KR101698425B1 - A manufacturing system for Carbon Fiber Reinforced Plasitcs Product - Google Patents

Abstract

The CFRP product flexible processing system of the present invention comprises a first robot installation area 30, a first work area 10, a second robot installation area 40, a second work area 20, The first robot unit 31, the second robot unit 41, and the third robot unit 51 as main components. More particularly, the present invention relates to a processing and quality inspection line arrangement structure that is automatically performed by an industrial robot. The CFRP flexible machining system, which has the advantage that the robots can work efficiently against the obstacles according to the work environment and the work efficiency improves because the robots are equipped with various functions, to be.

Description

Technical Field [0001] The present invention relates to a CFRP product flexible manufacturing system for carbon fiber reinforced plastic products,

The invention relates to a line arrangement structure for performing machining and quality inspection on a CFRP processed member. More particularly, the present invention relates to a processing and quality inspection line arrangement structure that is automatically performed by an industrial robot.

The use of robots to process workpieces, blanks, or semi-finished parts in the manufacturing process is expanding. Today's manufacturing methods often consist of placing finished or semi-finished parts of a robot on a belt conveyor, where the quality inspection is carried out subsequently by the user. An example of a manufacturing process is a press-shop. Automation of the press line typically ends with a robot or manipulator unloading the manufactured parts from the last press to the belt conveyor. Automation of the press shop is often completed by placing manufactured parts stamped into a designated rack to be transferred to the body-shop area. In the case of a skin panel, one of the reasons for not automatically placing parts into the rack from the last press is that it is first necessary to perform a surface quality inspection. Thus, today's approach consists of a robot placing parts on a belt conveyor, where the quality inspection is performed by the user. If the part quality is within the correct parameters, the operator (s) takes the part into the corresponding rack or container; Move the part to be racked or, if possible, automatically put into the rack by the robot. In this last case, the operation may actually be complicated because the robot responsible for the operation must first locate the part on the conveyor to pick it up correctly. The component may be unstable and may require a complicated device with a triple band belt conveyor that can adjust the height of the center band to provide the necessary stability to prevent component flow. Finally, a visual system, perhaps a 3D or mechanical centering device, will be required to position or center the part. A system for producing a manufacturing part comprising at least one industrial production process having a handling tool for picking up manufacturing parts in Korean Patent No. 10-0093168 (entitled " quality control system and method of manufacturing parts ") Characterized in that the robot is arranged in a quality inspection cell and the robot is programmed to maintain the manufactured part in at least one known location of the quality inspection cell and to provide the manufactured part for quality inspection. System is disclosed.

The CFRP processing member is formed of CFRP (carbon fiber reinforced plastic), and the carbon filament is made into a winding shape or a fabric shape, and then the resin is impregnated and cured.

Korean Patent Publication No. 10-2012-0093168

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a line arrangement structure including a conventional robot, in which a conveyor is included in a line arrangement structure so that a component is not compact and a line arrangement structure is divided into a conveyor area and a robot installation area, The second problem is that there is no high-quality working means using the water jet system in the process for the CFRP processing member, the robots performing the predetermined job have only one function The third problem is to solve the problem.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

A CFRP product flexible processing system including a plurality of robots for performing a predetermined operation, comprising: a first robot installation area (30) in which a first robot part (31) is installed; a first robot installation area A first work area 10 in which a first robot area 31 is located and a predetermined work is performed by the first robot area 31, a second robot area 41 located in a connected state with the first work area 10, A second work area 20 and a second work area 20 which are located in connection with the installation area 40 and the second robot installation area 40 and in which a predetermined operation is performed by the third robot 51, A third robot installation area 50 in which the third robot part 51 is installed and connected to the first robot part 31, a first robot part 31 for performing a predetermined operation using a water jet system for the CFRP processing member, (1) to the first reference position on the first work area (10), and the CFRP processing member processed in the first work area (10) And a second robot unit (41) and a third robot unit (51) for performing a second transfer to the up area (20).

Further, the second robot unit 41 of the CFRP product flexible processing system of the present invention further performs a jig function for the predetermined operation of the first robot unit 31 on the first work area .

In addition, the first working area 10 of the CFRP product flexible processing system of the present invention may be provided with a water bath 11 for a predetermined operation using a water jet system.

The CFRP machining structure further includes a CFRP machining member take-off region 60 having a third reference position at which the CFRP machining member of the CFRP product flexible machining system of the present invention is set.

Further, the first robot unit 31 of the CFRP product flexible processing system of the present invention can perform trimming or piercing operation on the first transferred CFRP processing member.

The third robot part 51 of the CFRP product flexible processing system of the present invention is characterized by performing drilling, reaming, or vision inspection on the second transferred CFRP processing member can do.

In the first working area 10 of the CFRP product flexible processing system of the present invention, a CFRP chip recovery device 70 for recovering CFRP chips generated by a predetermined operation of the first robot unit 31 is further provided .

Further, an automatic tool changer (ATC) 80 for the third robot unit 51 may be installed in the third robot installation area 50 of the CFRP product flexible processing system of the present invention.

The second working area 20 of the CFRP product flexible processing system of the present invention can also be provided with a jig for a predetermined operation of the third robot unit 51. [

In the third robot installation area 50 of the CFRP product flexible processing system of the present invention, a CFRP dust suction apparatus 90 for sucking dust generated by a predetermined operation of the third robot unit 51 is further installed . ≪ / RTI >

The first robot unit 31, the second robot unit 41, and the third robot unit 51 of the CFRP product flexible processing system of the present invention each include a plurality of robots.

According to the embodiment of the present invention, it is possible to reduce the number of robots used for the robotic unit to perform various functions, and at the same time, by using the waterjet system of the first robot unit 31 in the line structure arrangement, In order to achieve a compact structure of the entire line structure arrangement, there is an effect of arranging the robot installation area and the work area in the first robot The third effect is that the water jet system is used for the CFRP member, thereby improving the speed and quality in the processing.

It should be understood that the effects of the present invention are not limited to the effects described above and include all effects that can be deduced from the detailed description of the present invention or the composition of the invention described in the claims.

1 is a schematic diagram showing an embodiment of a CFRP product flexible processing system of the present invention.
2 is a schematic diagram showing an embodiment of a CFRP product flexible processing system of the present invention.
3 is a schematic diagram showing one embodiment of a CFRP product flexible processing system of the present invention.
4 is a schematic diagram showing an embodiment of a CFRP product flexible processing system of the present invention.
5 is a schematic diagram showing an embodiment of a CFRP product flexible processing system of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

In the entire specification, when a part is connected (connected, connected, adjacent) to a part according to a certain part, it is not only "directly connected" but also "indirectly connected" And the like. When a component is referred to as " comprising ", it is meant that it can include other components as well, without excluding other components unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

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

The CFRP product flexible processing system of the present invention comprises a first robot installation area 30, a first work area 10, a second robot installation area 40, a second work area 20, The first robot unit 31, the second robot unit 41, and the third robot unit 51 as main components.

Hereinafter, each of the main components will be described in detail.

The first robot installation area 30, the first work area 10, the second robot installation area 40, the second work area 20, and the third robot installation area 50 are connected to each other, It can be confirmed by referring to the attached drawings.

The CFRP processed member of the present invention means that it is formed of CFRP in the definition of the term. However, the CFRP processed member of the present invention is not limited to CFRP in the definition of a glass fiber reinforced plastic (GFRP), a dyneema fiber reinforced plastics (DFRP), a zylon fiber reinforced plastics (ZFRP) Plastics), KFRP (Kevlar Fiber Reinforced Plastics), CFRM (Carbon Fiber Reinforced Metal), and the like.

The CFRP product flexible processing system of the present invention has a first reference position, a second reference position, and a third reference position, where the CFRP machining member is set, wherein the CFRP machining member is fixed in the correct area, In reaming work, it plays an important role in improving the quality of workpieces. The first reference position is included in the first work area 10, the second reference position is included in the second work area 20, and the third reference position is included in the CFRP machining member take-out area 60 This will be described later.

The first robot unit 31 is provided with a water jet system. The water jet system is equipped with a jet nozzle, a high-pressure pump, and a speed regulating motor as a method of cutting water by using energy of water that is processed by ultra-high pressure of water . In addition, the waterjet system will be able to process and cut all kinds of metals and mixed materials in addition to CFRP processed parts, and can cut clean without generating toxic gases and dust. As a result, the machining area is widened in the machining operation, the machining speed is improved, and the depth of the machined grooves becomes uniform, so that a vulnerable portion is not generated and the quality can be maximized. Further, as the shape of the jetting nozzle of the water jet cutter is made elliptical, the depth of the working groove and the thickness of the working line can be freely adjusted without any additional measures such as the increase or decrease of the projection pressure, but the shape of the jetting nozzle is not limited thereto. The first robot unit 31 may be provided with a display unit for displaying the state of the water jet system. The first robot unit 31 may notify the progress of the work and the abnormal operation state, thereby stopping the system when an abnormal operation is performed. It is not excluded that a predetermined operation of the CFRP processing member is performed by using a water jet system as well as a plasma cutting machine or a gas cutting machine.

In addition, the first robot unit 31 may perform a trimming operation or a CFRP machining operation in which the unnecessary edges, fins, and the like in the CFRP processing member that has been first transported using the water jet system are cut or cut to clean the product, Perform a piercing operation to drill or widen the hole in the member. The first robot unit 31 has more than 6 degrees of freedom and can precisely perform operations in all directions as well as merely cutting in the X and Y directions. The degrees of freedom are X (horizontal), Y (vertical), Z (depth), Pitch, yaw, and roll.

The robot having more than 6 degrees of freedom can perform a three-dimensional motion and perform a predetermined operation for a wide area, and can show motion not limited to a predetermined operation. Further, it is possible to cope with the shape and the design change of the CFRP processing member.

The second robot unit 41 and the third robot unit 51, which will be described later, may also be configured as a robot having more than 6 degrees of freedom.

In addition, trimming and piercing have been described as an example of a predetermined operation that can be performed by the first robot unit 31, but it does not exclude that other processes such as press, welding, metal working, and metal cutting are included.

The first work area 10 is provided with a water jet water tank 11 as an essential component for a water jet system. However, the water jet water tank may be included as a constituent element of the first robot part 31. A first reference position is set in the first work area 10 by providing a reference position for a predetermined operation using the water jet system of the first robot unit 31 in conjunction with the second robot unit 41, To ensure accuracy and consistency. The first reference position for the operation of the first robot unit 31 is present in the upper space of the water jet tub 11 and the second robot unit 41 is fixed to the first reference position with the jig function by the CFRP processing member Thereby helping the first robot unit 31 to perform a predetermined operation, thereby achieving an increase in efficiency in the work. The first reference position is set as a reference for a predetermined operation and can be modified in accordance with the shape and design change of the CFRP processing member.

In the area adjacent to the first work area 10, a conveyor that circulates in a predetermined direction to recover the CFRP chip generated by a predetermined operation using the water jet system of the first robot unit 31, A CFRP chip recovering device 70 provided with a transport pipe, a chip recovering container, and a chip conveying pipe that can actively cope with the shape of the CFRP chip is provided, but is not limited to a conveyor type.

A CFRP machining member take-off region 60 may be present in a region adjacent to the first work region 10, which is where the CFRP machining member is set and awaits extraction for machining. In the method of setting the CFRP machining member, Or other equipment. The third reference position is set as a reference for a predetermined operation in the CFRP machining member take-out region 60 and can be modified in accordance with the shape and the design change of the CFRP machining member.

The second robot unit 41 not only performs a jig function of fixing the work area 10 in the first work area 10 to increase the quality of the work but also the second robot part 41 in the third reference position of the CFRP machining member take- (First transfer) of transferring the CFRP processing member to the first reference position set in the work area 10, a function of transferring the CFRP processing member to the first reference position set in the first work area 10, And a function of feeding to the reference position (second feeding). The second robot unit 41 does not exclude the mounting of jig and transfer function as well as functions such as vision. It is not excluded that the second robot can be installed in the second robot installation area 40 as well as other industrial robots.

The second work area 20 requires a jig function for a predetermined operation of the third robot unit 51. The second work area 20 includes a frame or a fixed block that functions as a jig for fixing the CFRP processing member on the second reference position Thereby assisting the operation of the third robot unit 51. On the other hand, the jig function provided by the second robot unit 41 can be utilized for the operation of the third robot unit 51. At this time, an element for a separate jig function is not required in the second work area 20 will be. The second reference position is set as a reference for a predetermined operation and can be modified in accordance with the shape and design change of the CFRP processing member. In the second working area 20, the vision inspection of the third robot unit 51, which will be described later, is performed.

The third robot unit 51 performs a drilling operation for drilling a hole in the second transported CFRP processing member, a reaming operation for drilling a hole drilled by the drilling operation, or a work in the second work area 20 And when the work is finished, a vision inspection is performed to confirm whether the CFRP processing member is normally processed. According to the embodiment shown in FIG. 4, the 3-3 robot 54 visually inspects the process result on the CFRP processed member transferred to the first work area 10 and the second work area 20. For the drilling and reaming operations, the third robot unit 51 may include a drill unit and a reaming unit capable of performing drilling and reaming on the CFRP processing member, and a cylinder and a moving bar for linear reciprocating motion. Further, a display unit for displaying the drilling and reaming operation states of the third robot unit 51 may be provided. When the user makes an operation of the third robot unit 51 abnormal, The emergency stop state may be displayed on the display unit, and an emergency stop button for inputting an emergency stop command for solving the emergency stop state may be included.

The third robot unit 51 may perform various machining functions including a multi-tasking robot for a predetermined task, but is not limited thereto. An automatic tool changer (ATC) 80 may be provided for automatically changing the tool as needed for a predetermined operation of the third robot unit 51. The ATC may include a transmission mechanism assembly, a camshaft, a tool exchange arm, and a drive device for driving the camshaft and the tool exchange arm. And, in the drilling and reaming operation of the third robot section 51 The tool change arm can help set the angle of rotation corresponding to the camshaft so that various angles can be achieved. The drilling and reaming work of the third robot unit 51 is an example of a predetermined operation, and does not exclude processes such as pressing, welding, metal working, and metal cutting.

The third robot unit 51 may include a robot for performing a vision inspection. The vision inspection may be performed on the CFRP processing member after completion of machining in the second work area 20, An image acquiring unit for acquiring an image of a CFRP processed member; a quality determining unit for determining whether or not the quality of the CFRP processed member is determined; And a display unit capable of confirming the acquired image. It is possible to detect and correct the abnormal operation or the error of the reference position occurring during a predetermined operation through the vision inspection robot, thereby improving the accuracy of the overall process and improving the process quality of the CFRP processed member. It should be noted that the robot performing the vision inspection does not exclude that it is installed in the first robot installation area 30 and the second robot installation area 40 as well as the third robot installation area 50. In this case, Area 10 as shown in FIG.

The third robot mounting region 50 is provided with an inhaler for receiving compressed air through the supply line portion to suck dust generated by the drilling or reaming operation of the third robot 51, And a CFRP dust suction device 90 having an exhaust line for discharging compressed air and a passing hole for allowing dust to move. Dust can be sucked and treated due to the installation of the CFRP dust suction device 90, so that environmental pollution prevention and worker's suction prevention can be realized.

The first robot unit 31, the second robot unit 41, and the third robot unit 51 may each be constituted by a plurality of industrial robots. According to the embodiment shown in FIG. 3, a plurality of industrial robots are installed in the respective robot installation areas, so that it is possible to perform a quick and large amount of work in accordance with the work environment. The first robot unit 31, the second robot unit 41 and the third robot unit 51 are connected to the first robot installation area 30, the second robot installation area 40 and the third robot installation area 50, , Respectively, and the CFRP product is subjected to the flexible processing system.

According to the embodiment shown in FIG. 4, the CFRP product flexible processing system has an advantage that it can be arranged in a flexible manner in installation or work areas of robots.

According to the embodiment shown in FIG. 5, the CFRP product flexible processing system has an advantage that it can flexibly arrange the installation area and the work area, respectively, even though there are obstacles according to the working environment.

In the illustrated embodiment of FIG. 5 (a), when the wall or obstacle is present in the working environment and the CFRP product flexible processing system is effectively arranged around the wall or obstacle when it is difficult to secure the working area and the robot mounting area, FIG.

In the case of the embodiment shown in FIG. 5 (b), when a wall or an obstacle exists in a corner portion of the working environment and it is difficult to secure a working area and a robot mounting area, a CFRP flexible processing system So that they are efficiently arranged.

In the embodiment shown in FIG. 5 (c), the wall or obstacle exists in a multi-stage manner in the working environment, showing that the CFRP product flexible processing system is efficiently arranged according to the structure of the wall or obstacle.

The first robot unit 31, the second robot unit 41 and the third robot unit 51 of the CFRP product flexible processing system according to the present invention include an industrial robot and a tool capable of metal cutting, metal working, welding, It is not excluded that other operations besides trimming, piercing, drilling and reaming for the CFRP processing member can be performed.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single type may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: First working area
11: Water Bath
20: second work area
30: First robot installation area
31: First robot section
32: 1-1 Robot
33: Robot 1-2
40: Second robot installation area
41: second robot section
42: 2-1 robot
43: 2-2 Robot
50: Third robot installation area
51: Third robot section
52: Robot 3-1
53: Robot 3-2
54: 3rd-3rd robot
60: CFRP machining member extraction area
70: CFRP chip recovery device
80: Automatic tool changer (ATC)
90: CFRP dust suction device
100: Obstacle

Claims (11)

1. A CFRP product flexible processing system comprising a plurality of robots for performing a predetermined operation,
A first robot installation area 30 in which the first robot part 31 is installed;
A first work area (10) positioned in connection with the first robot installation area (30) and in which a predetermined operation is performed by the first robot part (31);
A second robot mounting region 40 positioned in connection with the first working region 10 and provided with a second robot unit 41;
A second work area (20) positioned adjacent to the second robot installation area (40) and performing predetermined work by the third robot part (51);
A third robot installation area 50 which is located in connection with the second work area 20 and in which the third robot part 51 is installed,
A first robot unit 31 for performing a predetermined operation using a WaterJet system on a CFRP processing member;
(1) to a first reference position on the first work area (10), and the CFRP processing member processed in the first work area (10) is transferred to the second work area (20) A second robot unit 41 for transferring the robot;
A third robot unit 51;
And a CFRP machining member take-out region (60) having a third reference position at which the CFRP machining member is set,
The second robot unit 41 performs a jig function for the predetermined operation of the first robot unit 31 on the first work area 10 and the CFRP processing member takeout area 60 for transferring the CFRP processing member from the third reference position to a first reference position set in the first work area 10 and a second transfer position for transferring the CFRP processing member from the first reference position And a robot for carrying out the second transfer for transferring to a second reference position set in the second work area (20) and performing a vision inspection on the CFRP processing member,
The third robot unit 51 includes a drill unit for performing drilling on the second transported CFRP processing member and a reaming unit for performing reaming, A robot for performing the vision inspection on the CFRP processing member, the robot having a cylinder and a moving bar for performing a linear linear reciprocating motion,
The second robot unit 41 or the third robot unit 51 performs vision inspection so as to detect and correct errors in an abnormal operation or a reference position occurring during a predetermined operation,
The third robot unit 51 includes an image acquiring unit that acquires an image of the CFRP processing member, a quality determination unit that determines whether or not the quality of the CFRP processing member is abnormal, An image position correcting unit for considering a position error, and a display unit for confirming the acquired image.
delete The method according to claim 1,
The first working area (10) is provided with a water bath (11) for the predetermined operation using the water jet system.
The method according to claim 1,
Further comprising a CFRP machining member take-out region (60) having a third reference position at which the CFRP machining member is set.
The method according to claim 1,
Wherein the first robot unit (31) performs a trimming or piercing operation on the first fed CFRP processing member.
delete The method according to claim 1,
And a CFRP chip recovery device (70) for recovering a CFRP chip generated by the predetermined operation of the first robot unit (31) is further provided in the first work area (10) .
The method according to claim 1,
And an automatic tool changer (ATC) (80) for the third robot unit (51) is further installed in the third robot installation area (50).
The method according to claim 1,
And the second working area (20) comprises a jig for the predetermined operation of the third robot part (51).
The method according to claim 1,
And a CFRP dust suction device (90) for sucking dust generated by the predetermined operation of the third robot (51) is further provided in the third robot installation area (50) .
The method according to claim 1,
Wherein the first robot unit (31), the second robot unit (41), and the third robot unit (51) each include a plurality of robots.

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