper surface grinding step is Since it is determined on the basis of the warpage from the stored relationship, the grinding wheel is pressed against the upper surface of the slab with a load suitable for the warp against the slab having the warp having different shapes. Since grinding is performed, the entire upper surface of the slab can be ground more uniformly.

  Further, according to the slab grinding method of the invention according to claim 4, the second load is calculated based on the pre-stored relationship from a grinding allowance of the grinding wheel, a temperature of the slab, a grinding speed of the grinding wheel, Since it is determined based on at least one of the feed pitch of the grinding wheel and the number of layers ground by the grinding wheel, the grinding wheel is pushed onto the upper surface of the slab with a load suitable for grinding conditions. Since the grinding is performed while being applied, the entire upper surface of the slab can be ground more uniformly.

  Further, according to the slab grinding method of the invention according to claim 5, the third load used in the side grinding step is preliminarily stored, so that the grinding allowance by the grinding wheel, the temperature of the slab, Since it is determined based on at least one of the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the number of layers to be ground by the grinding wheel, the grinding is performed with a load suitable for grinding conditions. Since grinding is performed while the grindstone is pressed against the side surface of the slab, the entire side surface of the slab can be ground more uniformly.

  According to the control device of the slab grinding apparatus of the invention according to claim 6, (f) the grinding wheel is moved with the first load on the upper surface of the slab along the grinding path parallel to the longitudinal direction of the slab. The vertical position of the grinding wheel is detected while pressing the upper surface of the slab and relatively feeding the grinding wheel along a predetermined grinding path among the plurality of grinding paths, and based on the vertical position, the Warpage detection means for detecting and storing warpage in the longitudinal direction of the slab; and (g) pressing the grinding wheel against the upper surface of the slab with a second load larger than the first load on the upper surface of the slab, And a top surface grinding means for grinding the entire surface of the slab by reciprocating the grinding wheel relatively along the plurality of grinding paths. Therefore, the slab also uses the first load. After detecting the warpage of Since the upper surface is ground by using a second load larger than one load, the slab having the warp having different shapes individually by the second load is not affected by the change in the shape of the grindstone due to wear of the grinding wheel. On the other hand, the entire upper surface of the slab can be ground uniformly. Moreover, since the curvature of the slab is detected while contacting the rotating grinding wheel with the first load, it is possible to perform highly accurate and stable detection without being affected by smoke and dust.

  Further, since the first load used in the warp detecting means is smaller than the second load used in the upper surface grinding means and the side surface grinding means for actually grinding, the slab in the warp detecting means. Even if the gradient in the longitudinal direction is large, the rotating grinding wheel can reliably follow the warp, and the warp can be accurately detected without using a laser displacement meter or a displacement meter having a contact. In this way, by causing the grinding wheel to function as a contact, warpage of the slab can be accurately and inexpensively detected in an environment with a lot of smoke and dust.

  According to the control device for a slab grinding apparatus of the invention according to claim 7, (h) the grinding wheel is pressed against the side surface of the slab with a third load larger than the first load on the side surface of the slab. Side grinding means that grinds one side of the side surface of the slab by relatively reciprocating the grinding wheel along a plurality of grinding paths parallel to the warp stored in the warp detecting means. Therefore, the entire upper surface and side surfaces of the slab can be uniformly ground with respect to the slab having the warpage of different shapes.

  According to the control device of the slab grinding apparatus of the invention according to claim 8, the upper surface grinding means grinds the upper surface of the slab after the warpage detection by the warpage detection means, and the upper surface grinding means. The second load used in the above is determined based on the warpage from a pre-stored relationship, so that the slab having the warp of different shapes is a load suitable for the warp. Since grinding is performed while the grinding wheel is pressed against the upper surface of the slab, the entire surface of the upper surface of the slab can be ground more uniformly.

  Further, according to the control device of the slab grinding apparatus of the invention according to claim 9, the second load is calculated based on the pre-stored relationship, the grinding allowance by the grinding wheel, the temperature of the slab, the grinding wheel Since it is determined based on at least one of the grinding speed, the feed pitch of the grinding wheel, and the number of layers to be ground by the grinding wheel, the grinding wheel is loaded with a load suitable for grinding conditions. Since grinding is performed while being pressed against the upper surface, the entire upper surface of the slab can be ground more uniformly.

  According to the control device of the slab grinding apparatus of the invention according to claim 10, the third load used in the side grinding means is based on a pre-stored relationship, so that the grinding allowance for the grinding wheel, Since it is determined based on at least one of the temperature, the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the number of layers ground by the grinding wheel, a load suitable for the grinding conditions Since the grinding is performed while the grinding wheel is pressed against the side surface of the slab, the entire side surface of the slab can be ground more uniformly.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In the following embodiments, the drawings are appropriately simplified or modified, and the dimensional ratios, shapes, and the like of the respective parts are not necessarily drawn accurately.

  FIG. 1 is a front view of a slab grinding apparatus 10 that performs a grinding method according to an embodiment of the present invention. FIG. 2 is a plan view of the slab grinding apparatus 10 corresponding to the view taken along arrow II in FIG. 1 and 2, a slab grinding apparatus 10 is cut into a predetermined length by a gas cutting machine, for example, in a continuous casting facility corresponding to a previous process, conveyed by a roller-type conveyance conveyor 12, and pushed up by a lift apparatus (not shown). With respect to the slab S which is a thick plate-like steel material having a temperature of 800 to 1000 ° C., for example, which is abutted against a stopper (not shown) in a state where the slab S is positioned, as shown in FIG. The grinding wheel 11 is linearly moved along the grinding path parallel to the longitudinal direction X of the slab S while pressing the outer peripheral surface of the grinding wheel 11 rotating about the axis parallel to the longitudinal direction X, and then Grinding is performed hot by sequentially moving relative to each other along a plurality of other grinding paths parallel to the grinding path.

  A pair of floor rails 14 are provided in parallel along the transport direction of the slab S, that is, the longitudinal direction X, on the floor surfaces on both sides of the transport conveyor 12. The portal trolley 16 is erected on a pair of base blocks 16a that rotatably support each of the two wheels 18 that roll on the pair of floor rails 14, and on the upper surfaces of the pair of base blocks 16a. The pair of support columns 16b and the pair of support columns 16c, the one support column 16b and the upper end of the one support column 16c, and the other support column 16b and the upper end of the other support column 16c are horizontally bridged and a pair of connecting plates. A pair of beams 16d having both ends connected by 16e. On the outer surface of the pair of base blocks 16a, a pair of servo motors 20 having an output shaft connected to the shaft of the wheel 18 through a plurality of gears so as to be able to transmit power, and a rack gear 22 fixed on the floor surface A PG (pulse generator) 26 having a meshing gear 24 is provided. The portal trolley 16 can move on the pair of floor rails 14 in a direction parallel to the longitudinal direction X of the slab S when the pair of servo motors 20 are operated. In accordance with the rotation of the gear 24 that is rotated along with the movement, an electrical pulse signal indicating the movement distance or the movement position is output.

  On the pair of base blocks 16a of the portal trolley 16, there is provided a deck 30 provided with a net plate 28 in a horizontal shape on the entire surface. On the deck 30, a cab equipped with an input operation device 31 and the like. 32, a control panel 34 including a control device 33 and the like, and a hydraulic unit 36 including a hydraulic control circuit 35 and the like are provided.

  FIG. 3 is an enlarged front view showing a part of the slab grinding apparatus 10 corresponding to the view taken along the arrow III in FIG. FIG. 4 is an enlarged side view of a part of the slab grinding apparatus 10 corresponding to the view taken along the arrow IV in FIG. 2 to 4, a pair of traverse rails 38 are provided in parallel along a lateral direction Y perpendicular to the longitudinal direction X of the slab S on the pair of beams 16 d of the portal carriage 16. On the pair of traversing rails 38, a carriage 40 including a rectangular frame-like carriage frame 44 that rotatably supports four wheels 42 rolling on the rails 40 is provided. As shown in FIG. 4, the carriage frame 44 has a servo motor 50 having a pinion gear 48 meshing with a rack gear 46 fixed to the inner surface of the beam 16d as an output shaft, and a PG having a pinion gear 52 meshing with the rack gear 46. (Pulse generator) 54 is provided. The carriage 40 can be moved in a direction parallel to the lateral direction Y on the pair of transverse rails 38 by the servo motor 50 being actuated, and the PG 54 is a pinion gear 52 that is rotated in accordance with the movement of the carriage 40. According to the rotation, an electrical pulse signal indicating the moving distance or the transfer position is output. That is, the carriage 40 can move in a direction parallel to the longitudinal direction X of the slab S with respect to the slab S via the portal carriage 16 and move in a direction parallel to the lateral direction Y orthogonal to the longitudinal direction X of the slab S. It is provided as possible.

  3 and 4, a cylindrical support member 58 is fixed to the central portion of the carriage frame 44 in a state having a vertical through hole 60, and the cylindrical hole has a cylindrical shape in the through hole 60. A vertically moving member 66 is slidably inserted in the axial direction, that is, vertically. That is, the vertical movement member 66 is provided so as to be movable in the vertical direction on the carriage 40. A plate-like elevating plate 68 is fixed to the upper end portion 67 of the vertical moving member 66, and a servo is provided on the elevating plate 68 with a base portion attached to the side surface of the support member 58 via a pair of brackets 70. The ends of cylinder rods 76 and 78 of the cylinder 72 and the hydraulic cylinder 74 are connected to each other. The bracket 80 attached to the lifting plate 68 has a pair of guide rollers 82 that roll while sliding in contact with both side surfaces of a guide rail 81 that is fixed to the side surface of the support member 58 and has a longitudinal direction in the vertical direction. It is provided so as to be rotatable. With the above configuration, the vertical movement member 66 is moved relative to the slab S in one vertical direction when the servo cylinder 72 is operated. The hydraulic cylinder 74 functions as a weight balancer that reduces the weight applied to the servo cylinder 72 by constantly applying an upward thrust corresponding to the weight of the vertically moving member 66.

  The lower end 84 of the vertically moving member 66 has a support frame 86 composed of a horizontal plate-like member and a pair of projecting members protruding downward from both ends of the plate-like member, and the upper surface of the plate-like member is the lower end portion. 84 is fixed to the lower surface. A grindstone drive motor 90 having a pulley 89 on the output shaft is attached to a motor base 88 fixed to the side surface of the support frame 86. A rotation support shaft 94 is rotatably provided around the rotation axis B at a shaft support portion 92 corresponding to the lower end portion of the support frame 86, and pulleys 96 and 98 are provided at both ends thereof. A switching hydraulic cylinder (grinding stone) having one end rotatably connected to a support frame 86 is provided at an intermediate portion of the pressing arm 100 whose base end is rotatably supported around the rotation axis B by the rotation support shaft 94. The tip of the cylinder rod 104 of the position switching device 102 is connected. Further, the base end is rotatably connected to the tip of the pressing arm 100 to the tip of the grindstone mounting arm 106 whose base end is rotatably supported around the rotation axis B by the rotation support shaft 94. The tip of the cylinder rod 110 of the pressing hydraulic cylinder (pressing device) 108 is connected. A rotating spindle 112 is provided at the tip of the grindstone mounting arm 106 so as to be rotatable around a rotation axis A parallel to the longitudinal direction X of the slab S, and a pulley 114 and a grinding wheel 11 are provided at both ends thereof. ing. A plurality of (four in this embodiment) endless annular belts 116 are wound around the pulley 89 and the pulley 96, and a plurality (four in this embodiment) endless annular belts 116 are wound around the pulley 98 and the pulley 114. 118 is wound. A support frame 86, a grindstone drive motor 90, a rotation support shaft 94, a pressing arm 100, a switching hydraulic cylinder (grinding wheel position switching device) 102, a grindstone mounting arm 106, a pressing force provided at the lower end portion 84 of the vertical movement member 66. A grindstone driving device 119 including a hydraulic cylinder (pressing device) 108, a rotation main shaft 112, a grinding wheel 11 and the like operates the grindstone 11 through the rotation support shaft 94, the rotation main shaft 112 and the like when the grindstone driving motor 90 is operated. The slab S is driven to rotate about a rotation axis A in a direction parallel to the longitudinal direction X of the slab S.

  Here, FIG. 3 shows a state where the cylinder rod 104 of the switching hydraulic cylinder 102 and the cylinder rod 110 of the pressing hydraulic cylinder 108 are retracted, and the grinding wheel 11 is positioned at the upper surface grinding standby position. . From this state, the grinding wheel 11 is supplied with a predetermined hydraulic pressure adjusted by the hydraulic control circuit 35 to the pressing hydraulic cylinder 108 and is urged in the forward direction of the cylinder rod 110, so that the grinding wheel 11 is moved from the upper surface grinding standby position. The slab S is moved to a position 11a that is in contact with the upper surface F1 of the slab S indicated by a one-dot chain line, that is, an upper surface grinding position, and is pressed against the slab S with a constant load corresponding to the hydraulic pressure. The constant load is set in two stages, for example, a first load and a second load at the upper surface grinding position.

  Further, the grinding wheel 11 is moved to the side grinding standby position 11b indicated by the alternate long and short dash line when the cylinder rod 104 of the switching hydraulic cylinder 102 is advanced from the state where it is positioned at the top grinding standby position shown in FIG. It can be positioned. The grinding wheel 11 is further supplied with a predetermined hydraulic pressure adjusted by the hydraulic control circuit 35 to the pressing hydraulic cylinder 108 and biased in the forward direction of the cylinder rod 110, whereby the side grinding standby position 11b. Is moved to a position 11c that contacts the side surface F2 of the slab S indicated by a one-dot chain line, that is, a side grinding position, where it is pressed against the slab S with a constant load corresponding to the hydraulic pressure. . The constant load is set, for example, at one stage of the third load at the side grinding position. The switching hydraulic cylinder 102 functions as a grinding position switching device in which the grinding wheel 11 is selectively positioned at one of a top surface grinding position for grinding the top surface F1 of the slab S and a side surface grinding position for grinding the side surface F2 of the slab S. The pressing hydraulic cylinder 108 moves the grinding wheel driving device 119 in the longitudinal direction X of the slab S so that the grinding wheel 11 is pressed against the slab S by any one of the first load, the second load, and the third load. It functions as a pressing device that urges around the rotation axis B in the parallel direction.

  The pressing arm 100 is provided with a PG (pulse generator) 122 having a pinion gear engaged with a fan-shaped gear 120 provided on the grindstone mounting arm 106, and the PG 122 has a rotational axis. In accordance with the amount of rotation of the grinding wheel 11 that rotates about B, an electrical pulse signal that indicates the amount of vertical movement or horizontal movement of the grinding wheel 11 is output. Further, a PLC (Power Level Control) device that detects a motor current that changes in accordance with the magnitude of the load applied to the grinding wheel 11 by the slab S is provided in the control panel 34. An electric signal indicating the grinding load of the grinding wheel 11 is output according to the magnitude of the motor current. That is, the load applied to the grinding wheel 11 at the time of pressing is controlled so that the motor load detected by the PLC when the grinding wheel 11 is pressed against the slab S becomes a predetermined value (set value). It has become.

  FIG. 5 is a block diagram illustrating the configuration of the control system of the slab grinding apparatus 10 for grinding the upper surface F1 and the side surface F2 of the slab S. The control device 33 is a so-called microcomputer including a CPU 124, a RAM 126, a ROM 128, and the like, and processes an input signal according to a program stored in the ROM 128 in advance using the temporary storage function of the RAM 126, and outputs a control signal. Examples of the input signal include signals input from PG26, PG54, PG122, the PLC in the control panel 34, the input operation device 31, and the like. The operating states of the various actuators of the slab grinding apparatus 10 are controlled by the control device 33 supplying the control signals to the corresponding various circuits. For example, the electrically driven servomotors 20 and 50 are rotated by a predetermined amount when a predetermined control signal is supplied to the servomotor drive control circuit 130. The hydraulic drive actuators such as the hydraulic cylinder 74, the switching hydraulic cylinder 102, and the pressing hydraulic cylinder 108 are supplied with predetermined control signals to the corresponding solenoid valves of the hydraulic control circuit 35, thereby providing the hydraulic circuit. Are switched and activated respectively. Further, the inverter motor 90 and the servo cylinder 72 are operated by supplying predetermined control signals to the motor drive circuit 132 and the servo cylinder drive control circuit 134, respectively. The control device 33 is supplied with various signals corresponding to the input signal from a sensor or the like that detects operating states of other parts (not shown) such as a state in which the switching hydraulic cylinder 102 has reached the moving end. It has become.

  FIG. 6 is a functional block diagram for explaining the main part of the control function by the control device 33. FIG. 7 is a perspective view of the slab S for explaining the grinding path of the grinding wheel 11. In addition, in FIG. 7, the rectangular parallelepiped slab S in which the curvature of the longitudinal direction X does not appear is shown for convenience. The slab S is warped in the longitudinal direction by placing the slab S on the conveyor 12 that functions as a horizontal grinding table and pressing the rotating grinding wheel 11 on the upper surface of the slab S with a first load. Defined as the difference (mm) between the lowest position (mm) and the highest position (mm) of the position in the height direction of the upper surface of the slab S detected by using a PG (pulse generator) 122 when moving at a constant speed. Is done. The grinding wheel 11 rotating in this manner functions as a contact for contacting the upper surface of the slab S and detecting the warpage, but the first load is a load intended for grinding to the extent that the first load is lightly in contact with the slab S. Therefore, the warp can be accurately detected. Further, as described above, the warp is calculated by the difference between the lowest position and the highest position detected in the process of moving the grinding wheel 11 in the longitudinal direction of the slab S while contacting the upper surface of the slab S with the first load. Therefore, there is an advantage that the warpage is not affected by a diameter change due to wear of the grinding wheel 11.

6 and 7, the warp detecting means 136 lightly presses the rotating grinding wheel 11 on the upper surface F1 of the slab S with a preset first load to grind the surface. Relative to the grindstone ₁₁ at a constant feed speed set in advance along a predetermined grinding path of the plurality of grinding paths R _{11 to} R _1n , for example, the grinding path R ₁₁ near the upper surface side edge of the side surface F2 of the slab S. The vertical position of the grinding wheel 11 is detected by using the PG 122 while feeding from the position a to the position b, and the warp in the longitudinal direction X of the slab S is detected based on the vertical position, for example, the RAM 126 of the control device 33. To remember. The vertical position of the grinding wheel 11 is obtained based on a calculation that converts a signal indicating the amount of rotation of the grinding wheel 11 with respect to the rotational axis B obtained by the PG 122 into the amount of movement of the grinding wheel 11 in the vertical direction. In this embodiment, the warpage is obtained as two-dimensional coordinate information based on the vertical position of the grinding wheel 11 and the longitudinal position of the grinding wheel 11 obtained by PG26.

  The upper surface grinding condition calculation means 138 is based on a plurality of tables, that is, a grinding condition table in which the relations stored in the ROM 128 in advance, that is, the mutual relations of the values of the respective grinding conditions as shown in FIG. First, based on the warp obtained by the warp detecting means 136, the grinding speed of the grinding wheel 11 used in the upper surface grinding means 142 described later is determined, and then the determined grinding speed and the preset grinding speed are determined. And the second load used in the upper surface grinding means 142 to be described later, the feed pitch p of the grinding wheel 11, based on, for example, the temperature of the slab S measured in advance with a thermometer provided on the conveyor 12, etc. And the number of layers ground by the grinding wheel 11 is determined.

  The side grinding condition calculation means 140 is used in the upper surface grinding means 142 described later based on a grinding allowance set in advance and the temperature of the slab S from a grinding condition table different from the plurality of sets of grinding condition tables. The third load, the grinding speed of the grinding wheel 11, the feed pitch p of the grinding wheel 11, and the number of layers to be ground by the grinding wheel 11 are determined. Here, the third load used in the side grinding means 144 is experimentally obtained in advance so as to obtain a good grinding surface, and from the relationship stored in advance, the grinding allowance of the grinding wheel 11 and the slab S The value is larger than the first load determined based on at least one of the temperature, the grinding speed of the grinding wheel 11, the feed pitch p of the grinding wheel 11, and the number of layers ground by the grinding wheel 11.

The grinding condition table showing the above relationship is experimental in advance so that the preset machining allowance is reliably and efficiently ground under each condition of the peripheral speed of the grinding wheel 11, the warpage of the upper surface F1, and the temperature of the slab S. This is what was requested. The grinding speed of the grinding wheel 11 means that when the upper surface F1 and the side surface F2 of the slab S are ground, that is, while the rotating grinding wheel 11 is pressed against the upper surface F1 and the side surface F2 of the slab S, the plural grinding wheels 11 are used. _Is the moving speed of the grinding wheel 11 when linearly moving along the grinding paths R _{11 to} R _1n or R _{21 to} R _2n . The feed pitch p of the grinding wheel 11 is a mutual distance in a direction perpendicular to the longitudinal direction X of the adjacent grinding paths in the plurality of grinding paths R _{11 to} R _1n or R _{21 to} R _2n . is there. The above “based on warp” means, for example, based on the magnitude of the difference between the maximum value in the vertical direction and the minimum value calculated based on the vertical position detected by the warp detection means 136. To do. Here, the second load used in the upper surface grinding means 142 is a value larger than the first load determined on the basis of the warp from the relationship stored in advance, and the second load is good. It is experimentally obtained in advance so as to obtain a grinding surface, and the grinding allowance with the grinding wheel 11, the temperature of the slab S, the grinding speed of the grinding wheel 11, the feed pitch p of the grinding wheel 11, The value is determined based on at least one of the number of layers ground by the grinding wheel 11.

The upper surface grinding means 142 presses the rotating grinding wheel 11 against the upper surface F1 of the slab S with the second load determined by the upper surface grinding condition calculation means 138 on the upper surface F1 of the slab S, and grinds the ground by relatively reciprocate the grinding wheel 11 at a constant feed rate which is set in advance along a grinding path R ₁₁ to R _1n of the plurality of, subjected to grinding on one side with respect to the upper surface F1 of the slab S. FIG. 9 (a) shows a state in which ground along a grinding path R _11. The upper surface grinding means 142 is executed next to the warpage detection means 136, that is, the upper surface F1 of the slab S is ground after the warpage detection by the warpage detection means 136.

The side grinding means 140 presses the rotating grinding wheel 11 against the side face F2 of the slab S with the third load determined by the side grinding condition calculation means 140 on the side face F2 of the slab S, and the grinding The side surface of the slab S is reciprocated at a constant feed speed set in advance along a plurality of grinding paths R _{21 to} R _2n parallel to the warp stored in the warp detecting means 136. Grinding is performed on one surface of F2. FIG. 9 (b) shows a state in which ground along a grinding path R _21.

  FIG. 10 is a flowchart for explaining a main part of the control operation by the control device 33. The above control operation linearly moves the grinding wheel 11 linearly along a grinding path parallel to the longitudinal direction X of the slab S while pressing the rotating grinding wheel 11 against the upper surface F1 and the side surface F2 of the plate-like slab S. And then sequentially moving along another grinding path parallel to the grinding path to perform a slab grinding method for grinding the upper surface F1 and the side surface F2 of the plate-like slab S. Is.

In FIG. 10, first, in step S <b> 1 (hereinafter, step is omitted), for example, a slab S of 800 ° C. to 1000 ° C. conveyed from the previous process by the conveyor 12 is lifted from the roller conveyor 12 by a lift device (not shown). And is positioned at a fixed position by being abutted against a stopper (not shown). Next, in S2, the grinding wheel 11 moved and moved to the position a on the upper surface F1 of the slab S shown in FIG. 7 is pressed with a preset first load. The first load is set smaller than the second load and the third load. Next, in S3, in advance so while the pressing is maintained grinding wheel 11 can be secured trackability from position a along the grinding path R ₁₁ parallel to the longitudinal direction X of the slab S shown in FIG. 7 to the position b While being moved at the set speed, the vertical position of the grinding wheel 11 is detected using the PG 122, and the warp in the longitudinal direction X of the slab S is detected based on the vertical position and stored in the RAM 126 of the control device 33. The

Next, in S4, based on the detected warpage of the slab S, the grinding allowance of the grinding wheel 11 input in advance, and the temperature of the slab S measured in advance, the corresponding grinding conditions, that is, the second load, Three loads, the grinding speed and feed pitch p of the grinding wheel 11, and the number of layers to be ground by the grinding wheel 11 are selected from a pre-stored grinding condition table showing the corresponding relationship. Subsequently, while the grinding wheel 11 is applied to the upper surface F1 of the slab S with the second load, a plurality of grinding paths R _{11 to} R _1n (paths from the position b to the position c passing through the position a) shown in FIG. By being relatively reciprocated along, the grinding process is performed hot.

Next, in S5, the grinding wheel 11 moved to the position d on the side surface F2 of the slab S shown in FIG. 7 is pressed with the third load determined in S4. Next, in S6, the rotating grinding wheel 11 is pressed against the position d shown in FIG. 7 on the side surface of the slab S with the third load, and the grinding wheel 11 is parallel to the detected warpage shown in FIG. By being relatively reciprocated along a plurality of grinding paths R _{21 to} R _2n , grinding is performed hot. Next, in S <b> 7, the grinding wheel 11 is moved to the original position, the positioning of the slab S is released, and the slab S is sent to the next process by the conveyor 12.

  In this embodiment, among the series of operations performed by the control device 33, S3 corresponds to the warpage detection step and the warpage detection means, S4 corresponds to the upper surface grinding condition calculation means and the side surface grinding condition calculation means, and S4 corresponds to Corresponding to the upper surface grinding process and the upper surface grinding means, S6 corresponds to the side surface grinding process and the side surface grinding means.

As described above, according to the slab grinding method of the present embodiment, on the upper surface F1 of the slab S, the grinding wheel 11 is applied to the upper surface of the slab S with the first load along the grinding path parallel to the longitudinal direction X of the slab S. pressing the grinding wheel 11 while relatively feeding along a predetermined grinding path R ₁₁ among the plurality of grinding path R ₁₁ to R _1n in the F1, to detect the vertical position of the grinding wheel 11, A warp detecting step for detecting and storing a warp in the longitudinal direction X of the slab S based on the vertical position, and a grinding wheel 11 on the upper surface F1 of the slab S with a second load larger than the first load. It is pressed against the the upper surface F1, by relatively reciprocating along the grinding wheel 11 the plurality of grinding path R ₁₁ to R _1n, subjected to grinding on one side with respect to the upper surface F1 of the slab S With the top grinding process Therefore, after detecting the warpage of the slab using the first load, the upper surface is ground using the second load larger than the first load. Therefore, the grinding wheel shape changes due to the wear of the grinding wheel 11. The entire surface of the upper surface F1 of the slab S can be uniformly ground with respect to the slab S having differently shaped warpage with the second load. Moreover, since the curvature of the slab is detected while contacting the rotating grinding wheel with the first load, it is possible to perform highly accurate and stable detection without being affected by smoke and dust. In particular, when the warpage of the slab S is 40 mm or more, the effect of uniform grinding can be obtained. However, when the warp of the slab S exceeds 100 mm, the structural strength of the pressing mechanism of the grinding wheel 11 using the pressing hydraulic cylinder 108 and the grinding wheel 11 bite into the slab S, so that grinding with a relatively shallow uniform depth is performed. The problem of not being able to occur. Further, if the pressing strength is increased, uniform grinding is possible if the feed rate is reduced when the warp of the strength slab S is 40 mm or less, but if it is 40 mm or more, the grinding wheel 11 bites into the slab S, and relatively A shallow uniform depth cannot be ground, and the grinding wheel 11 stops due to overload, and slippage of the belts 116 and 118 occurs.

Moreover, according to the slab grinding method of the present embodiment, the grinding wheel 11 is pressed against the side surface F2 of the slab S with a third load larger than the first load, and the grinding wheel 11 is stored in the warpage detection step S3. was by relatively reciprocating along a plurality of grinding path R ₂₁ to R _2n parallel to the warp, a side grinding step S6 for performing grinding on one side against the side F2 of the slab S, further comprising Therefore, the entire surface of the upper surface F1 and the side surface F2 of the slab S can be uniformly ground with respect to the slab S having warpages of different shapes.

  Moreover, since the 1st load used in curvature detection process S3 is a load smaller than the 2nd load and 3rd load which are used in upper surface grinding process S4 and side grinding process S6 which actually grind, curvature detection process S3 The grinding wheel 11 can reliably follow the warp even if the gradient in the longitudinal direction X of the slab S is large, and the warp of the slab S can be accurately detected without using a laser displacement meter or a displacement meter having a contact. . In this way, by causing the grinding wheel 11 to function as a contact, it is possible to accurately and inexpensively detect the warp of the slab S in an environment where there is a lot of smoke or dust.

  Further, according to the slab grinding method of the present embodiment, the upper surface grinding step is executed next to the warpage detection step, and the second load used in the upper surface grinding step is stored in advance. Since it is determined based on the warpage from the relationship, the grinding wheel 11 is pressed against the upper surface F1 of the slab S with a load suitable for the warpage of the slab S having differently shaped warpage. Since grinding is performed, the entire surface of the upper surface F1 of the slab S can be more uniformly ground.

  Further, according to the slab grinding method of the present embodiment, the second load is calculated based on the previously stored relationship, the grinding allowance with the grinding wheel 11, the temperature of the slab S, the grinding speed of the grinding wheel 11, and the grinding wheel 11. Therefore, the grinding wheel 11 is pressed against the upper surface F1 of the slab S with a load suitable for the grinding conditions because it is determined based on at least one of the feed pitch and the number of layers to be ground by the grinding wheel 11. Since grinding is performed, the entire surface of the upper surface F1 of the slab S can be more uniformly ground.

  Further, according to the slab grinding method of the present embodiment, the third load used in the side grinding step is determined based on the previously stored relationship between the grinding allowance by the grinding wheel 11, the temperature of the slab S, the grinding wheel 11. Since it is determined based on at least one of the grinding speed, the feed pitch of the grinding wheel 11, and the number of layers ground by the grinding wheel 11, the grinding wheel 11 is slab loaded with a load suitable for the grinding conditions. Since grinding is performed while being pressed against the side surface F2 of S, the entire surface of the side surface F2 of the slab S can be more uniformly ground.

  Further, according to the slab grinding method of the present embodiment, since the slab S is subjected to hot grinding, a high grinding efficiency can be obtained, and the slab S can be reused before the next rolling process. Since the heating time is short or unnecessary, an energy saving effect can be obtained.

Further, according to the control device 33 of the slab grinding apparatus 10 of the present embodiment, the slab S is applied to the grinding wheel 11 with the first load along the grinding path parallel to the longitudinal direction X of the slab S on the upper surface F1 of the slab S. It is pressed against the the upper surface F1 while feeding relatively along the grinding wheel 11 to a predetermined grinding path R ₁₁ among the plurality of grinding path R ₁₁ to R _1n, detects the vertical position of the grinding wheel 11 The warp detecting means for detecting and storing the warp in the longitudinal direction X of the slab S based on the vertical position thereof, and the grinding wheel 11 at the upper surface F1 of the slab S with the second load larger than the first load. It is pressed against the upper surface F1 of the slab S, grinding by relatively reciprocating along the grinding wheel 11 the plurality of grinding path R ₁₁ to R _1n, on one side with respect to the upper surface F1 of the slab S Top surface laboratory The grinding wheel 11 is pressed against the side surface F2 of the slab S with the third load larger than the first load at the side surface F2 of the means and the slab S, and the warping stored in the warpage detection step is performed on the grinding wheel 11. since by relatively reciprocating along a grinding path R ₂₁ to R _2n a plurality of concurrent, that a side surface grinding means for performing grinding on one side against the side F2 of the slab S, included in the individual The entire surface of the upper surface F1 and the side surface F2 of the slab S can be uniformly ground with respect to the slab S having different shapes of warpage.

  Further, since the first load used in the warp detecting means 136 is smaller than the second load and the third load used in the upper surface grinding means 142 and the side surface grinding means 144 that actually perform grinding, the warp detecting means 136. The grinding wheel 11 can reliably follow the warp even if the gradient in the longitudinal direction X of the slab S is large, and the warp of the slab S can be accurately detected without using a laser displacement meter or a displacement meter having a contact. . In this way, by causing the grinding wheel 11 to function as a contact, it is possible to accurately and inexpensively detect the warp of the slab S in an environment where there is a lot of smoke or dust.

  Further, according to the control device 33 of the slab grinding apparatus 10 of this embodiment, the upper surface grinding means grinds the upper surface F1 of the slab S after the warpage detection by the warpage detection means, and the upper surface grinding means. The second load used in the above is determined on the basis of the warpage based on the relationship stored in advance, so that the grinding wheel with a load suitable for the warpage of the slabs S having different shapes of warpage individually. Since 11 is pressed against the upper surface F1 of the slab S, the entire surface of the upper surface F1 of the slab S can be more uniformly ground.

  Further, according to the control device 33 of the slab grinding apparatus 10 of the present embodiment, the second load is calculated based on the previously stored relationship, the grinding allowance with the grinding wheel 11, the temperature of the slab S, the grinding of the grinding wheel 11. Since it is determined based on at least one of the speed, the feed pitch of the grinding wheel 11, and the number of layers ground by the grinding wheel 11, the grinding wheel 11 is loaded on the upper surface of the slab S with a load suitable for the grinding conditions. Since grinding is performed while being pressed against F1, the entire surface of the upper surface F1 of the slab S can be more uniformly ground.

  Further, according to the control device 33 of the slab grinding apparatus 10 of the present embodiment, the third load used in the side grinding means has a grinding allowance for the grinding wheel 11 and the temperature of the slab S from the relationship stored in advance. Since it is determined based on at least one of the grinding speed of the grinding wheel 11, the feed pitch of the grinding wheel 11, and the number of layers ground by the grinding wheel 11, the grinding wheel is loaded with a load suitable for the grinding conditions. Since 11 is pressed against the side surface F2 of the slab S, the entire surface of the side surface F2 of the slab S can be more uniformly ground.

  Moreover, according to the control apparatus 33 of the slab grinding apparatus 10 of the present embodiment, the slab S is subjected to grinding processing hot, so that a high grinding efficiency is obtained, and before the next rolling process. In addition, since the time for reheating the slab S is small or unnecessary, an energy saving effect can be obtained.

  As mentioned above, although one Example of this invention was described in detail with reference to drawings, this invention is not limited to this Example, It can implement in another aspect.

  For example, in the above-described embodiment, “based on warp” means, for example, the magnitude of the difference between the maximum value in the vertical direction and the minimum value calculated based on the vertical position detected by the warp detection means 136. However, it may be based on a value obtained by another calculation standard based on the detected vertical position or the like. For example, it may be based on the magnitude of the gradient in the longitudinal direction X of the slab S or the ratio of the length along the surface in the longitudinal direction X of the slab S to the length in the longitudinal direction X of the slab S.

  In the above-described embodiment, the term “previously stored” means that a plurality of sets are stored in advance in the form of, for example, a table in which the relationship is grouped into several sections, that is, a grinding condition table, that is, a map. However, it may be stored in advance in the form of a calculation formula, for example.

Further, in the above-described embodiment, the warp detected by the warp detecting means 136 is detected based on the vertical position of the grinding wheel 11 following the grinding path R _11. It may be detected based on the vertical position of the grinding wheel 11 that follows the paths R _{12 to} R _1n .

  Further, in the above-described embodiment, for example, the grinding wheel 11 may be moved to the position a in FIG. 7 manually by an operator such as the cab 32 or automatically by the control device 33. It may be done. In order to perform automatically by the control device 33, that is, by automatic grinding, for example, relative position information between the slab grinding device 10 and the slab S positioned by the transport conveyor 12 is used with a preset value. It is detected by a device such as a laser distance meter or a discharge tube provided on a predetermined position of the portal carriage 16 such as the inner surface of the base block 16a and stored in the RAM 126 of the control device 33 or used. This is possible by using the length L, width W, and height H of the slab S that are input and stored in advance while positioning the one end and the side surface F2 in place. The relative position information includes, for example, the longitudinal positions of one end and the other end of the slab S with respect to a predetermined original position of the slab grinding apparatus 10, the width direction positions of both side edges of the slab S, and the upper surface of one end of the slab S. It is the thickness direction position.

  Moreover, in the above-mentioned Example, although the slab S was hot-ground, it is not restricted to this, A cold-grind may be given.

  Moreover, in the above-mentioned Example, although the upper surface and side surface of the slab S were grinded, it is not restricted to this, Only the upper surface may be grinded. In this case, the entire surface of the upper surface of the slab S can be uniformly ground with respect to the grinding of the upper surface of the slab S having different shapes of warpage.

  It should be noted that the above description is merely an embodiment, and other examples are not illustrated. However, the present invention is implemented in variously modified and improved modes based on the knowledge of those skilled in the art without departing from the gist of the present invention. Can do.

It is a front view which shows the slab grinding apparatus which performs the manufacturing method of one Example of this invention. FIG. 2 is a plan view of the slab grinding apparatus corresponding to the view taken along arrow II in FIG. 1. It is the front view which expanded and showed a part of slab grinding apparatus equivalent to the III arrow line view of FIG. It is the side view which expanded and showed a part of slab grinding apparatus equivalent to IV arrow view of FIG. It is a block diagram explaining the control system of the slab grinding apparatus for performing a grinding process on the upper surface and side surface of a slab. It is a functional block diagram explaining the principal part of the control function by a control apparatus. It is a perspective view of the slab explaining the grinding path of a grinding wheel. It is a figure which shows several sets of maps which show the mutual correspondence of the grinding conditions previously memorize | stored in the control apparatus. It is a figure which shows a mode that the grinding stone grinds along a predetermined grinding path | route. It is a flowchart explaining the principal part of the control action by a control apparatus.

Explanation of symbols

10: slab grinding device 11: grinding wheel 33: control device 40: carriage 66: vertical movement member 84: lower end 102: switching hydraulic cylinder (grinding wheel position switching device)
108: Pressing hydraulic cylinder (pressing device)
119: Grinding wheel drive device 136: Warpage detection means 138: Upper surface grinding condition calculation means 140: Side grinding condition calculation means 142: Upper surface grinding means 144: Side grinding means A: Rotation axis B: Rotation axis F1: Upper surface F2: Side X: longitudinal Y: lateral R ₁₁ to R _1n: grinding path R ₂₁ to R _2n: grinding path S: slab S3: warp detection step S4: top grinding step S6: side grinding step

Claims (10)

While the rotating grinding wheel is pressed against the upper and side surfaces of the plate-like slab, the grinding wheel is linearly moved along a grinding path parallel to the longitudinal direction of the slab, and then the other grinding wheel is parallel to the grinding path. A slab grinding method in which grinding is performed on an upper surface and a side surface of a plate-like slab by sequentially performing relative movement along a grinding path,
On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a first load along a grinding path parallel to the longitudinal direction of the slab so that the grinding wheel is pressed against a predetermined one of the plurality of grinding paths. A warp detecting step of detecting a vertical position of the grinding wheel while detecting and storing a warp in a longitudinal direction of the slab based on the vertical position while relatively sending along a grinding path;
On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a second load larger than the first load, and the grinding wheel is relatively reciprocated along the plurality of grinding paths. And a top surface grinding step of grinding one surface of the top surface of the slab.   On the side surface of the slab, the grinding wheel is pressed against the side surface of the slab with a third load larger than the first load, and the grinding wheel is ground in parallel with the warp stored in the warp detection step. 2. The slab grinding method according to claim 1, further comprising a side grinding step of grinding one side of the side surface of the slab by reciprocating relatively along the path. The upper surface grinding step is performed next to the warpage detection step,
The slab grinding method according to claim 1 or 2, wherein the second load used in the upper surface grinding step is determined based on the warpage from a previously stored relationship.   The second load is ground by the grinding wheel by the grinding wheel, the temperature of the slab, the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the grinding wheel from the previously stored relationship. The slab grinding method according to claim 3, wherein the slab grinding method is determined based on at least one of the number of layers. The third load used in the side grinding step is preliminarily stored, so that the grinding allowance with the grinding wheel, the temperature of the slab, the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the The slab grinding method according to claim 2 , wherein the slab grinding method is determined based on at least one of the number of layers ground by the grinding wheel. A carriage that is movable in a direction perpendicular to the longitudinal direction of the movable and the slab in a direction parallel to the longitudinal direction of the slab, and the vertical direction moving member provided movably in the vertical direction in該台vehicle, provided at the lower end of the upper and lower direction moving member, and the grinding wheel driving device for rotating the grinding grindstone rotation axis around a direction parallel to the longitudinal direction of the slab, the grinding wheel first load, second load And a pressing device that urges the driving device around a rotation axis in a direction parallel to the longitudinal direction of the slab so as to be pressed against the slab by any one of the third loads, and the grinding wheel A control device for a slab grinding apparatus, comprising a grinding position switching device that is selectively positioned at one of an upper surface grinding position for grinding an upper surface of the slab and a side grinding position for grinding a side surface of the slab,
On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a first load along a grinding path parallel to the longitudinal direction of the slab so that the grinding wheel is pressed against a predetermined one of the plurality of grinding paths. A warp detecting means for detecting the vertical position of the grinding wheel while detecting and storing the longitudinal warp of the slab based on the vertical position, while relatively feeding along the grinding path;
On the upper surface of the slab, the grinding wheel is pressed against the upper surface of the slab with a second load larger than the first load, and the grinding wheel is relatively reciprocated along the plurality of grinding paths. And a top surface grinding means for grinding one surface of the top surface of the slab.   On the side surface of the slab, the grinding wheel is pressed against the side surface of the slab with a third load larger than the first load, and the grinding wheel is parallel to the warp stored in the warp detecting means. 7. The control apparatus for a slab grinding apparatus according to claim 6, further comprising side grinding means for grinding one side of the side face of the slab by reciprocating relatively along the path. The upper surface grinding means grinds the upper surface of the slab after the warpage detection by the warpage detection means,
The control device for a slab grinding apparatus according to claim 6 or 7, wherein the second load used in the upper surface grinding means is determined based on the warpage from a previously stored relationship.   The second load is ground by the grinding wheel by the grinding wheel, the temperature of the slab, the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the grinding wheel from the previously stored relationship. The control device for a slab grinding apparatus according to claim 8, wherein the control device is determined based on at least one of the number of layers. The third load used in the side grinding means is preliminarily stored, so that the grinding allowance with the grinding wheel, the temperature of the slab, the grinding speed of the grinding wheel, the feed pitch of the grinding wheel, and the The control device for a slab grinding device according to claim 7 , wherein the control device is determined based on at least one of the number of layers ground by the grinding wheel.

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