KR101487397B1 - Curved steel plate cutting system - Google Patents

Abstract

A curtain automatic cutting system is disclosed. According to an aspect of the present invention, there is provided a CAD / CAM system for evaluating the completeness of a curved plate by comparing input design data with measurement data of a measured actual curved plate and calculating a marking line for cutting the curved plate through design data and measurement data part; A monitoring unit having a user interface for receiving design data and various control commands, and monitoring a work process and a situation; A cutting portion including a cutting torch to cut the bend; A measuring unit for measuring the three-dimensional curved shape of the curved plate and providing measurement data to the CAD / CAM unit; And a marking unit that receives a marking line from the CAD / CAM unit and displays a marking line on the bending plate.

Description

{CURVED STEEL PLATE CUTTING SYSTEM}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cutting system for a curved plate, and more particularly, to a curved plate automatic cutting system capable of automatically cutting a curved plate used for manufacturing a ship, a block, and the like.

In general, ships are formed into various types of three-dimensional curved surfaces in order to minimize resistance due to seawater flow during navigation. The curved surface of such a ship is manufactured by welding a plurality of curved plates together by welding. Such a curved plate is manufactured by deforming a flat steel plate having a predetermined thickness into a desired shape by hot / cold working. More specifically, the curved plate constituting the outer shell of the hull is formed by a cold working process in which a curvature is mechanically formed by using a press or a roller, and a cold working process in which a primary curved steel plate is subjected to a three- And it is manufactured through a hot working process of processing into a curved shape. In this case, the cold forming process, which is a primary curving process, is effective for forming a relatively smooth or simple curved surface, but since there is a limit to making a three-dimensional curved shape, in most cases, The curved plate of the required shape is completed.

However, in the case of a large structure such as a ship, the number of curved plates for constructing the outer shell of the hull is also very large, and it is difficult to objectively evaluate the working time and the completeness of the hot working of the manual type. Method has a problem that not only a lot of working time is required but also a working efficiency is remarkably low. In order to solve such a problem, the applicant of the present invention has been able to automate the hot working process for the production of the curved plate through a steel plate curving device such as Patent Document 1 (Laid-open Patent Publication No. 10-2010-0037483) I have tried to improve it.

Published Patent Application No. 10-2010-0037483 (published on April 09, 2010)

Embodiments of the present invention provide an automatic cutting system for a curved plate capable of automating the cutting operation of the curved plate.

According to an aspect of the present invention, a marking line for cutting the curved plate is calculated through the design data and the measurement data by comparing the inputted design data with the measured data of the actual curved plate by evaluating the completeness of the curved plate CAD / CAM department; A monitoring unit having a user interface for receiving the design data and various control commands, and monitoring a work process and a situation; A cutting portion including a cutting torch to cut the curved plate; A measuring unit measuring the three-dimensional curved shape of the curved plate and providing the measured data to the CAD / CAM unit; And a marking unit for receiving the marking line from the CAD / CAM unit and displaying the marking line on the curved plate.

The automatic cutting system according to the embodiments of the present invention can automate a series of work processes for cutting a curved plate in accordance with a design shape after curving a curved plate and can be combined with a curving processing automation system and the like as needed, You can automate the entire machining process from machining to cutting. Therefore, the automatic cutting system according to the embodiments of the present invention can quickly and effectively perform the processing of a curved plate necessary for manufacturing a ship, a block, etc., and can improve work efficiency and reduce manufacturing costs Effect can be achieved.

In addition, the automatic cutting system according to the embodiments of the present invention changes a posture or a cutting position of a cutting torch according to the position and shape of a curved plate, and forms a corner loop at a corner or a corner, It is possible to prevent deterioration of cutting quality while improving efficiency, and it is possible to cut a high quality curved plate.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a bending machine automatic cutting system according to an embodiment of the present invention; FIG.
2 is a schematic view of a cutout according to an embodiment of the present invention.
Fig. 3 is a schematic view showing a cutting posture of a cutting torch according to an embodiment of the present invention.
4 is a schematic view showing a corner loop cutting operation of a cutting torch according to an embodiment of the present invention.
5 is an operational flowchart of an automatic cutting system for a curtain sheet according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It is to be understood, however, that the following examples are provided to facilitate understanding of the present invention, and the scope of the present invention is not limited to the following examples. In addition, the following embodiments are provided to explain the present invention more fully to those skilled in the art. Those skilled in the art will appreciate that those skilled in the art, Will be omitted.

FIG. 1 is a configuration diagram of an automatic cutting system 100 according to an embodiment of the present invention.

The automatic bending apparatus 100 according to the present embodiment is for automating a series of operations for cutting a steel plate (hereinafter referred to as "bending plate") that has been curved in a three-dimensional curved surface by hot working or the like , A flat steel plate (hereinafter referred to as a " flat plate ") can be used to automate a series of curving operations including cutting operations in conjunction with a curving machining system for curving a curved plate. A system for automatically processing a flat plate into a designed curved plate has been known through a patent application No. 10-2010-0037483 filed by the applicant of the present invention, and a detailed description thereof will be omitted.

1, the automatic cutting system 100 according to the present embodiment includes a CAD / CAM unit 110, a monitoring unit 120, a control unit 130, a cutting unit 140, a measuring unit 150, (160) and a dust collecting part (170). Hereinafter, each of the above configurations will be described in more detail.

The CAD / CAM unit 110 can receive the design surface data from the user. The CAD / CAM unit 110 can evaluate the completeness of the actual curved plate through the design curved surface data. Further, the CAD / CAM unit 110 compares the input design surface data with the measurement data of the actual curved surface. At this time, the measurement data may be measured by the measuring unit 150 to be described later and provided to the CAD / CAM unit 110. The CAD / CAM unit 110 calculates the matching degree between the design surface data provided by the user and the measurement data of the actual blanket measured by the measuring unit 150, and evaluates the completeness of the bending process according to the matching degree of the blanket do. If necessary, correction machining or the like for calibrating the curved plate before the cutting operation can be performed when the evaluated finished degree is less than the predetermined reference value.

In addition, the CAD / CAM unit 110 can calculate a marking line for cutting the blanket. The marking line calculation may be performed by the CAD / CAM unit 110 when the completeness of the curved plate is equal to or greater than a set reference value, and the marking line may be provided from the design curved surface data input by the user. Further, the calculated marking line is provided to the marking unit 160, which will be described later, and the marking operation is performed on the actual curved plate by the marking unit 160.

Meanwhile, the marking lines calculated by the CAD / CAM unit 110 may include marking lines for the upper and lower surfaces of the curved plate (see FIG. 3). This is because, in the case of a curved plate, the cutting torch 143 has to selectively cut the upper surface or the lower surface depending on the position, shape, etc., and the cutting torch 143 will be further described with respect to this.

The monitoring unit 120 monitors the overall work process and the status of the automatic cutting system 100 and also includes a user interface that allows a user to input design surface data and the like or input control commands to the controller 130 and the like to be described later .

More specifically, the monitoring unit 120 may include an input unit or a user interface for receiving data or control commands from a user. The user can input a work instruction such as an automatic / semi-automatic work instruction, an operation preparation, a seal member measurement, a maturity evaluation, cutting, an automatic / semi-automatic work instruction for each process, Or a control command.

In addition, the monitoring unit 120 provides the user with the overall operation process and the status of the operation so that the user can grasp the entire operation status and the operation level. For example, the monitoring unit 120 may output a list of work items or work schedules in the form of prints and provide them to the user, and may display the identification information of the work members, the current job position, . In addition, the monitoring unit 120 can visually display the current operation state (work preparation, work, work site, error occurrence, etc.) for each process and inform the user of the current operation state. Further, Automatic recovery at the time of occurrence, or a measure method can be displayed. In addition, the monitoring unit 120 may display the job results to the user through a maturity evaluation, a camera image, or the like when each job step is completed or the entire cutting job is completed.

The control unit 130 performs control commands such as measurement, cutting, and movement input through the monitoring unit 120 and controls the cutting unit 140, the measuring unit 150, the marking unit 160, do

On the other hand, the cutting portion 140 has a cutting torch and cuts the curved plate along the marking line. The marking line is calculated by the CAD / CAM unit 110 through the design curved surface data, and the marking line is drawn by the marking The cutting unit 140 is marked on the curved plate before the cutting operation.

2 is a schematic view of a cutout according to an embodiment of the present invention.

2, the cutting unit 140 may include a gantry 141, a articulated robot 142 mounted on the gantry 141, and a cutting torch 143 for performing a cutting operation.

The gantry 141 can be formed to be movable in the x, y, and y axes to support the articulated robot 142 and the cutting torch 143 and to allow the cutting torch 143 to move along the marking line. Not only the cutting torch 143 but also the measuring unit 150 and the marking unit 160 are mounted together on the articulated robot 142. The gantry 141 is also used for repeatedly transporting a heavy object, It is preferable to design the anti-sag preventing structure. While the cutting torch 143, the marking unit 160, the measuring unit 150 and the like perform cutting, marking, and measurement operations, the gantry 141 is repeatedly reciprocated, and the gantry 141 ) Can be formed through the rack-pinion structure with excellent repeatability. In addition, in order to improve accuracy and minimize backlash in the case of cutting, measuring, and marking operations, a reduction gear in the gantry 141 may be formed of a harmonic drive.

The articulated robot 142 carries out a cutting operation while mounting and moving the cutting torch 143. The articulated robot 142 has a multi-degree of freedom (multi-degree of freedom ). For example, the articulated robot 142 may have a degree of freedom of 5 degrees or more, and may be rotatable around three axes (roll, pitch, yaw) or more. The articulated robot 142 may be mounted not only with the cutting torch 143 but also with a measuring unit 150 and a marking unit 160 to be described later. The measuring operation by the measuring unit 150 and the marking operation by the marking unit 160 are performed simultaneously.

The cutting torch 143 can be mounted to the articulated robot 142 and is moved along the marking line marked on the bending plate to cut the bending plate. The cutting torch 143 may be formed of a plasma torch, and may be formed of a gas torch if necessary in the case where the thickness of the curved plate is thick (that is, in the case of a thick plate). However, the cutting torch 143 is not limited to the plasma torch or the gas torch. In addition, the cutting torch 143 may have a torch holder detachable through a magnetic force. The magnetically detachable torch holder as described above has an advantage that it is easy to replace or check the cutting torch 143.

On the other hand, when a general flat plate is cut, a cutting torch is usually cut on the upper surface of the flat plate. However, in the case of a curved plate having a three-dimensional curved surface shape, My attitude can be different.

Fig. 3 is a schematic view showing a cutting posture of a cutting torch according to an embodiment of the present invention.

3 (a) schematically shows a marking line calculated by the CAD / CAM unit 110 and the marking unit 160 according to the present embodiment. In general, when a flat plate is cut, The marking line is required to be calculated and displayed on the upper surface only. However, in the case of the curved plate, the cutting torch 143 may perform the cutting operation on the upper surface or the lower surface as necessary. And displayed.

Further, as shown in FIG. 3 (b), the cutting torch 143 performs a cutting operation on the upper surface or the lower surface of the curved plate. For example, when the curvature of the curved plate is greater than a preset reference value, or when the distance between the curved plate and the bottom surface is equal to or greater than a preset reference value, the cutting torch 143 can perform cutting processing on the lower surface of the curved plate, The curved plate can be cut along the marking line. The cutting attitude at the upper surface or the lower surface of the cutting torch 143 may be determined in consideration of the improvement angle of the curved plate. That is, when the angle of improvement of the cut end of the curved plate is equal to or larger than a preset reference value, the cutting torch 143 can perform cutting processing on the upper or lower surface of the curved plate.

In addition, the posture of the cutting torch 143 can be continuously changed according to the cutting angle with the curved plate. That is, in the case of a general flat plate cutting, the cutting angle of the cutting torch can be kept the same from the cutting start point to the ending point in the same posture, but in the case of cutting the curved plate, Change. For example, assuming that the cutting torch 143 is moved from the point S1 to the point S2 in FIG. 3 and cutting is performed, the cutting torch 143 is moved by the curvature of the curved plate and the cutting angle gradually changes. Therefore, the cutting torch 143 according to the present embodiment can be moved along the curved plate, and the posture of the cutting torch 143 can be continuously changed so that the cutting angle is within a predetermined angle range. This can be realized by the posture change of the articulated robot 142 equipped with the cutting torch 143 and the drive control by the controller 130.

On the other hand, when the corners of the curved plate or the corner portions of the marking lines are cut, temporary cutting of the cutting operation may occur, thereby deteriorating the cutting quality. That is, when the cutting torch 143 passes the corner portion of the marking line, the cutting torch 143 is temporarily stopped and changed in direction at the corner, so that the cutting quality of the corner portion may be deteriorated.

4 is a schematic view showing a corner loop cutting operation of a cutting torch according to an embodiment of the present invention.

Referring to FIG. 4, the cutting torch 143 according to the present embodiment has a movement path for forming a corner loop L at a corner portion of a curved plate or a corner portion of a marking line, thereby minimizing the cutting-off phenomenon as described above . That is, the cutting torch 143 is not stopped at the corner or corner portion, but can be turned to form the corner loop L, thereby enabling continuous cutting operation. In this case, it is preferable that the corner loop L is formed on the outside of the marking line for cutting the curved plate. Although the shape of the triangle is illustrated in FIG. 4, the corner loop L can be formed in various shapes, Of course.

On the other hand, an automatic height adjusting device or the like may be applied to the cutting torch 143 as necessary. Such an automatic height adjusting device minimizes the height error of the cutting torch 143 due to errors in measurement, modeling, and robot.

Referring to FIG. 1 again, the measuring unit 150 is for measuring a curved plate to be cut. An arbitrary three-dimensional curved surface shape is automatically measured. The measured measurement data is transmitted to the CAD / CAM unit 110, To be used for the evaluation of the completeness of the blanket and the calculation of the marking line. The measuring unit 150 can be mounted on the articulated robot 142 together with the cutting torch 143 and can be moved and measured. If necessary, the measurement operation can be repeated a plurality of times in order to increase the measurement accuracy. For example, the measuring unit 150 may repeat the measurement operation step by step in order of 1, 2, or more, thereby improving the measurement accuracy.

The dust collecting part 170 collects harmful dust or dust generated during cutting of the curved plate by the cutting torch 143. The dust collection unit 170 may be provided as a separate facility such as the articulated robot 142 on which the cutting torch 143 is mounted or the gantry 141 on which the articulated robot 142 is mounted. Alternatively, the dust collecting unit 170 may be provided on a work table or the like for supporting the curved plate, and may remove harmful gas generated when the curved plate is cut. The dust collecting unit 170 removes harmful substances from the workplace, thereby improving the working environment.

The marking unit 160 receives the marking line calculated by the CAD / CAM unit 110 and displays a marking line for the cutting operation on the bending plate. The marking unit 160 may be mounted on the articulated robot 142 or the like to perform movement and marking operations, and may be formed in various types such as an inkjet or a powder type. In addition, the marking unit 160 can display a marking line on the upper and lower surfaces of the curved plate, and marking lines in the form of a corner loop L can be displayed at corners, corner portions, etc. ).

5 is an operational flowchart of an automatic cutting system for a curtain sheet according to an embodiment of the present invention.

Referring to FIG. 5, the operation of the automatic cutting system 100 according to the present embodiment will be described. First, a workpiece to be cut is selected. The selection of the work members can be input from the user through the user interface of the monitoring unit 120. [ Next, when the work member is selected, design data is input. The design data may be input through the monitoring unit 120, and the input design data may be provided to the CAD / CAM unit 110 for the completeness evaluation, marking line calculation, and the like.

On the other hand, when the design data is input, the measuring unit 150 can perform the measuring operation of the curved plate. The measurement unit 150 can be mounted on the articulated robot 142 or the like and can be moved in the x, y, and z axes by the gantry 141. If necessary, the measurement operation is repeated a plurality of times to increase the measurement accuracy. The measurement data of the actual curved plate measured by the measuring unit 150 is provided to the CAD / CAM unit 110 and is compared with the design data input from the user.

After the measurement operation, the completion of the bending plate is evaluated. The completeness evaluation can be performed through the CAD / CAM unit 110. The input design data is compared with the measured actual design data of the curved plate to judge whether or not the curved plate has been processed in accordance with the design data . If necessary, the completion of the curved plate is equal to or less than the predetermined reference value, additional work for correction may be performed.

When the completeness of the curved plate is evaluated to be equal to or higher than the reference value, the operation data including the marking line for the cutting operation is generated. The marking line calculation can be performed in the CAD / CAM unit 110 through the design data and the measurement data, and the calculated marking line information is provided to the marking unit 160. [ In addition, various job data necessary for the job can be calculated together with the marking line as necessary. For example, various information necessary for the cutting operation such as posture, position, cutting speed, and the like of the cutting torch 143 can be generated. The generated work data is provided to the control unit 130 and used for drive control of the cutting torch 143 do.

When the marking line calculation is completed, the marking unit 160 displays a marking line on the curved plate, and the cutting torch 143 performs an automatic cutting operation. That is, the marking portion 160 mounted on the articulated robot 142 is moved by the gantry 141 and the marking line is displayed on the curved plate. When the marking line is displayed, the cutting torch 143 is moved, So that the curved plate is cut. As described above, in the automatic bend cutting system 100 according to the present embodiment, the cutting torch 143 is cut on the upper or lower surface of the curved plate in accordance with the position of the bending plate, The posture of the seat 143 can be continuously changed.

As described above, the automatic bending apparatus 100 according to the present embodiment can automate a series of work processes for cutting the bending plate according to the design shape after bending the bending plate. In addition, if necessary, it can be combined with the automatic processing system to automate the entire processing of the curtain from the curving to the cutting. Accordingly, the automatic bending apparatus 100 according to the present embodiment can quickly and effectively perform the bending work required for the production of ships, blocks, and the like, and can improve work efficiency and reduce manufacturing costs Effect can be achieved. The curved plate automatic cutting system 100 according to the present embodiment changes the posture or cutting position of the cutting torch 143 or the like depending on the position and shape of the curved plate and the corner loop L It is possible to prevent the deterioration of the cutting quality while making the cutting operation efficient, and it is possible to cut the high quality curved plate.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention as set forth in the appended claims. The present invention can be variously modified and changed by those skilled in the art, and it is also within the scope of the present invention.

100: automatic cutting system for the curved plate 110: CAD / CAM part
120: monitoring unit 130:
140: cutting section 150: measuring section
160: marking unit 170:

Claims (8)

A monitoring unit having a user interface for receiving design data and various control commands, and monitoring a work process and a situation;
A measuring unit measuring the three-dimensional curved shape of the curved plate to provide measurement data;
Wherein the control unit compares the design data input through the monitoring unit with the measurement data provided by the measurement unit to evaluate the completeness of the blanket, and only when the completed degree of the blanket is higher than a predetermined reference value, A CAD / CAM unit for calculating a marking line for cutting of the semiconductor wafer;
A marking unit for marking the marking line calculated by the CAD / CAM unit on a curved plate; And
And a cutting torch for cutting the curved plate along a marking line indicated on the curved plate. The method according to claim 1,
Wherein the cutting torch forms a corner loop at a corner of the curved plate or a corner of the marking line and moves and cuts the curved plate. The method according to claim 1,
Wherein the cutting torch is moved along the curved plate such that the cutting angle with the curved plate is within a predetermined range. The method according to claim 1,
Wherein the cutting unit further comprises a movable gantry, and a articulated robot mounted on the gantry,
Wherein the cutting torch is mounted on the articulated robot. The method of claim 4,
Wherein the gantry is formed to be movable at least in three or more axes,
Wherein the articulated robot is rotatably driven by at least three axes. The method according to claim 1,
Wherein the measuring section repeatedly measures the bending plate a plurality of times. The method according to claim 1,
And a dust collecting part for removing noxious gas and dust generated when cutting the curved plate. The method according to claim 1,
And a control unit for controlling the cutting unit, the measuring unit, and the marking unit according to a control command received from the monitoring unit.

Images