EP1723478A2 - Method and arrangement for working profile blanks - Google Patents
Method and arrangement for working profile blanksInfo
- Publication number
- EP1723478A2 EP1723478A2 EP05726954A EP05726954A EP1723478A2 EP 1723478 A2 EP1723478 A2 EP 1723478A2 EP 05726954 A EP05726954 A EP 05726954A EP 05726954 A EP05726954 A EP 05726954A EP 1723478 A2 EP1723478 A2 EP 1723478A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- finishing
- profile
- control system
- profile blank
- blank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003384 imaging method Methods 0.000 claims abstract description 14
- 238000005520 cutting process Methods 0.000 claims abstract description 10
- 238000000227 grinding Methods 0.000 claims abstract description 7
- 238000003801 milling Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 16
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 230000001627 detrimental effect Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000002946 Total quality control Methods 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012432 intermediate storage Methods 0.000 description 1
- 238000005555 metalworking Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/188—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding)
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37208—Vision, visual inspection of workpiece
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45058—Grinding, polishing robot
Definitions
- the present invention relates to a method according to the preamble of claim 1 and an arrangement according to the preamble of claim 11 for finishing a number of different pre-treated profile blanks, such as T-bars or the like at a finishing station provided with transport means for transporting profile blanks, positioning means for the profile blanks, imaging means, at least one finishing robot and a computer-based control system.
- a finishing station provided with transport means for transporting profile blanks, positioning means for the profile blanks, imaging means, at least one finishing robot and a computer-based control system.
- T-profile bars or the like are used especially in the hull structures of ships, the bars being different in size and being provided during pre-treatment with various lead-throughs for pipings and cables, lightening holes or yield cuts for installing stiffening bars to be installed across each other.
- the T-profile bars to be finished form a part of the steel or aluminium structure of the deck of a ship or other marine vehicle or marine-technical apparatus or a bridge. During the finishing of such bars, for example, the sharp edges of holes are milled and ground and the ends are cut to predetermined length, which in the manufacturing of a ship is the most time-consuming, monotonous, heavy and unergonomic work phase.
- the present invention aims to eliminate the setbacks of the known handcraft- intensive methods especially producing various profile blanks in shipbuilding and more specially their finishing and to produce a new type of solution, by means of which the amount of manual labour can be minimised and thereby to essentially increase both the production volume and the quality of work. More specifically the invention aims to produce a method of working especially T-profile blanks, but also profile blanks of other cross-section in their finishing stage, wherein the profile blanks can be actively acted on during the whole working process. The aim is that a detection of the special features of the different profile blanks introduced one after the other to the finishing station and defining of the operations necessary in each case on the basis of the detection can be arranged as automatically as possible.
- each profile blank is introduced to the finishing station by means of transport means and positioned to a certain preknown position
- control system controls the finishing robot to accomplish one or more of the following operations: milling, grinding and/or cutting the profile blank, or the profile blank is moved directly to the next step,
- the source information of the programming is the piece positioned in the finishing station, i.e. a pre-worked profile blank and its imaging and measurement for detection and classification, whereby, among others, the deviation of part manufacturing accuracy from the theoretical is not detrimental.
- the amount of manual labour can be reduced to a fraction of that of known methods and simultaneously the quality and safety levels of the production can essentially be increased and pass-through times improved.
- automating the heavy, dusty and unpleasant grinding and cutting work is possible by using robotics based on machine vision programming and control.
- the invention can in addition to T-bars be applied to other types of profile blanks, such as H-, L- and I-bars and the material of the piece to be worked can be steel or other cor- responding material, especially used in shipbuilding.
- the position of the profile blank when positioning it on the station can vary depending on the shape of the profile blank, but in the case of, for example, a T-bar the profile blank is preferably upright with the stiffening part upwards.
- the field of view is illuminated for imaging so that the lighting conditions are as constant as possible so that the holes, dimensions and location of the profile blank are suitably visible.
- the height, width and thickness, among others, of various portions of the profile blank can be considered its essential dimensions.
- one or more cameras can be used for photographing depending on the total arrangement and they are arranged in the surrounding structure. This also applies to the amount of finishing robots, whereby different working operations can be carried out as necessary by means of various robots.
- finishing station must be understood broadly, it can comprise a whole finishing track, along which both the profile blank or profile blanks to be worked continuously advance so that their precise location is continuously known.
- both the camera and robot means can be synchronised to correspondingly move along the track.
- the use of the method can be made more effective by defining the objects to be measured related to the said taught forms in more detail on the basis of the classification of the profile blanks, whereby the data from the detailed measurements are compared with the conditions related to the taught forms. Then, when setting the suitable conditions, deviations, which could damage the tools during working or which are caused by the insufficient accuracy of the work steps prior to finishing or which are based on totally new ideas related to form, for example, can be taken into consideration. These deviations can preferably be used for further development of the control system and improving the total quality control.
- control system creates the data and transmits them to the individual positioning points of the operation places and/or the carrying out of the whole operation schedule for controlling the finishing robot for executing the programs accomplishing the various finishing operations.
- control system guides the profile blank to move into the next step without any actions by the finishing robot.
- the taught form is a rectangular opening, its length and breadth are measured, and if the taught opening is a so-called bulb opening, the location of its corner points are measured.
- the exact positioning information of the profile blank is defined by means of, e.g. a laser rangefinder permanently fixed in connection with the finishing robot.
- the invention also relates to an arrangement for finishing a number of different pre- treated profile blanks, such as T-bars or the like, at a finishing station provided with conveyor means for transporting profile blanks, means for positioning the profile blanks, imaging means, at least one finishing robot and a computer-based control system.
- each profile blank is arranged to be introduced into the finishing station by means of the conveyor means and to be positioned at a preknown position.
- a selected field of view is arranged to be photographed by means of the imaging system and the basic form and essential measurements of the profile blank are arranged to be detected from the picture as well certain forms, deviating from a regular profile blank, especially lead-through openings, lightening holes and yield cuts, taught to the control system are arranged to be searched and identified, on the basis of which a classification of the profile blank is arranged to be accomplished, the control system being arranged to define further operations to be performed in each case on the basis of the classification.
- the control system is arranged to control the finishing robot to accomplish one or more of the following operations: milling, grinding and/or cutting a profile blank or the profile blank is arranged to be moved directly to the next step. Subsequent to this the profile blank is arranged to be moved one field of view forward in the finishing station.
- D figure 1 illustrates an operation diagram of the various steps of the method according to the invention
- D figure 2 illustrates some basic forms of the openings to be taught to the control system beforehand and measurement points relating to them
- D figure 3 schematically illustrates an arrangement according to the invention for finishing the profile blanks.
- the method is applied in the following way. Subsequent to the profile blank 2 being provided with various lead- through openings, lightening holes and/or yield cuts, it is transferred in step A to the finishing station 1 by means of transport means 3 and positioned in longitudinal and transverse direction in a way known as such.
- the transverse positioning can preferably be accomplished by means of press roll pairs (not shown).
- the work area is photographed on its selected field of view 7 in step B by means of a camera 6 belonging to the imaging system, the camera being supported, if necessary, by the structures (not shown in detail) at a suitable distance from the profile blank, so that no detrimental picture distortions are formed.
- classification of the profile blank is accomplished, whereby the position of the end of the profile blank 2, various holes 2a at the web of the profile blank, such as the said yield cut, lightening hole, lead-through as well as the cutting of the profile blank, the position of the profile blank and/or the markings of the identification data and cutting marks are detected at the finishing station 1.
- control system can comprise a rather centralised data input, analysis and control, but it can as well be accomplished in a rather decentralized way as a part of the actual imaging system and/or especially the control of the finishing robot, based on the capabilities of the processor and control means related to the selected means.
- finishing robot 4 could, as consequence of step F, in principle start the milling operations by carrying out, for example, the cutting of the end of the profile, then the form holes cut or milled in the points marked in the profile and, finally, grinding of the ends and the holes.
- the use of the method can, however, be made more effective by defining the objects, related to the forms taught beforehand to the control system, to be measured and accomplishing their measuring in closer detail in step D on the basis of the classification of the profile blank 2 carried out in step C, whereby the information received from the detailed measurements is compared to the set conditions related to the forms taught in step E.
- suitable conditions makes it possible to attempt to beforehand eliminate working operations that could damage the tools during working. Deviations can also be an indication of excessive form deviations caused by previous working steps or they can be due to totally new applications relating to form. Such deviations can preferably be used for further developing the control system and the quality of the whole manufacturing process.
- control system accomplishes and transmits in step F data about each positioning point of the operation points and/or carrying out the whole operation program for executing the programs carrying out the various finishing operations for the control of the finishing robot 4. If, on the other hand, taught identifiable forms are not found, or if the measurement data deviate from the comparison data fed into the control system in a predetermined way, the control system guides the profile blank to move to the next step without any operations by the finishing robot 4.
- the profile blank is moved one field of view forward in the finishing station 1, until the whole profile blank is photographed and worked on. Additionally, the profile blank has been provided with markings even before the finishing station for cutting it into the desired dimensions. Subsequent to this, the profile blank is transferred by means of transport means 3 away from the finishing station to an intermediate storage or the like.
- Figure 2 shows some basic forms occurring in the profile blanks and taught to the control system beforehand as well as their measurement points, which are marked with a circled cross.
- Figure 2a shows a so-called bulb opening, from which the location of comer points is measured.
- the diameter is measured from a circular opening according to figure 2b.
- the dimensions, i.e. length and width are measured from a rectangular opening shown in figure 2c.
- Figure 2d shows an oval or the like opening, from which curve radii and/or positions of the origos of the corner points are measured.
- Oval is to be understood broadly, especially in forms used in the stiffeners used in shipbuilding, including for example rectangles with corners rounded in various ways shown in figure 2d.
- the minimum/maximum for radiuscurvature, the smallest diameter to be worked can be input as comparison data for the measurement points.
- reference number 8 refers to a tool stock, from which the finishing robot 4 picks up various tools for carrying out various finishing operations.
- the precise position data can be defined, for example, by means of a laser rangefinder (not shown) supported to the support frame 5 of the finishing robot 4 depending on the distance of the precise measurement range of the sensors of the laser rangefinders.
- a laser rangefinder (not shown) supported to the support frame 5 of the finishing robot 4 depending on the distance of the precise measurement range of the sensors of the laser rangefinders.
- the arrangement according to the invention photographs the profile blank entering the work area, detects its openings and outlines, analyses and compares the picture data to the criteria provided previously, forming the necessary operation programs automatically and continuously on the basis of rules defined from the locations of the work points.
- CAD or other geometric data is not needed as input data, and the operations carried out on the basis of detections can be totally prearranged or they might need some clarifying data. In case the data are needed, they can be input either via the operating system or they can be read from an accompanying memory following the profile with, for example, a bar code.
- the most simple and least expensive embodiment is detection with one camera together with a laser rangefinder, the rangefinder determining the exact location of the profile blank to the control system.
- Laser measurement is needed as long as considerable form deviations can be caused by the welding work of previous work steps.
- the field of view corresponding to the work area is about 1 metre in the longitudinal direction.
- the finishing of the profile blanks can naturally be made more effective, similar to arranging the said means to move simultaneously with the profile blank.
- the price of such systems is correspondingly of a different order of magnitude.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20045073A FI117086B (en) | 2004-03-12 | 2004-03-12 | Method and arrangement for machining profile blanks |
PCT/FI2005/050064 WO2005088414A2 (en) | 2004-03-12 | 2005-03-04 | Method and arrangement for working profile blanks |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1723478A2 true EP1723478A2 (en) | 2006-11-22 |
Family
ID=32039501
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05726954A Ceased EP1723478A2 (en) | 2004-03-12 | 2005-03-04 | Method and arrangement for working profile blanks |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1723478A2 (en) |
KR (1) | KR20060125906A (en) |
CN (1) | CN100465836C (en) |
FI (1) | FI117086B (en) |
WO (1) | WO2005088414A2 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101814409B (en) * | 2010-04-01 | 2012-12-26 | 广东威特真空电子制造有限公司 | Method for manufacturing integrative magnetron anode |
CN102615378B (en) * | 2012-02-21 | 2014-04-02 | 南车长江车辆有限公司 | Profile steel fish-belly cutting process method |
CN102825605B (en) * | 2012-09-13 | 2015-02-18 | 昆山市工业技术研究院有限责任公司 | Material delivering robot with visual detecting function |
JP7353757B2 (en) * | 2015-07-13 | 2023-10-02 | レニショウ パブリック リミテッド カンパニー | Methods for measuring artifacts |
CN107481239A (en) * | 2017-09-30 | 2017-12-15 | 中国铁建重工集团有限公司 | A kind of track curvature detection means and method |
CN109454501A (en) * | 2018-10-19 | 2019-03-12 | 江苏智测计量技术有限公司 | A kind of lathe on-line monitoring system |
CN111583206B (en) * | 2020-04-28 | 2023-05-12 | 华中科技大学 | Intelligent grinding and detecting method for robot, terminal equipment and storage medium |
CL2021003554A1 (en) * | 2021-12-29 | 2023-08-04 | Univ Tecnica Federico Santa Maria Utfsm | Woodworking tool for collaborative human-robot stereotomy; and method of operation. |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998007023A1 (en) * | 1996-08-12 | 1998-02-19 | Centre De Recherche Industrielle Du Quebec | Apparatus and method for detecting surface defects |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1319513C (en) * | 1989-01-11 | 1993-06-29 | Darwin H. Isdahl | Apparatus and method for measuring and maintaining the profile of a railroad track rail |
FI955274A (en) * | 1995-11-03 | 1997-05-04 | Robotic Technology Systems Fin | Machining cell and method for machining a part |
CN2410847Y (en) * | 2000-01-26 | 2000-12-13 | 和椿事业股份有限公司 | Automatic cutter for printed circuit board |
-
2004
- 2004-03-12 FI FI20045073A patent/FI117086B/en active IP Right Grant
-
2005
- 2005-03-04 KR KR1020067019286A patent/KR20060125906A/en not_active Application Discontinuation
- 2005-03-04 WO PCT/FI2005/050064 patent/WO2005088414A2/en active Application Filing
- 2005-03-04 EP EP05726954A patent/EP1723478A2/en not_active Ceased
- 2005-03-04 CN CNB2005800078772A patent/CN100465836C/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998007023A1 (en) * | 1996-08-12 | 1998-02-19 | Centre De Recherche Industrielle Du Quebec | Apparatus and method for detecting surface defects |
Also Published As
Publication number | Publication date |
---|---|
FI20045073A (en) | 2005-09-13 |
FI117086B (en) | 2006-06-15 |
WO2005088414A2 (en) | 2005-09-22 |
FI20045073A0 (en) | 2004-03-12 |
CN100465836C (en) | 2009-03-04 |
WO2005088414A3 (en) | 2006-03-23 |
CN1930538A (en) | 2007-03-14 |
KR20060125906A (en) | 2006-12-06 |
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