KR100903578B1 - Apparatus and method of protection against collision inside ink head - Google Patents

Abstract

The present invention includes a bumper installed in the ink head and a protection control module connected to a sensor unit which serves as a plurality of different parts, thereby physically and systematically securing the ink marking for the steel marking and the associated gantry type marking device in a plurality of stages. Provided are a collision protection device and a method of protecting an ink head.

The collision protection device of the ink head according to the present invention uses the control unit 200 of the marking device 90 to protect the ink head 91 installed at the end of the marking device 90 from collidable obstacles, the ink head A bumper 120 coupled to the ink head, a plurality of sensor units 130 and 140 installed in the bumper, and input from each sensor unit to perform a buffering action according to a collision with an obstacle approaching the 91 side. And a protection control module 110 connected to the control unit 200 to control on or off power of a servo driver connected to at least a motor of the marking apparatus 90 by using a detection signal.

Bumper, Protective Control Module, Sensor, Ink Head

Description

Ink head collision protection device and method {APPARATUS AND METHOD OF PROTECTION AGAINST COLLISION INSIDE INK HEAD}

The present invention relates to an apparatus and method for collision protection of an ink head.

Inkheads, also called printer heads or marking heads, are used to display or print characters on the surface of steel plates, plates, members, steel plates, steels, etc. for shipbuilding, and to perform printing operations. It is mounted and used in a gantry type marking apparatus for moving the ink head in multiple axes.

For example, the marking apparatus for ships marks pretreatment characters at high speed on large steels of several tens of meters, unlike printing using general ink jets or lasers on small products.

Typically, the marking device for ships has a marking speed synchronized with the speed of the roller conveyor, and exhibits a high speed inkjet nozzle performance with a dot spacing of 2 to 5 mm.

In addition, since the marking device for ships prints the text on the steel being transported or moved, it is necessary not only to guarantee print quality and speed corresponding to the steel conveying speed, but also to provide reliable marking performance over the entire region of the steel. desirable.

The gantry robot for marking according to the prior art is shown on the conveyor line in the steel 11 corresponding to the marking target entered by the roller 13 of the conveyor line in the pretreatment facility 30, as shown in FIG. The support stand 3 is provided in the upper part, and two gantry frame 9 and 9a are provided in the upper end.

The frame 9a of the sensing carriage 2 having the servomotor 12a mounted on one side thereof is installed in parallel with the roller 13 in a direction perpendicular to the traveling direction of the steel 11 and enters the lower end of the frame 9a. It has the detection sensors 4 and 4a and the width detection sensor 5. As shown in FIG.

In addition, the frame 9 of the marking robot 1 in which the other servomotor 12 is mounted on one side is installed while maintaining the horizontal range angle calculated in advance with respect to the traveling direction of the steel 11, It is installed to incline with respect to the axial direction.

The entrance monitoring sensor 14 is mounted at the lower end of the frame 9 of the marking robot 1, and the robot Z axis 16 is installed on the frame 9 to operate as a Z-axis servo motor.

As shown in the enlarged circle, in the tool assembly in which the collision detection sensor 6 is coupled, a plurality of print heads 10, a height detection sensor 8, a contact detection sensor 15, and the like are coupled to the tool bracket 7. .

Meanwhile, the sensing carriage control module 24 and the marking robot control module 23 control the sensing carriage 2 and the marking robot 1, and the system interlock control module 21 in the steel information management control module 20. Through the injection control module 22 to spray the ink according to the marking information.

This prior art marking gantry robot is designed to perform non-contact marking or printing on the steel 11 entering the arbitrary position by moving the head.

However, the conventional gantry robot for marking only includes a plurality of sensors or sensor modules for securing the robot movement, and does not include a safety device that can securely protect the print head, thus being exposed to a crash accident. to be.

That is, the printing head of the marking gantry robot of the prior art is expensive even though the marking work is performed in a state in which contact between the steel and the print head is made close such as 20 to 30 mm for non-contact marking. There is no safety device for the printer head.

As to why the safety device is needed, in order to mark without gaps on the steel, the print head must move at a high speed of about 4.5 m / min per minute in the extending direction of the marking robot's frame (e.g. X direction), At this time, since the steel is deformed due to its accumulation or impact between movements, and it is rare to form a bend on the steel surface rather than a perfect plane, the possibility of physical contact between the printhead and the steel cannot be excluded. You are exposed to the risk of an accident.

In particular, the conventional print head is equipped with a plurality of nozzles that are ultra-precise in order to maintain the resolution in the dot method, so it is a core equipment having a very expensive price even in the gantry robot for marking and used in the most dangerous operation environment. Therefore, it is urgent to prepare a countermeasure for securing its safety.

The present invention is to overcome the above-mentioned conventional problems, an object of the present invention is to include a bumper installed in the ink head, and a plurality of protection control module connected to the sensor unit to play a different role as a plurality, steel marking ink head and It is a technical task to provide an ink head collision protection device capable of physically and systemically protecting an associated gantry type marking device in multiple stages.

In addition, another object of the present invention is to prevent congestion of the associated mechanism connected to the motor and monitor the emergency stop situation in case the motor is not located at the position where the servo controller is commanded due to mechanical interference for some reason. It is an object of the present invention to provide a collision protection method of an ink head.

The above object is a collision protection device of an ink head using a control unit of a marking device to protect an ink head installed at an end of the marking device from colliding obstacles, and has a buffering effect due to a collision with an obstacle approaching the ink head. A bumper coupled to the ink head to perform; A plurality of sensor units installed in the bumper; And a protection control module connected to the control unit so as to turn on or off power of at least a servo driver connected to a motor of the marking apparatus by using a detection signal input from the sensor unit. Achieved by the device.

Another object of the present invention is to protect the ink head installed at the end of the marking apparatus from collidable obstacles, the control unit of the marking apparatus and the collision protection method of the ink head using a servo driver, a plurality of scattering laser type photosensor obstacles Recognizes that the ink head is moved up and down by moving the Z-axis feeder for raising and lowering the ink head provided in the marking apparatus, and avoiding the ink head from obstacles. The bumper installed in the ink head to buffer the physical impact with the obstacle, and monitor the error value of the motor in case the motor is not located at the position where the servo controller commanded. If it is larger than the predetermined reference value, the servo driver does not turn on the power itself and the error value is It is achieved by an inkhead collision protection method characterized in that the motor servo control is started only when the reference value is satisfied.

In the present invention, each proximity switch, which is a kind of sensor unit, is connected in a run chain manner to control the power supply of the servo driver.

In the present invention, the motor refers to a servo motor whose motor operation is controlled by a servo driver connected to the protection control module.

The collision protection apparatus of the ink head of the present invention has the advantage of protecting the ink head by reducing the physical impact amount by providing a plurality of bumpers on the outside of the ink head.

The collision protection device of the ink head of the present invention recognizes the obstacles approaching the ink head or the bumper as a plurality of scattering laser type photosensors, thereby elevating the ink head's lifting and lowering Z-axis transfer device, thereby avoiding the obstacles. When the Z-axis feeder responds slowly or when the obstacle is close in the area where the photo sensor does not recognize the obstacle, the obstacle is recognized as a plurality of mechanical proximity switches to turn off the servo driver. As the above-mentioned bumper spring and ball bush are used to alleviate the impact, there is an advantage that the physical and systemic protection can be secured in multiple stages.

The collision protection device of the inkhead of the present invention compares or monitors an error value and a predetermined reference value while monitoring the motor, and turns on to start the motor servo control only when the error value satisfies the reference value. By turning off the case, it is possible to prevent runaway of the apparatus and to prevent overload of the entire system.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings such that those skilled in the art may easily implement the present invention.

2 is a side view showing the arrangement of the collision protection device of the ink head according to an embodiment of the present invention, Figure 3 is a block for explaining the detailed configuration of the collision protection device of the ink head shown in FIG. It is also. In addition, Figure 4 is a circuit diagram of the proximity switch for the second sensor portion of the embodiment shown in Figure 3, Figure 5 is a perspective view of the inkhead before mounting of the embodiment shown in Figure 3, Figure 6 is the embodiment shown in Figure 3 ink A perspective view mounted on the head. 7 is a flowchart illustrating a feedback control method of the protection algorithm according to the embodiment shown in FIG. 3, and FIG. 8 is a flowchart illustrating a control method before starting the motor servo control of the protection algorithm according to the embodiment shown in FIG. 3. to be.

2 or 3, the second embodiment 100 includes a plurality of bumpers 120 mounted on the ink head 91, and a plurality of sensor units 130 and 140 installed on the bumpers 120. And the protection control module 110 connected to the control unit 200 of the marking apparatus 90 to protect the ink head 91 from possible collision with the steel material 11.

Here, the steel 11 means a steel plate, a steel plate, a plate, a member, abacus, a steel, etc. corresponding to the marking target in motion, but the steel 11 itself causes deformation due to its accumulation or impact between movements, the complete plane is In some cases, the bending is formed on the surface of the steel 11, and it is rarely changed into a kind of obstacle.

The bumper 120 serves as a means for cushioning the impact caused by the collision in preparation for collision with an obstacle such as the deteriorated steel 11.

The sensor units 130 and 140 correspond to the first sensor unit 130 and the second sensor unit 140, and may be configured as well-known switches or sensor elements.

The first sensor unit 130 and the second sensor unit 140 are installed based on the respective bumpers 120 to detect or recognize collidable obstacles coming from or approaching the ink head 91.

The first sensor unit 130 may be configured as a plurality of scattering laser type photosensors (for example, four).

The second sensor unit 140 may be configured as a proximity switch such as a plurality of mechanical limit switches (for example, four).

The ink head 91 is provided at the end of the marking device 90 such as a steel cutting system.

The control unit 200 of the marking device 90 operates the ink head 91 and the marking device 90 at the actual speed of the steel 11 obtained by directly contacting the compensation encoder with the steel 11. It is configured to control the general operation and determine the state of the motor by using a motor encoder (not shown) mounted on each motor.

In the present description, the meaning of the position of the motor means a rotational position of the motor shaft or an operating position moved by the motor during operation of the motor.

The marking device 90 performs accurate operation control compared to indirect recognition, and moves or moves the ink head 91 according to the actual speed of the steel 11 to label or output desired characters and the like on the steel 11 very precisely and accurately. can do.

The protection control module 110 is mounted as a module circuit in the control unit 200 of the marking apparatus 90 for operating the ink head 91 in the present embodiment 100, or a drive driver circuit inside the ink head 91. Can be mounted on.

The protection control module 110 is connected to the first sensor unit 130 and the second sensor unit 140 to receive the detection signal for the obstacle.

4 illustrates a circuit connection relationship between a plurality of proximity switches corresponding to the second sensor unit 140 of the protection control module 110.

Here, each of the proximity switches, which are the second sensor units 140, is connected in a run chain manner to control the power of the servo driver.

Here, the servo driver means a control means connected to the motor to participate in the operation of the motor installed and used throughout the section steel cutting system including the marking device or the conveyor system.

Meanwhile, the controller 200 of the marking apparatus 90 illustrated in FIG. 2 controls the ink head 91 to be multi-axially moved so as to perform the marking operation on the steel material 11. The operation method of the various protection algorithms of the protection control module 110 to be described through is programmed to take priority.

In addition, the control unit 200 of the marking device 90 is configured to interlock with a conveyor control panel (not shown) and a pre-treatment control panel (not shown) for controlling the overall function of the conveyor.

For example, when the start condition of the E-Stop process, which will be described below, is satisfied, the protection control module 110 may control a predetermined servo operation (for example, control the corresponding motor to raise or lower the ink head). To operate the steel Z-axis feeder to operate the ink head to avoid obstacles), or to perform a protection algorithm such as powering off the servo driver, and to connect with the control unit 200 of the marking device 90. This means that the associated interlocking signal is transmitted to the conveyor control panel or the preprocessing control panel so that each control panel can perform a corresponding stop situation-specific process.

Hereinafter, the configuration of the present embodiment 100 to prevent the steel 11 or other external obstacles from colliding with the ink head 91 or to mitigate the impact even if the steel 11 or other external obstacles are collided will be described with reference to FIGS. 5 and 6. do.

As shown in Fig. 5, the ink head 91 corresponds to a kind of marking head assembly, and has a hanger bracket like a basic frame of inverse T-shaped cross section for connection to a terminal connecting block of the marking apparatus.

The ink head 91 is provided with a plurality of inkjet nozzle assemblies based on the hanger bracket.

For example, a single dot type external ink jet nozzle assembly is installed at both bottom portions of the hanger bracket, and an internal ink jet nozzle assembly of 80 dots is interposed between the external ink jet nozzle assemblies.

It is preferable that a plurality of mounting holes 92 are formed in the outer casing of the outer inkjet nozzle assembly of the ink head 91 for mounting the bumper.

As illustrated in FIG. 6, a plurality of bumpers 120 are provided and fixed using the mounting holes 92 of the ink head 91.

Preferably in this embodiment 100, the bumper 120 is fixed and installed on both sides of the ink head 91 in pairs, respectively.

Bumper 120 is a plate-shaped protector 121 to protect the lower side or the corners of both sides of the ink head 91, and a plurality of springs to secure one end to the inner surface of the protector 121 to perform the primary buffering action And a spring support 123 connected to the other end of each spring 121 and coupled to move the ball bush therein according to the compression or release operation of the spring 122 to perform a secondary buffering action. Has

Each scattering laser type photoelectric sensor of the first sensor unit 130 identifies a presence or absence of an obstacle within a preset range and generates a detection signal.

The first sensor unit 130, which is a scattering type laser type photo sensor, is installed at one end and the other end of the protector 121 of the bumper 120.

The second sensor unit 140, which is a proximity switch, is installed at each spring support unit 123.

Each of the proximity switches corresponding to the second sensor unit 140 is for detecting an obstacle approaching through an area that is not recognized by the first sensor unit 130. The protector 121 is caused by collision or contact with the obstacle. When the spring is reversed toward the spring support 123 while compressing the spring 122, a detection signal corresponding to the presence or absence of the contact of the protector 121 is generated.

The contact signal of the second sensor unit 140 is the operating speed of the Z-axis feeder for raising and lowering the ink head 91 while avoiding the ink head 91 when the first sensor unit 130 recognizes an obstacle. Or when the reaction is slow, and similar or the same situation.

The detection signal of the first sensor unit 130 or the second sensor unit 140 is transmitted to the protection control module through a connection wire or a circuit.

Hereinafter, the software features corresponding to the protection algorithm of the protection control module will be described with reference to FIGS. 7 and 8.

As shown in FIG. 7, the protection control module is basically configured to enhance the conditions for Servo On in order to realize the protection algorithm in connection with the servo controller of the control unit of the marking apparatus.

Servo On means an input / output signal for controlling the motor servo control time.

In order to servo on under enhanced conditions, it is desirable to separately manage the control position and command feedback from the servo controller.

The control position (command) means the position that the servo controller wants to locate the motor on the servo controller side calculated by the calculation operation.

The encoder feedback information (Feedback) is the position information corresponding to the actual motor is located.

In software, the servo controller manages the control position, and the output to the servo driver is equal to the voltage equal to the error value obtained by subtracting the control position command from the encoder feedback information. A control method of a method of transmitting a corresponding command to the servo driver is formed or set in advance.

As shown in FIG. 8, the control method before starting the servo control of the motor, when the protection control module of the servo controller during the automatic operation receives the servo on signal according to the user's switch operation, immediately returns the servo driver. Compare or check and monitor the error value of the motor as above, if the error value is larger than the predetermined reference value, do not turn on the servo driver's power itself. Implement to start, and turn off the servo driver when the error value exceeds the threshold.

In this embodiment, the motor whose error value (Error) is to be monitored includes at least the motor of the Z-axis feeder for raising and lowering the ink head of the marking apparatus.

This is a software protection method that can prevent the runaway of related equipment connected to the motor and monitor the emergency stop situation in case the motor is not located in the position where the controller commanded due to mechanical interference for some reason. do.

Before one of the following E-stop processes, when one of the four laser-type photosensors recognizes an obstacle, the ink head can avoid the obstacle by controlling the motor of the Z-axis feeder to move up. Perform a predetermined servo operation.

E-stop processing method is to protect the ink head by finally turning off the power of the servo driver.

Looking at the start condition of the E-Stop process: ⓐ When one of the four proximity switches generates a detection signal, ⓑ When the above-mentioned error value exceeds the standard value during automatic operation, ⓒ For some reason, when the servo driver outputs a warning signal, the emergency stop button on the control panel is pressed.

When one of the start conditions of the E-Stop process occurs, the servo driver is powered off in hardware, and the warning lamp is activated.

Accordingly, the present invention provides a first stage protection for avoiding the ink head from obstacles by recognizing obstacles with the first sensor unit, which is a plurality of scattering type laser type photosensors, and raising and lowering the Z-axis feeder for raising and lowering the ink head. A second step of turning off the servo driver by recognizing contact or collision with an obstacle with a second sensor part which is two proximity switches, and a third step of buffering a physical shock by using a bumper protector, a spring and a ball bush The fourth step to prevent congestion of related equipment connected to the motor and to monitor the emergency stop situation in case the motor is not located at the position where the servo controller is commanded due to mechanical interference for some reason. Protection can be realized.

1 is a perspective view having an enlarged circle for a gantry robot for marking according to the prior art.

Figure 2 is a side view showing the arrangement of the collision protection device of the ink head according to an embodiment of the present invention.

FIG. 3 is a block diagram illustrating a detailed configuration of the collision protection device of the ink head shown in FIG. 2.

FIG. 4 is a circuit diagram of a proximity switch for a second sensor unit of the embodiment shown in FIG. 3.

5 is a perspective view of the inkhead before mounting of the embodiment shown in FIG.

FIG. 6 is a perspective view in which the embodiment shown in FIG. 3 is mounted on an ink head.

7 is a flowchart illustrating a feedback control method of a protection algorithm according to the embodiment shown in FIG. 3.

8 is a flowchart illustrating a control method before starting servo control of a protection algorithm according to the embodiment shown in FIG. 3.

                  <Explanation of symbols for the main parts of the drawings>

90: marking device 91: ink head

100 Example 110 Protective Control Module

120: bumper 130, 140: sensor

Claims (6)

In the collision protection device of the ink head using the control unit of the marking device to protect the ink head installed at the end of the marking device from colliding obstacles, A bumper coupled to the ink head to perform a buffering action due to a collision with an obstacle approaching the ink head; A plurality of sensor units installed in the bumper; A protection control module connected to the control unit so as to turn on or off power of at least a servo driver connected to a motor of the marking apparatus by using a detection signal input from the sensor unit; Including, The sensor unit A plurality of scattering laser type photosensors provided in the protector of the bumper or a plurality of proximity switches respectively provided in the spring support of the bumper, The proximity switch is connected in a run chain (run chain) method, the collision protection device of the ink head, characterized in that for controlling the power supply of the servo driver. The method of claim 1, The bumper A plate-shaped protector protecting the ink head; At least one spring fixed at one end to an inner surface of the protector; At least one spring support coupled to the other end of the spring and coupled to move the ball bush therein according to the compression or release operation of the spring; The collision protection device of the ink head, characterized in that it comprises. delete delete In the collision protection method of the ink head using the control unit and the servo driver of the marking device to protect the ink head installed at the end of the marking device from colliding obstacles, Recognizing an obstacle with a plurality of scattering type laser type photosensors, the Z-axis feeder for lowering and lowering the ink head provided in the marking apparatus is operated to avoid the ink head from the obstacle, Recognizing a contact or collision with a plurality of proximity switches to turn off the power of the servo driver, The bumper installed in the ink head buffers the physical impact with obstacles, In case the motor is not located at the position where the servo controller commanded, the error value of the motor is monitored. If the error value is larger than the predetermined reference value, the servo driver does not turn on itself and the error value is An ink head collision protection method comprising starting a servo control only when a reference value is satisfied. The method of claim 5, One of the four proximity switches generates a detection signal, the error value has exceeded the standard value during automatic operation, a warning signal is output from the servo driver, or the emergency stop button on the operation panel is pressed. And the power supply of the servo driver is turned off in response to a start condition of an E-stop process such as when it is turned off.

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