JP5025793B2 - Marking device for section cutting system - Google Patents

Description

  The present invention relates to a marking device for a section cutting system.

  In general, a shape steel is a reinforcing material used in structural reinforcement in the vertical and horizontal directions of a ship or in an upper part of an offshore plant.

  In order to arrange and fix such a reinforcing material to a ship structure in a desired form, a process of manufacturing a plurality of sections having various dimensions or types by cutting and welding a steel plate, the manufactured shape A step of bending and / or cutting the steel into a specified shape, a step of dividing the bent and / or cut shape steel according to the installation position and application, and the transfer and storage of the separated shape steel You have to go through a process.

  Since the shape steel used for ships must be attached to the curved hull, the shape cutting process marks the nonlinear curve on the surface of the shape steel and uses a bending machine to make the marking line of the curve a straight line. The method includes the steps of bending the shape steel using the cutting method and cutting the bent shape steel so as to meet the design value. Non-linear shape steel that requires such a shape steel cutting step accounts for about 20% of the entire shape steel.

  As shown in FIG. 1, in order to process a large amount of shape steel, in the shape steel cutting process, a bending line A1, various labels A2, and a frame line A3 are formed on the surface of the shape steel A using a conventional ink jet type printing apparatus. Mark etc.

  As shown in FIG. 2, the printing unit 20 is used for the shape steel cutting device. For example, the shape steel cutting device is for cutting the shape steel A, and is disclosed in Patent Document 1 registered by the applicant of the present application. In addition to the printing unit 20, the cross conveyor 1 and the feed The apparatus further includes a roller 2, a carrier unit 10, a cutting unit 30, and a control chamber 50 having a control circuit 40.

  Here, the cross conveyor 1 is configured to transfer the shaped steel A onto the feed roller 2, and the carrier unit 10 moves the transferred shaped steel A in the longitudinal direction of the shaped steel A to the cutting position. Configured to transport.

  The printing unit 20 performs a marking process through a plurality of marking procedures so as to form various printed displays including a bend line on the shape steel A, respectively.

  For this purpose, the printing unit 20 performs multi-axis movement like a multi-axis robot. Here, if the direction of multi-axis movement is defined, the feed direction of the section steel in which the section steel A moves by the feed roller 2 is defined as the X-axis direction, which is perpendicular to the X-axis direction and coincides with the width direction of the section steel A The direction to be performed is the Y-axis direction, and the direction perpendicular to the XY plane and coincident with the height direction of the cutting device is the Z-axis direction.

  However, the printing unit of the prior art shape steel cutting apparatus has to perform a relatively large number of marking procedures such as line printing operations (for example, bend lines, frame lines, etc.) and label printing operations, so the operation speed is low. It has the disadvantage of being very slow and inefficient.

  In addition, in view of the fact that the section cutting device of the prior art is arranged and transferred so that the bent portion is directed upward according to the shape or type of the section steel, printing is performed on the inclined surface of the section steel. However, since it must be configured to correspond to the printer head of the printing unit by using a separate complicated transfer mechanism for standing the shape steel vertically, the work efficiency is low, and the printing head of the printing unit Since the shape steel cannot be brought into close contact with each other, the accuracy of the marking and the printing quality are extremely deteriorated.

Korean Registered Patent No. 10-0633566 Specification Korean Patent Application No. 10-2007-0008683 Specification

  The present invention has been made in view of the above circumstances, and its object is to arrange a marking head assembly including a plurality of rows of inkjet heads in close proximity to a carrier unit according to the type of shape steel, thereby It is an object of the present invention to provide a marking device for a section cutting system that can perform marking with only one movement without requiring a plurality of marking procedures.

  In order to achieve the above object, according to one embodiment of the present invention, a marking device used in a section cutting system having a measuring robot and a conveyor unit, which corresponds to the shape of the section on the conveyor unit. A carrier unit that horizontally moves and rotates, and a marking head assembly that is attached to an end coupling block of the carrier unit and includes a plurality of inkjet heads and performs printing in the vicinity of the section steel.

  According to the present invention, a plurality of inkjet heads are provided by including a carrier unit and a marking head assembly that perform marking operations such as various lines and labels after moving and rotating so as to correspond to the shape of the shape steel. The marking process of the shape steel cutting system that performs the marking process at the same time and has a very high work speed and high work efficiency can be provided.

  Further, the marking device of the section cutting system according to the present invention can perform the primary rotation by the second actuator part or the secondary rotation by the third actuator part so as to correspond to the shape of the printing surface of the shape steel to be arranged and transferred. Marking work can be performed using only the invention to correspond to the shape of various types of shape steel, especially for marking in a state where the vertical guide roller and horizontal guide roller are driven in close contact with the shape steel There is an advantage that marking accuracy and printing quality are very high.

It is a perspective view which shows the shape steel marked by the printing unit of the prior art. It is a block diagram of the shape steel cutting device provided with the printing unit of the prior art. It is a front view showing one embodiment of a marking device of a section cutting system concerning the present invention. It is an exploded view for demonstrating the relationship between the components of embodiment shown in FIG. FIG. 5 is a plan view of the marking head assembly shown in FIG. 4. FIG. 6 is a front view of the marking head assembly shown in FIG. 5. It is a sectional side view along the BB line shown in FIG. FIG. 7 is a cross-sectional plan view taken along the line CC shown in FIG. 6. It is a front view for demonstrating the operation | movement relationship between the components of embodiment shown in FIG. It is a front view for demonstrating the operation | movement relationship between the components of embodiment shown in FIG. It is a front view for demonstrating the operation | movement relationship between the components of embodiment shown in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  3 is a front view showing an embodiment of the marking device of the section cutting system shown in FIG. 2 according to the present invention, and FIG. 4 is for explaining the relationship between the components of the embodiment shown in FIG. FIG. 5 is a plan view of the marking head assembly shown in FIG. 4, and FIG. 6 is a front view of the marking head assembly shown in FIG. 7 is a side sectional view taken along line BB shown in FIG. 6, FIG. 8 is a plan sectional view taken along line CC shown in FIG. 6, and FIGS. 11 is a front view for explaining the operational relationship between the components of the embodiment shown in FIG.

  As shown in FIG. 3, the marking device of the structural steel cutting system of the present invention is one of one or more components of the multiple structural steel cutting system shown in FIG. It is installed in the front position of the cutting unit.

  An example of a section cutting system is disclosed in, for example, Patent Document 2 filed by the present applicant, and includes a design system, an offline programming (OLP) system, a monitoring system, a section input unit, a robot controller, and Includes reporting system.

  Here, the robot controller is configured to organically link and control the measurement robot 80 including the robot arm 81, the conveyor unit 90 including at least the infeeder conveyor, and the printing unit.

  Hereinafter, prior to specific and detailed description, portions related to general techniques will be described.

  The measuring robot 80 receives the transmission of the section steel A in the order of the work process corresponding to the work of the feeder feeder.

  The section A is arranged so that a relatively short part faces the vertical conveyor roller 91 of the conveyor device 90, and a relatively long part (eg the printing surface) of the section steel A is inclined on the horizontal conveyor roller 92. As a result, the folded unit is moved by the conveyor unit 90 so that the folded portion faces upward.

  Such a shape steel A has several tens of standard dimensions depending on its purpose and application.

  On the other hand, the measuring robot 80 operates in response to a command from the robot controller.

  The measuring robot 80 uses the robot arm 81 to confirm the dimension of the shaped steel A that has received the transmission, confirms the position of the shaped steel A, transfers the shaped steel A to the working position of this embodiment P, and prints it. After performing the setting for, the section A is moved in the X-axis direction during printing related to the present embodiment P.

  The marking device of the present embodiment P is actuated in response to a command from the robot controller, and plays a role of simultaneously marking the bend line, the frame line, and the label on the surface of the shape steel A while interlocking with the measurement robot 80.

  In order to realize such a role, the marking device of the present embodiment P includes a carrier unit 100 that horizontally moves and rotates so as to correspond to the shape or type of the shape steel A, and an end coupling of the carrier unit 100. Like the first, second, and third inkjet heads, so as to print a plurality of lines and labels without a plurality of marking procedures after moving or rotating so as to be in close contact with the shape steel A attached to the block And a marking head assembly 200 having a plurality of rows of inkjet heads. Details of the marking head assembly 200 will be described later.

  Each ink jet head has a size that is large enough to make surface contact with the majority of the area of the large section steel A.

  First, the carrier unit 100 has a base frame 110 in which a plurality of shaft members are set up on a ground in parallel with each other and a cantilever beam is coupled to an upper portion thereof.

  Here, the base frame 110 is preferably installed on an installation surface in the vicinity of the measurement robot 80 with reference to the front position of the cutting unit of the section cutting system, and is preferably fixed to the installation surface so as to withstand the load.

  Due to the characteristics of inkjet printing, a hopper-type waste ink recovery unit 111 having a cock-like opening / closing valve is disposed below the marking head assembly 200 so as to recover ink discharged during maintenance and cleaning operations. It is preferable to be installed on the frame 110.

  With reference to FIG. 4, the relationship between the component of this Embodiment P is demonstrated.

  As shown in FIG. 4, the cantilever 112 of the base frame 110 has an upper portion of the section steel A (see FIG. 3) on which the marking head assembly 200 and other components for movement or rotation are to be marked. A first actuator portion 113 for horizontally moving to a position is installed along the extending direction of the cantilever 112.

  All the actuator units described later including the first actuator unit 113 are controlled by the above-described robot controller, and are known reciprocating devices (for example, electric motors, ball screws, etc.) due to factory automation characteristics. Of course, it can be designed as a linear device, a chain, a belt, a pulley, a permanent magnet type shaft and a shaft motor having a moving coil, a cable carrier, a hose and the like, which are configured so as to be able to reciprocate. It is.

  For example, the first actuator unit 113 includes a cylinder fixed to the cantilever 112, an operation arm 114 coupled so as to reciprocate inside the cylinder, and a linear installed on the upper surface of the cantilever 112. The rail 115 includes a plurality of linear blocks 116 that are slid along the linear rail 115.

  The movable frame 120 is mounted on the linear block 116.

  The movable frame 120 includes a horizontal beam 121 supported by the linear block 116, an upper beam 122 extending upward from the upper surface of the left end of the horizontal beam 121, and a left end of the horizontal beam 121. And a lower beam portion 123 extending downward from the lower surface.

  A side surface of the lower beam portion 123 is coupled to an end portion of the operating arm 114 of the first actuator portion 113 and transmits the reciprocating force of the first actuator portion 113 to the movable frame 120.

  In this case, the movable frame 120 can be moved by the linear block 116 and the linear rail 115 on the cantilever 112 of the base frame 110.

  Considering such points, the first actuator portion 113 plays a role of horizontally moving the marking head assembly 200 to the upper position of the shape steel.

  On the other hand, a hinge joint 124 is provided on a side surface of the upper beam portion 122.

  The intermediate part of the cylinder of the second actuator part 125 is hinged to the hinge joint 124.

  The second actuator part 125 plays a role of performing a primary tilt so as to correspond to the shape of the shape steel after the marking head assembly 200 horizontally moved to the upper position of the shape steel is primarily rotated.

  For this purpose, the operating arm 126 of the second actuator unit 125 is disposed so as to face the “y” -shaped link member 130, and is coupled to the upper joint 131 of the link member 130.

  The link member 130 includes a rotation center joint 132 on the left side and a connection joint 133 on the right side.

  The rotation center joint 132 of the link member 130 is rotatably coupled to a bearing block 127 formed at the end of the lower beam portion 123 of the movable frame 120.

  The reciprocating movement of the operating arm 126 of the second actuator unit 125 enables the connection joint 133 of the link member 130 to rotate with reference to the rotation center joint 132 and the bearing block 127.

  In addition, the end of the cylinder of the third actuator unit 140 is hinged to the vicinity of the upper joint 131 of the link member 130.

  The third actuator unit 140 plays a role of secondarily tilting the marking head assembly 200 that has been primarily tilted so that the marking head assembly 200 approaches the shape of the shape steel.

  For this purpose, the operating arm 141 of the third actuator unit 140 is disposed so as to face the door-shaped support frame 150, and the upper part of the support frame 150 is referenced to the upper right side from the connection joint installation hole 151. It is coupled to an eccentric knuckle joint 152.

  The support frame 150 can rotate together with the marking head assembly 200 and the hanger frame 160 with reference to the connection joint 133 coupled to the connection joint installation hole 151. The hanger frame 160 will be described later.

  A plurality of linear blocks 153 are installed on the support frame 150.

  A cylinder of the fourth actuator portion 154 is installed on the upper left side surface of the support frame 150.

  The operating arm 155 of the fourth actuator unit 154 is connected to the hanger frame 160.

  Here, since the linear block 153 of the support frame 150 is coupled to the linear rail 161 of the hanger frame 160, the hanger frame 160 can be moved by the operation of the operation arm 155 of the fourth actuator unit 154.

  The end coupling block 162 as described above is fixed to the hanger frame 160.

  Further, at least one vertical guide roller 163 that performs a rolling operation along a relatively short portion of the shape steel is further installed at the lower portion of the hanger frame 160, or more preferably at the lower left portion.

  Furthermore, a horizontal guide roller 158 and a cover 159 that perform a rolling operation along a relatively long portion of the shape steel are installed below the support frame 150.

  Further, it is preferable that a plurality of proximity sensors 157 and 169 for detecting the operation control state are further attached to the support frame 150 or the hanger frame 160.

  For example, the proximity sensor 169 installed on the hanger frame 160 plays a role of detecting the proximity state between the vertical guide roller 163 and the shape steel.

  Alternatively, a laser distance sensor (LDS) can serve as the vertical and horizontal guide rollers 163, 158. The LDS can measure the distance from the shape steel accurately and quickly without contacting the shape steel. According to the measured data, the support frame 150 and the hanger frame 160 can be controlled to be guided while maintaining a predetermined distance from the shape steel. At this time, in order to prevent the LDS from colliding with and damaging the shape steel due to an accident, a roller may be disposed in the vicinity of the shape steel in the vicinity of the LDS.

  Referring to FIGS. 5 and 6, the marking head assembly 200 has a hanger bracket 201 connected to the end coupling block 162 of FIG. 4 described above.

  The hanger bracket 201 is a structure having an inverted T-shaped cross section and corresponds to the base frame of the marking head assembly 200.

  The marking head assembly 200 includes a 1-dot type first and third inkjet heads 210 and 230, a first inkjet head 210, and a third inkjet head 230, which are arranged in a pair at the lower part on both sides of the hanger bracket 201. 80 dot type second inkjet head 220 disposed between the two.

  The first, second, and third inkjet heads 210, 220, and 230 perform marking while being individually moved with respect to the hanger bracket 201 by the respective linear modules.

  As an example of a linear module, the first and third inkjet heads 210 and 230 use known ball screw assemblies and linear guides operated by corresponding drive motors 211 and 231 shown in FIG. 7 are attached to the corresponding support members 212 and 232 of FIG. 7 and are moved through the support members 212 and 232 to mark various lines.

  Further, the second inkjet head 220 was also attached to the moving block of the ball screw assembly using a known ball screw assembly and linear guide directly connected to the corresponding drive motor 221 shown in FIG. 7 or FIG. A label or the like is marked while being mounted on the corresponding support member 222 of FIG. 7 and moving through the support member 222.

  Hereinafter, the operational relationship of the present invention will be described with reference to FIGS. 3, 4 and 9 to 11.

  First, as shown in FIG. 3, the measurement robot 80 operates in parallel with the conveyor unit 90 and sets the corresponding shape steel A at a start position where marking is started.

  Next, the carrier unit 100 is operated by the robot controller so that the marking head assembly 200 is horizontally moved and rotated so as to be in close contact with the relatively long portion of the section steel A.

  More specifically, the first actuator unit 113 shown in FIG. 4 advances the operating arm to horizontally move the movable frame 120 and all the components mounted thereon, and particularly, as shown in FIG. Thus, the marking head assembly 200 is positioned near the upper part of the section steel A.

  Referring to FIG. 9, the second actuator unit 125 also moves its operating arm downward.

  In this case, the link member 130 connected to the operating arm 126 of the second actuator unit 125 performs the primary rotation (T1) with respect to the rotation center joint 132 as shown in FIG.

  Referring to FIG. 10, the horizontal guide roller 158 adheres to a relatively long portion of the section steel A, but the vertical guide roller 163 may not adhere to a relatively short portion of the section steel A.

  In this case, after the fourth actuator portion 154 is actuated F, the corresponding proximity sensor 169 is used to stop, so that the entire hanger frame 160 supported by the support frame 150 moves and the vertical guide roller 163 is also shaped steel. 11 is in close contact with a relatively short portion of A. As shown in FIG.

  Of course, the third actuator 140 can be further operated depending on the type of the shape steel A so that the secondary rotation T2 is performed.

  In this state, the measuring robot pushes and moves the shape steel A on the conveyor unit 90 from the start position to the end position where marking is performed, and the horizontal guide roller 158 and the vertical guide roller 163 are moved during one step of the push and move. The first, second, and third ink jet heads of the marking head assembly 200 are operated at the same time while being in close contact with the section steel A, and marking operations such as various lines and labels are performed at one time. The member 130 and the marking head assembly 200 are rotated in the reverse direction to return to the standby position.

  Although the present invention has been described with reference to an embodiment shown in the drawings, this is only an example, and various modifications and equivalents will occur to those of ordinary skill in the art. It can be appreciated that other embodiments are possible. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the appended claims.

Claims (8)

A marking device used in a section cutting system having a measuring robot and a conveyor unit,
A carrier unit that horizontally moves and rotates so as to correspond to the shape of the steel on the conveyor unit;
Wherein mounted on the end coupling block of the carrier unit, seen including a marking head assembly having a plurality of inkjet heads for printing at a position close to the shaped steel,
The carrier unit is
A base frame installed in the vicinity of the measuring robot;
A movable frame horizontally movable with the base frame as a base;
A first actuator unit for operating the movable frame;
A second actuator part hinged to the upper part of the movable frame;
A link member coupled to the operating arm of the second actuator unit so as to rotate with reference to a rotation center joint hinged to the lower part of the movable frame;
A support frame coupled via a connection joint formed on the link member;
A fourth actuator part attached to the upper left side of the support frame;
And a hanger frame that is coupled to an operating arm of the fourth actuator unit to move horizontally with the support frame as a base and includes the end coupling block for mounting the marking head assembly. Marking device for section cutting system. The carrier unit is
The marking device of the structural steel cutting system according to claim 1 , further comprising a third actuator unit coupled between the link member and the support frame by using a knuckle joint of the support frame. The carrier unit is
The marking device of the section cutting system according to claim 1 , further comprising a horizontal guide roller that performs a rolling operation along a relatively long portion of the section steel at a lower portion of the support frame. The marking device of the section cutting system according to claim 3 , wherein the horizontal guide roller includes one or more laser type distance sensors (LDS). The carrier unit is
The marking device of the section cutting system according to claim 1 , further comprising at least one vertical guide roller that performs a rolling operation along a relatively short portion of the section steel at a lower portion of the hanger frame. 6. The marking device of a section cutting system according to claim 5 , wherein the vertical guide roller includes one or more laser distance sensors (LDS). The marking head assembly includes:
A hanger bracket coupled to the end coupling block;
The marking device of the structural steel cutting system according to claim 1, further comprising: a plurality of linear modules coupled to move the plurality of inkjet heads individually with the hanger bracket as a base. The plurality of inkjet heads are
A 1-dot type first inkjet head and a third inkjet head arranged in a pair at the lower part on both sides of the hanger bracket;
The marking device for a section cutting system according to claim 7, further comprising a multi-dot type second inkjet head disposed between the first inkjet head and the third inkjet head.

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