KR101717293B1 - Unmanned processing and automating system of high-load mold parts - Google Patents

Abstract

The present invention relates to a system for automatically replacing a heavy-duty mold part of 5 tons or more by using machining information allocated to a mold scheduling system, and automating unmanned machining.
That is, the present invention provides a work management system that integrally manages processing data transmission, priority assignment, weather measurement, and processing status monitoring; A mold exchange apparatus, and a remote control server for controlling and managing the laser guide vehicle (preventing deviation of path and moving to designated equipment); Workpiece reference plane / hole measurement program call, automatic tool setting of the mold part to perform the reference setting program, utilization of work management system, start and end of machining start and end of automatic execution, use of work management system, automatic execution of measurement program And a meteorological measurement for determining a pass / fail; Unloading parts, loading new parts, automatically calibrating the position and transferring them to the inside of the machine by receiving the machining completion information, and attaching the servo motors to the tool changer to precisely position the machining parts mounted on the table jig A mold changing device for performing control; Two conveyors are mounted on the top plate of the unmanned conveying car, and the heavy-duty mold parts instructed by the above-mentioned work management system are transferred from the storage to the processing equipment, and the parts in the equipment are transferred to the unmanned conveying car. And a conveying system consisting of a laser guide vehicle equipped with a 1-cycle exchange device, a duplication system of the same main controller for avoiding congestion, an independent detection system, and a mirroring controller.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-

The present invention relates to an automatic unmanned machining system for a heavy-duty metal mold part, and more particularly, to a system for automatically replacing a heavy-duty metal mold part of 5ton or more and automatically performing unmanned machining using the machining information allocated to the metal mold scheduling system.

Comparing the domestic and overseas technology levels with the core technologies of various integrated management systems, product information management and process planning among product, information and system technologies are similar to those of advanced countries, but product information exchange technology has not yet established concept It is at the stage level.

In addition, product information integration technology is still in the stage of technology stabilization in advanced countries, but it is still in the stage of development and utilization in Korea, and the level of technology is about half of that of advanced countries.

There are product models and simulation technology, process model, simulation technology and enterprise-wide model among overseas technologies. However, domestic development is considered as a step of introduction of concept, and the level of technology compared with overseas is less than half.

In the case of manufacturing process technology, there is a very lack of foundation technology for assembly process technology, inspection process technology, and packaging process technology, and in the field of manufacturing facility technology, parts technology is weak for machine tools and industrial equipments.

On the other hand, the materials, parts processing, storage, and transportation systems installed in domestic production and manufacturing plants require production innovation renovation as an optimization system based on economic analysis. In order to derive the system, a digital factory should be built, and 3D technology, simulation technology, and factory automation (FA) technology should be integrated and supported.

In particular, STEP-NC technology is not only an indispensable element technology to be equipped with next-generation CNC controller in accordance with open CNC technology, precision processing technology, intellectual production technology and information-based e-manufacturing needs. It is expected that the research will be accelerated with the core technology that can become the means to win.

In Korea, universities and research institutes have developed unmanned machining systems using small-sized laser guide vehicles for each application. However, only the parts related to the vehicle have been studied. Axle Assembly Module, Power Pack Module and Energy Pack Module There is little accumulation of commercialization and know-how in the market.

In addition, there is no case in the case of processing automation system technology based on job management system and remote control server. In some large companies, automation of unmanned processing system and transportation of heavy loads 1 (Rail Guided Vehicle (RGV)).

Since the RGV system requires a rail to be installed in all the roads through which the vehicle passes, the installation cost is very high, and since the rail is fixed to the floor, there is a difficulty that it is difficult to enlarge the layout and change the layout once.

In addition, the laser guide vehicle of the transportation system is one of the core technologies using the electric power which is easy to control as a power source. Such a system is currently being widely applied to electric vehicles in industrial equipment. However, It is only a matter of occasional progress.

Therefore, there has been a growing need to study laser guide vehicle development technologies related to heavy-duty vehicles and heavy equipment.

On the other hand, in the overseas market, intelligent robot technology and flexible production system technology are specially managed by prohibition of overseas leakage. In the case of specific countries, in order to flexibly respond to changes in demand in the age of mass customization, In order to pursue the best manufacturing method, the automobile companies and the first component companies have been developing the agile production method which improved the production method. In the late 90s, the assembly factory was modeled, and the manufacturing factory was virtually designed and simulated And it is gradually expanding to a whole manufacturing line.

In addition, European industrial management is undergoing drastic changes and new forms of competition are rapidly spreading.

The power of this change is related to complex economic, social and political factors and companies are required to accelerate innovation and profit by lowering the value of products and services and improving product quality and consumer-centric capabilities.

Considering this phenomenon, companies are developing collaborative design and cooperative manufacturing networks with consumers and suppliers in order to reduce the risk and cost of production according to the production scale, and product and process design are still important in the process of globalization of production. The most important factors for innovation and profit realization using consumer opportunity are shifting from traditional technology innovation to simultaneous product design, flexible production systems using computers, and intelligent production based on various forms of sustainable networked technology systems.

In addition, Korea's flexible production system technology is continuously accumulating technology through FA / JMS / CIM / IMS business, has a large number of researchers, has excellent S / W base, This is a strong point.

However, it includes the initial investment cost, the weakness of the demand of SMEs due to excessive investment cost, and the threat of many competition and price innovation in the world.

There is a new demand creation factor due to the reduction of the functional manpower and the social avoidance phenomenon for the 3D industry and the extreme work. There is a possibility of leading the market by prevailing investment opportunity and it can become the driving force of new industry development such as IT and NT. The point is the opportunity factor.

KR Application No. 10-2011-0031295 KR Application No. 10-1997-0067414 KR Application No. 10-1997-0067413 KR Application No. 10-2006-0022149

The automated unmanned machining system for heavy duty parts provided by the present invention is intended to provide a system that can automate all processes in unmanned metal parts processing.

The automated unmanned machining system for heavy duty parts according to the present invention comprises:

A work management system that integrally manages processing data transmission, priority assignment, weather measurement, and processing status monitoring; A mold exchange apparatus, and a remote control server for controlling and managing the laser guide vehicle (preventing deviation of path and moving to designated equipment);

Workpiece reference plane / hole measurement program call, automatic tool setting of the mold part to perform the reference setting program, utilization of work management system, start and end of machining start and end of automatic execution, use of work management system, automatic execution of measurement program And a meteorological measurement for determining a pass / fail;

Unloading parts, loading new parts, automatically calibrating the position and transferring them to the inside of the machine by receiving the machining completion information, and attaching the servo motors to the tool changer to precisely position the machining parts mounted on the table jig A mold changing device for performing control;

Two conveyors are mounted on the top plate of the unmanned conveying car, and the heavy-duty mold parts instructed by the above-mentioned work management system are transferred from the storage to the processing equipment, and the parts in the equipment are transferred to the unmanned conveying car. And a conveying system consisting of a laser guide vehicle equipped with a 1-cycle exchange device, a duplication system of the same main controller for avoiding congestion, an independent detection system, and a mirroring controller.

In addition, the above-mentioned work management system manages the overall process management, CNC machine tool, automatic conveying device for industrial robots, automatic warehouse, and the like, and carries all the work from the supply of materials to processing, assembly, Control management, and order management.

In addition, the remote control server receives an order from a task management system, and then transmits an order to each vehicle to manage order management of the entire unmanned transport vehicle (unmanned vehicle, laser guide vehicle, unattended vehicle) (Traffic) is managed.

In addition, the transportation system is a laser guiding type, and is a guide system in which a laser scanner is mounted on a vehicle and a position is recognized from a reflector on a traveling road and traveled.

The mold exchange apparatus automatically loads / unloads a workpiece and a jig pallet to / from a milling machine table, and automatically transfers the workpiece and the jig pallet by applying a laser guide method from a mold storage place to a processing machine.

The automated unmanned machining system for heavy duty parts provided by the present invention provides a number of effects as follows.

In the first place, it is possible to operate a number of M / C that manages mold order, work history, and vehicle route simultaneously by providing integrated management system (work management system & remote control server) through ERP linkage technically, , Priority assignment, meteorological measurement, improvement of processing situation monitoring technology, and improvement of control and management technology of conveying device and mold changing device.

Also, it is possible to provide simultaneous operation management and control technology of several laser guide vehicles using a remote control server, and to improve the simultaneous position control and traffic management technology of a plurality of laser guide vehicles.

And it provides the world's best precision position control technology of 10mm in high-load laser guide vehicle using laser scan induction method by providing transportation system technology capable of carrying heavy-duty molds. By applying laser sensor, , Safety system considering worker risk factors, and technology to prevent runaway congestion of laser guided vehicle.

In addition, Pallet automatic Centring machine and milling table automatic mounting system development can improve the completely unmanned processing automation technology of the part exchange,

With the development of machining automation system, the precision of the workpiece, the machining technology and the measurement technology are improved, and the work speed can also be drastically reduced by interlocking with the mold transfer and the mold exchange device.

And economically, it can increase the automation due to the fusion of existing lines and reduce the dependency of human resources and improve the process automation ability. Also, the introduction of automatic production system and reduction of the dependence of manpower prevents various accidents, It is possible to reduce energy and reduce the initial process investment cost.

In addition, since the load / unload function is installed on the upper part of the laser guide car, energy savings and transportation time are reduced due to reduction of transportation time and tool change time, and automation of mold transportation and exchange, Creating and maximizing market share.

In addition, the present invention can be applied to an automatic exchange and a logistics system in a large-sized and mass-produced mold and other materials industry. By localizing and applying automation equipment suitable for a work environment, it is possible to improve work environment, maximize efficiency, Removal, and the like.

1 is a photograph showing an unmanned automation system using a conventional RGV
FIG. 2 is a diagram showing an overall layout of a preferred embodiment of the automated unmanned processing system for a heavy-duty metal part according to the present invention.
3 is a schematic diagram of a job management system according to the present invention
4 is a diagram showing a configuration screen of a remote control server, which is one of the integrated management systems,
Fig. 5 is a diagram illustrating a guide system of a transportation system according to the present invention
Fig. 6 is a schematic view showing the layout of the mold changing apparatus, which is one of the carrying systems,
Fig. 7 shows an example of a product applied to a transportation system according to the present invention
FIG. 8 is a diagram showing a PID control configuration diagram
Fig. 9 is a diagram showing the overall layout of a processing automation system for processing automation in the present invention
Fig. 10 is a block diagram of a system for automatic processing in the present invention
Fig. 11 is a flowchart showing an example of an order-
12 is a diagram showing, in the transportation system of the present invention,
Figure 13 is a perspective view of a laser scanner used in the delivery system of the present invention;
Fig. 14 is a conceptual diagram of a control layout using a laser scanner in the present invention
Fig. 15 is a flowchart of a program
Fig. 16 is a flowchart of a process
17 is a functional example of the laser sensor detection area according to the present invention
Fig. 18 is a schematic diagram of the safety laser sensor
Fig. 19 is a conceptual diagram for solving the sudden illumination of the laser guide vehicle in the present invention
Fig. 20 is a diagram showing the configuration of the redundant safety system according to the present invention
Fig. 21 is a view showing the concept of the safety bumper
Fig. 22 is a diagram showing a safety configuration
Fig. 23 is a diagram showing the safety hardware configuration
Fig. 24 is a view showing a case where a back camera and a monitor are mounted in the present invention,

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that, in the drawings, the same components or parts have the same reference numerals as much as possible. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted so as to avoid obscuring the subject matter of the present invention.

As used herein, the terms "substantially", "substantially", and the like are used herein to refer to a value in or near the numerical value when presenting manufacturing and material tolerances inherent in the meanings mentioned, Absolute numbers are used to prevent unauthorized exploitation by unauthorized intruders of the mentioned disclosure.

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

FIG. 2 shows the overall layout of a system to which the automatic unmanned processing automation system for heavy duty parts provided in the present invention is incorporated.

The automated unmanned machining system of the present invention is constructed as follows.

That is, the present invention provides an integrated management system (Integrated Management System) comprising a job management system (JMS) and a remote control server (RCS in drawings and tables) Management systems, process automation systems, and transport systems.

The integrated management system includes a work management system that integrally manages transmission of processed data, priority assignment, weather measurement, and processing status monitoring,

And a remote control server for controlling and managing the transportation system (mold exchange device, laser guide vehicle) (avoiding deviation of path and moving to designated equipment).

The machining automation system includes a mold part origin point setting for performing a reference surface / hole measurement program call, an automatic reference setting program,

Utilization of work management system, start of machining and end of machining start and end of machining with automatic execution,

Work management system utilization, automatic measurement program execution and pass / fail determination.

Then, the transportation system receives the machining completion information, unloading the parts, loading new parts, automatically correcting the position and transferring them to the inside of the machine, attaching the servomotors to the mold exchanger, A tool changer (Quick Core Change, referred to as "QCC" in the drawings and tables) for precise position control for automatically exchanging machining parts mounted on a table jig (JIG);

Two conveyors are mounted on the top plate of the unmanned conveying car, and the heavy-duty mold parts instructed by the above-mentioned work management system are transferred from the storage to the processing equipment, and the parts in the equipment are transferred to the unmanned conveying car. (Laser Guided Vehicle (hereinafter referred to as "LGV" in the drawings and tables) for implementing a redundant system of the same main controller, an independent detection system, and a mirroring controller for preventing congestion .

3 is a schematic diagram of a job management system according to the present invention.

As shown, the work management system is a system that integrates a highly automated system as a major component of production.

This is an advanced system in Flexible Manufacturing System, which is a total management system for overall process control, CNC machine tools, automatic robot conveyor for industrial robots, and automatic warehouses.

In addition, the work management system is a high-level system that controls the entire management from the supply of materials to the machining, assembling and dispatching by carrying the workpiece and the tool, and enhances the efficiency by unmanning the entire plant including order management.

FIG. 4 illustrates a configuration screen of a remote control server, which is one of the integrated management systems, in the present invention.

The remote control server is an upper control system such as an unmanned transportation vehicle (unmanned vehicle, laser guide vehicle, unmanned vehicle) or the like. After an order is assigned from the work management system, orders are transmitted to the respective vehicles, It is an upper control system that manages the route and traffic of the vehicle.

The development range of the remote control server provided by the present invention is shown in Table 1 below.

Development scope of remote control server system NO Development items and functions Development Details One Daikstra
(Shortest path search technique) ㆍ Complement the disadvantages of Floyd algorithm
(The more points you can get, 2 Application of collision prediction technique (expected) ㆍ Calculate the moving speed of the vehicle when setting the route of LGV, and predict the collision possible range with other LGV to bypass the route in advance 3 Add line concept • Line (single pass) blocking between intersections and intersections
(Separate from point and segment blarking) 4 Traffic Tuning Function ㆍ Ability to adjust utilization of high-traffic lines 5 Area management function ㆍ Ability to limit the number of vehicles in a specific area 6 Multi monitoring function ㆍ There is no theoretical limit on the number of clients (hardware performance premise) 7 Standardization through module separation ㆍ Supports rapid processing of requests or changes and interruption and remote processing by separating interface part and monitoring part.

5 is a view for explaining a guide system of a transportation system in the present invention.

In the above conveying system, a laser system is used in the guide system, and a laser scanner is mounted on the vehicle to recognize the position from the reflector on the traveling path and travel.

Fig. 6 is a layout showing a mold changing apparatus configuration, which is one of the carrying systems, in the present invention.

The mold exchange system is a device that automatically loads / unloads the workpiece and jig pallet onto the milling table. It is used to store the mold from the mold storage area to the machine 5 is a system that automatically transports by applying a laser guiding method such as.

LGV itself has a built-in Load / Unload section, so there is no need to add a buffer / load buffer device even if a processing machine is added, making it easy to expand system facilities in the future. And the work time is expected to be reduced by about 30 minutes compared to the manual exchange, thereby contributing to the economical effect by shortening the exchange time.

In the past, a method of using a heavy rail exchange and a mold exchange apparatus has been mainly used, but it is expected that the import substitution effect of foreign LGVs will be great as it can replace the transportation system of the present invention.

The LGV Spec used in the present invention is as follows.

. Maximum transport speed: 700mm / s, Average travel speed: 400mm / s

. LGV stopping accuracy: ㅁ 10mm

. Path Line (floor ↔ conveyor height) 1400mm, LGV moving distance: about 70m

The specifications of the CNC machining facilities are as follows.

. Equipment Path Line: 1,400mm

. Z axis up / down height of CNC side Loader / Unloader 350mm

. CNC material replacement per 1: 2 ~ 5 times / day

The information of the delivery system application product of the present invention is shown in Table 2 and FIG.

Development scope of processing automation product function weight size Mold material Molding material for Milling M / C 2 to 3 tons WorkPiece Jig laying mold material Total: 2ton Jig Pallet Jig for positioning in Milling M / C table 1500ⅹ1200ⅹ200㎜
(AL) Milling Table Unit in Milling M / C

FIG. 8 shows a PID control configuration diagram in the transportation system of the present invention.

The controller to be applied for driving the LGV is a PID controller (proportional-integral-differential controller) as shown in FIG. 8. This control method is a typical type of control technique most commonly used in practical applications.

The PID controller basically has a form of a feedback controller and measures an output value of an object to be controlled and compares the output value with a reference value or a set point to be desired Calculates an error, and calculates a control value necessary for the control using the error value.

FIG. 9 shows the entire layout of a processing automation system for automatic processing in the present invention, and FIG. 10 is a system configuration diagram for processing automation.

 In the present invention, a processing automation system is a system for automatically processing a workpiece to be processed, which is a technique for performing all machining processes such as setting of a mold part, machining, cleaning of a workpiece,

The range of development of machining automation in the present invention is shown in Table 3 below.

 Development scope of processing automation No Development items and functions Development Details One Set mold part origin ㆍ Reference plane / hole measurement program call, automatic reference setting program 2 Start and end of machining ㆍ Automatically start, monitor, and terminate machining using JMS 3 Interworking weather measurement interface ㆍ Execute measurement program operation and pass / fail judgment using JMS

The automatic unmanned processing automation system of the present invention is a name collectively referred to as a job management system, a remote control server, and an FMS. The processing automation system includes various automatic production technology and production management by the concept of flexible automation, It is a flexible production system that combines technologies.

In addition, it has been widely applied to GT, JIT, work management system, CIM, etc. as a production method for efficient production of small quantity of various kinds of production systems which are rapidly developing.

By adopting this automated processing system, it is suitable for small quantity production plants of many kinds of products, because it has a faster labor and faster work speed and higher quality than the conventional production method.

1. Production and processing of various parts (products)

2. Reduction of manufacturing time by minimizing processing preparation time and waiting time

3. Improvement of facility utilization rate

4. Reduction of production labor cost

5. Improvement of product quality

6. Reduced process stock with small quantity processing

7. Improve production management ability by establishing comprehensive production system

Features of mass production and work management system massive production JMS Production item Only a few items Produce various products Productivity (production speed) speed Slow Capex and profitability Large investment required, advantageous in production of large quantities Need for mid-scale investment, increase profitability not only in large scale but also in middle product and weight production Flexibility of change lowness height

As shown in Table 4 above, JMS is the most suitable production method of small quantity production of various kinds which satisfies various needs of customers in a rapidly changing society and ultimately realizes customer satisfaction while simultaneously realizing product quality, manufacturing cost and delivery satisfaction at the same time .

The laser guide vehicle used in the delivery system of the present invention provides a world-class precision position control ± 10 mm technology using a laser scan induction method, and also provides a dual steering and suspension structure.

In addition, the machining automation system is a mold transferring technology in which two conveyors are mounted on an unmanned conveyance car top plate to receive a mold used by a mold exchange system and move a new mold.

Disclosed is a mold changing technique in which servo motors are mounted on a mold changing apparatus to automatically exchange work-pieces and jig pallets on a milling machine table. Disclosed is a mold changing apparatus within a replacement time of 3 minutes, a process unmanned process for the first time in the domestic mold changing apparatus, and an automated system for exchanging workpieces by four-axis precision control of a mold changing apparatus.

Also, INTERFACE to be interlocked with weather measurement data, program linkage, and work management system is disclosed.

It is essential that the integrated management system provided in the present invention can simultaneously control and manage several laser guide vehicles, and the main functions of the system are shown in Table 5 below.

Key features of integrated management system program main function Feature summary JMS OM
(HOST I / F) Host Interface Top interface program for order receipt and report of results Call Box Interface A program that directly collects call requests from the site and generates orders JMS
CLIENT Order Management Order progress, order modification, temporary order creation, etc. Playback Monitoring replay, job content, location, status Multi monitoring function Monitoring capabilities on multiple computers RCS TM
(Server) LGV setting function HOME, charging station setting, use status, management of order processing function LGV start management LGV add, delete, M / T settings LGV Group Management LGV group setting by application, such as vehicle quantity limitation by area, vehicle setting by area, etc. Facility Group Management Equipment group setting, LGV group setting by facility group, charging station setting Layout setting function Point, segment inhibition function, segment weight adjustment, etc. Shortest path search, path control Apply the optimal algorithm
Bidirectional path control, blocking processing Collision avoidance, deadlock prevention Point, Segment, Line Blocking, Set Wait Time, Apply Priority Job assignment Prioritization algorithm, SJ, DJ, MJ selection algorithm, task assignment by group Manage job schedules Manage cycles from start to finish Log function Record work history, errors, etc. Monitoring function LGV status real-time monitoring
Current position, whether it is an error, whether it is working

The major screen configuration of the task management system of the present invention is as follows.

(1) Order management

* Proximity vehicle search and MJOB, DJOB allocation LOGIC for efficient execution of JOB

- Single Job - Perform one order

- Double Job - Performs two other orders with the same Source Point or Dest Point.

- Multi Job - Performs two orders with the same Source Point and Dest Point

* JOB CHANGE LOGIC

- When the product is loaded in unmanned vehicles, it is possible to search for more efficient vehicles at any time and to perform job change.

* JOB Manual Delete function

- Ability to manually delete orders

* JOB Manual Hand Over function

- Ability to forcibly deallocate orders already assigned to vehicles

(2) Group management and history management

* It should be suitably set for efficient vehicle traffic management and efficient order fulfillment in a large space and large number of vehicles.

* Group Setting

- Create Group

- Vehicle registration in group

- Registration of equipment in Group

* Application Principle

- When the first order is created, the last group of the order is set by searching the group of the starting facility of the order and the destination facility, and the corresponding order is allocated only to the vehicles registered in the corresponding group by the information of the set group

* Provides search function for all orders that have been completed

* Search

- Period Search

- Search by Vehicle

- Search by facility

- Search for product name

* Display information

- Order reception time

- Assignment time

- Unloading Time

- Loading Time

- Final order completion time

- Perform Vehicle ID

- Whether to perform final (Complete or Delete)

11 shows an order vehicle history management program.

(1) Vehicle management

* Vehicle Setting

- Delete - Vehicle deletion (Line Out)

- revent call - order allocation limit

* Vehicle Details

- Basic information of Vehicle

- Vehicle Current location

- Battery status

- whether or not the order is carried out

- Communication status

- Alarm status

- Vehicle Mode

- Vehicle driving status

12 shows a vehicle operation management program in the transportation system of the present invention.

(2) Vehicle operation management

* Differentiated shortest distance search technique

- The existing method uses one search theory, but the remote control server uses a mixture of two theories (Daiectra, Floyd)

* Collision prediction technique

- Laser guide Vehicle predicted by other laser guide vehicle interference on the route before departure,

* Lineblocking

- Minimize inter-vehicle blocking by blocking the entry of additional laser guided vehicles if there is a laser guided vehicle in one section (line).

* Traffic adjustment

- Limit the number of laser guided vehicles that can enter certain areas.

* Area setting

- Line can be divided into several sections

13 is a perspective view showing a laser scanner used in the transportation system of the present invention. FIG. 14 is a conceptual diagram of a control layout using a laser scanner in the present invention, and FIG. 15 is a flowchart of an on-board program control according to the present invention. 16 shows an on-vehicle control program in the present invention.

In the unmanned transportation system of the present invention, the laser guide vehicle is one of the core technologies of driving the laser guide vehicle by using the laser scanner.

The above method is a method of recognizing the current coordinates in real time by using a reflector without needing to install a separate guide line (refer to FIG. 5).

In addition, it can be modified in the program without changing the route when changing or modifying the route, so it is easier to expand compared to the general guide method (magnet, induction guide, etc.).

The laser guide system is a system in which a reflector is attached to the space where the laser guide car is working, and when the laser head rotates 360 degrees, it reads the attached reflector and moves along the virtual path by measuring the position through triangulation method. Installation and maintenance are easy because there is no need to bury guide lines on the floor.

When the laser scanner can not recognize the position because it can not recognize the reflector due to the obstacle, the laser guide vehicle stops in place and generates an alarm to prepare for safety accidents.

Using the control module, the PID controller can be used to recognize the position, and precise position control within 10mm is possible.

Fig. 17 shows the function of the laser sensor detection area in the present invention, and Fig. 18 shows the safety laser sensor.

In order to control the automatic guided vehicle provided by the present invention, a virtual path is set using the layout builder of the on-board control program shown in Fig.

The present invention is a safety measure for a laser guide vehicle, in which a range laser sensor capable of detecting a region as shown in FIG. 18 below is used in preparation for collision with an obstacle or a person in the vicinity of the laser guide vehicle.

The range laser sensor is a laser sensor capable of detecting obstacles per designated area. The maximum detection distance is 4 m. In the detection area, field 3 generates a warning alarm sound, Field 2 designates a deceleration section, , It is possible to prevent collision with surrounding obstacles and people, and it is possible to set each field detection distance to fit the moving place.

Specification of laser sensor Response time Typ 134ms Detectable object shape Almost any Systematic error ± 40mm Statistical error ± 30mm Integrated application Field evaluation Number of field sets 16 field triples Simultaneous processing cases 1 (3 fields)

Further, according to the present invention, in the absence of the "Ok" signal in all the safety sensors, the laser guide vehicle is prevented from operating so as to ensure safety.

Fig. 19 is a conceptual diagram for solving the sudden projecting of the laser guide vehicle in the present invention. Fig.

In the present invention, it is a matter of course that measures to prevent runaway of the laser guide vehicle and safety measures against human life are required.

That is, when a disturbance signal occurs in various environmental changes, a compensator circuit capable of compensating the control signal is added as shown in FIG. 19 to constitute a system capable of suppressing and eliminating noise signals such as disturbance. In order to prevent the laser guide vehicle, countermeasures for each part are set up as shown in Table 7 below, and a redundant system is applied to prevent the runaway of the laser guide vehicle.

Partial measures to prevent sudden emergencies Item Contents Main PC IO board communication check whether it is normal Encoder FeedBack check with control program Motion card Check the highest speed in the driver epicycle Block CP inverter A separate physical sensing system motor A separate physical sensing system

This will be described in more detail as follows.

First, the running speed command in the controller is compared with the actual running speed in the inverter to shut off the traveling motor MC in the abnormal state. The inverter has a speed error output shutdown function.

Second, a signal converter is installed to shut down the MC when a controller error occurs or the laser sensor of the laser guide vehicle leaves the laser sensor before the driving input data of the laser sensor is sent to the controller.

Third, in case of an input error, the controller displays MC cutoff and alarm for more than the default value.

Fourth, verify the safety system by obtaining CE or S-Mark.

20 shows the configuration of a redundant safety system according to the present invention.

The redundant safety system of the present invention is a completely independent detection system composed of two standby controllers which are the same as the main controller, so that the standby controller always monitors the main controller using communication.

When an abnormal condition occurs in the signal such as the control signal of the main controller, the main controller is immediately shut off and the standby controller (mirroring controller) constitutes a system to replace the main controller.

Fig. 21 is a conceptual diagram of a safety bumper in the present invention.

The present invention also builds an independent monitoring system.

In order to prevent congestion of the laser guide vehicle, important parts are monitored using communication basically as shown in FIG.

It is basically configured to monitor the IO board by using communication with the main controller and to block all outputs when the main controller does not give normal data or communication is not performed for a predetermined time.

Fig. 22 is a safety diagram of the present invention, and Fig. 23 is a safety hardware diagram.

The present invention also builds a mirroring controller.

A separate mirroring controller is constructed as shown in FIG. 22 below to monitor the correlation between the control signal and the encoder, and the congestion emergency stop scenario is executed when the opposite result occurs between the two signals.

In addition, in the present invention, when the main control signal is interfered with in various environments, a drive power supply magnet is blocked as a safety device in the inverter of the motor controller, and the system is configured to operate the electromagnetic brake.

That is: - Sudden Emergency Stop System (Sequence Error Check)

- Application of internal microprocessor monitoring system

- Current limit when motor generates heat

- Noise reduction system for high switching frequency for current amplification

- Stopping the car when various errors occur

- Safe power off

- Self memory monitoring

- Motor current monitoring

In addition, by using a physical bumper made of a sponge material as shown in FIG. 21, when the robot comes into contact with a person or an object, it immediately stops to prevent damage to the human body, damage to the laser guide vehicle, and prevention of a safety accident. An alarm device such as a warning light or an emergency stop switch should be operated so that a safety accident can be prepared in advance.

The bumper is installed at a distance of 1Ea in front and rear of the laser guide vehicle, and stops the output of the laser guide vehicle until the vehicle is physically released when the bumper is pressed (operation of the laser guide vehicle after Err reset switch operation after Err release).

Forced operation is also possible in the bumper depressed state, so that forced operation is possible when the emergency switch and operation switch of the manual control unit are operated simultaneously.

Specification of safety bumper Rated voltage Rated current Between electrodes
Insulation Resistance Withstand voltage between electrodes Operating temperature range Operating pressure 24VDC% ± 10% 0.3 (A) > 100MΩ (500VDC) 250 VDC for 1 minute -20 ° C to 50 ° C 5 to 30 (N)

In addition, the present invention is equipped with a total of 4EA emergency stop switches and 1EA front / rear laser escape sensors in each corner of the laser guide vehicle, totaling 2EA laser safety sensors.

FIG. 24 illustrates a case where a rear camera and a monitor are mounted on a transportation system in the present invention.

A safety camera is mounted on the front and rear to observe the running condition of the vehicle in real time so that the operator can manually operate the laser guide vehicle and monitor the front and rear without any blind spot during driving.

On the other hand, four outriggers are installed on the lower part of the vehicle in order to prevent the body from flowing when the high-loaded core is transferred to the upper part of the vehicle, thereby minimizing the influence of the ground.

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 or scope of the inventions. It will be clear to those who have knowledge of.

1: Job Management System (JMS)
2: Remote Control Server (RCC)
3: Integrated Management Systems (IMS)
4: Process automation system (PAS)
5: Transport systems (TS)

Claims (5)

A work management system for integrally managing transfer of processing data, priority assignment, meteorological measurement, and processing status monitoring; A mold exchange apparatus, and a remote control server for controlling and managing the laser guide vehicle (preventing deviation of path and moving to designated equipment);
Workpiece reference plane / hole measurement program call, automatic tool setting of the mold part to perform the reference setting program, utilization of work management system, start and end of machining start and end of automatic execution, use of work management system, automatic execution of measurement program And a meteorological measurement for determining a pass / fail;
Transport systems include:
The conveying system includes:
A mold changing device for automatically moving a mold by automatically loading and unloading a workpiece and a jig pallet on a milling machine table by driving installed servo motors after receiving the machining completion information;
Two conveyors are mounted on the top plate of the unmanned conveying car, and the heavy-duty mold parts instructed by the above-mentioned work management system are transferred from the storage to the processing equipment, and the parts in the equipment are transferred to the unmanned conveying car. A laser guide vehicle having a 1-cycle changer, an independent detection system, and a mirroring controller,
The laser guide vehicle is equipped with a standby controller that is the same as the main controller for preventing congestion and monitors the main controller through communication so that the standby controller can replace the main controller in case of an abnormal signal.
A compensator capable of compensating the control signal of the controller is added when a disturbance signal is generated and the inverter is provided with a speed abnormality output blocking circuit for comparing the speed control signal of the controller with the actual running speed of the inverter, Wherein the control unit controls the operation of the automatic unmanned metalworking machine.
delete delete delete delete

Images