KR20000073642A - An auto-cutting apparatus and method thereof - Google Patents

Abstract

PURPOSE: An automatic cutting apparatus and cutting method are provided to improve cutting accuracy and cutting efficiency by determining the optimum cutting position after measuring a position of a shaped steel material accurately and also to prevent a laser displacement sensor sensitive to the exterior environment from breaking erroneously by fume and spatter generated upon cutting by allowing the sensitive laser sensor to be hold in a sensor hold box upon cutting. CONSTITUTION: In an automatic cutting apparatus and cutting method, the cutting apparatus comprises a robot arm(7) linked to a manipulator(6) moving in cartesian co-ordinate system; a laser displacement sensor(110) mounted on one side of the robot arm(7), which measures a distance from the shaped steel material(2) by using a laser light(110a) as an information media and outputs the result of measurement in real time; a robot control unit(9) for controlling the robot arm(7) through the manipulator(6) in response to the output signal from the laser displacement sensor(110) and a cutting program previously input; a torch cutting member(10) for cutting the shaped steel material(2) by using the flame generated from a torch(10b) mounted on a front side of the robot arm(7) by means of a torch control module(10a) connected to the robot control unit(9) via an interface; and a sensor hold box(120) for isolating light incidence surface and light emission surface of the laser displacement sensor(110) from the exterior in response to control from the control unit(9) based on the operation state of the torch cutting member(10).

Description

Automatic cutting apparatus and method for cutting the same

The present invention relates to an automatic cutting device and a cutting method thereof, and more particularly, to determine an optimal cutting position after accurately measuring the position of the cutting member using a laser beam as an information medium, It protects the equipment from spatter so that the improvement of cutting accuracy and cutting efficiency is achieved.

As is well known, in the process of manufacturing and manufacturing a large structure made of steel, such as building a ship in a shipyard, cutting and welding various steel materials is performed several times. In this large-scale building, a large number of sections having various specifications are used. The cutting of these sections is mainly implemented by an automated system to increase work productivity.

1 is a conceptual diagram showing the configuration of a general shaped steel cutting system.

In such a steel material cutting system, a cutting member such as the steel material 2 is placed on the conveyor 3 by a crane or the like provided in the stacking device 1, and the conveying device 4 is placed on the conveyor 3. When the shape steel 2 is charged into a predetermined working space, the cutting device 5 automatically cuts the shape steel 2 to a corresponding size according to a previously input cutting program.

2 is a configuration diagram showing a representative example of a cutting device according to the prior art, a case where an industrial robot is applied.

As shown in the drawing, a conventional cutting device includes a robot arm 7 linked to a manipulator 6 moving in a rectangular coordinate system, and is mounted on one side of the robot arm 7 at a predetermined distance from the shape steel 2. An optical sensor 8 opened / shorted by the robot, a robot controller 9 for controlling the robot arm 7 through the manipulator 6 according to an output signal of the optical sensor 8 and a cutting program inputted thereto; The torch control module 10a connected to the robot control unit 9 interfaces with the flammable gas such as acetylene and pure oxygen to form a flame formed by the torch 10b provided on the approximately side of the robot arm 7. It consists of the torch cut | disconnected part 10 which cuts the steel material 2.

In the figure, reference numeral 8a denotes an analog / digital converter that digitizes the analog output signal of the optical sensor 8 and outputs it to the robot controller 9.

In such a conventional cutting device, the manipulator 6, which first moves in a rectangular coordinate system, moves left and right, back and forth by a cutting program previously inputted to the robot control unit 9, and the robot arm 7 is linked to the shaped steel material (2). ) Is stopped at a predetermined position on the upper side.

Thereafter, the manipulator 6 and the robot arm 7 move up and down to space the torch 10b of the torch cutout 10 and the shaped steel 2 at a predetermined distance, and the robot control unit 9 is formed of the shaped steel. The vertical movement coordinates of the manipulator 6 are determined and controlled based on the output signal of the optical sensor 8 opened / shorted by the predetermined separation distance from (2).

When the torch 10b is stopped at a predetermined coordinate for cutting operation, the torch control module 10a, which receives this state from the robot controller 9 through the interface, mixes and adjusts flammable gas such as acetylene and pure oxygen at an appropriate ratio. To make a flame in the torch 10b, and the manipulator 6 and the robot arm 7 move left and right, back and forth by the cutting program. Is cut.

In the above-described automatic cutting device according to the related art, the torch 10b is positioned at a predetermined distance from the shaped steel 2 by the action of the limit switch of the optical sensor 8, and then the torch having a flame generated thereafter. It can be seen that the shape steel 2 is cut while the 10b is horizontally moved.

However, intermittent deformation of the shaped steel material occurs in the manufacturing process and plate loading process of the steel material, in this case there is a problem that not only the cutting degree is lowered but also the torch and the steel material may collide.

In addition, in the cutting operation, electronic equipment such as an optical sensor is frequently damaged by fumes and spatter generated due to gas or plasma used as a cutting medium, especially when the spatter is adsorbed on the light emitting surface of the optical sensor. As the refractive index of the light emitting surface is lowered and the separation distance between the torch and the shaped steel is changed, there is a problem in that the cutting degree is significantly lowered.

The present invention has been proposed to solve the problems of the prior art as described above, the object of which is to determine the optimum cutting position after accurately measuring the position of the cutting member using a laser beam as an information medium, Sensitive equipment is to provide automatic cutting device that is mounted on the protective body to prevent the damage caused by the fume and spatter generated in the cutting operation to improve the cutting accuracy.

In addition, another object of the present invention is to improve the cutting efficiency by providing an optimal cutting method for the automatic cutting device.

1 is a conceptual diagram showing the configuration of a general shaped steel cutting system.

Figure 2 is a block diagram showing a representative example of the automatic cutting device according to the prior art.

3 is a block diagram of an automatic cutting device according to the present invention.

4 is an enlarged partial cutaway perspective view showing an important part of FIG. 3.

5 is a flowchart illustrating a cutting method of the automatic cutting device according to the present invention.

6 and 7 is a state diagram for explaining the working process of the automatic cutting device according to the present invention.

Explanation of symbols on the main parts of the drawings

1: Stacking device 2: section steel

3: conveyor 4: transfer device

5: cutting device 6: manipulator

7: robot arm 8: optical sensor

9: robot control unit 10: torch cutting unit

10a: torch control module 10b: torch

110: laser displacement sensor 110a: laser light

120: sensor mounting box 121: housing

122: shielding door 122a: locking jaw

122b: Folding shaft 123: Door drive unit

123a: Solenoid 123b: Cylinder Pin

123c: Air Cylinder

Automatic cutting device according to an aspect of the present invention for achieving the above object, the moving object to move in a rectangular coordinate system, a distance measuring unit for measuring the separation distance to the cutting member mounted on one side of the moving body, the distance In the automatic cutting device having a control unit for controlling the movement of the moving body according to the measurement result of the measuring unit and a pre-programmed program, and a torch cutting unit for cutting the to-be-cut member with a flame made from a torch installed on the tip of the moving body. :

The distance measuring unit is a laser displacement sensor measuring the separation distance using a laser beam as an information medium and outputting the measurement result in real time;

And a protector for shielding at least the light emitting surface and the light receiving surface of the laser displacement sensor from the outside under the control of the control unit due to the operation state of the torch cutting unit.

Preferably, the protector has an opening on at least one side, and the light exit surface and the light entrance surface mount the laser displacement sensor to correspond to the opening surface, and the opening surface can be opened / closed in the housing. A shielded door installed and a door driver for operating the shielded door under the control of the controller.

Optionally, the door driver includes a solenoid controlled by the control unit and magnetized, and an air cylinder in which cylinder pins enter and exit from the inside of the housing according to whether the solenoid is magnetized; A latching jaw is formed at one end of the shielding door, and a tension member is disposed between the housing and the shielding door; The shielding door is opened by the projecting force of the cylinder pin to the outside of the housing, and the shielding door is closed by the tensile force of the tension member.

In addition, the cutting method of the automatic cutting device provided according to another aspect of the present invention, the moving body moving in a rectangular coordinate system, and a distance measuring unit for measuring the separation distance mounted on one side of the moving body and the member to be cut, and An automatic cutting device including a control unit for controlling the movement of the movable body according to a measurement result of a distance measuring unit and a pre-programmed program, and a torch cutting unit for cutting the to-be-cut member with a flame made from a torch installed at an approximately end of the movable body. In:

Moving the movable body to a cutting operation position and placing the movable body at a predetermined height on the cutting member;

Measuring both edge positions and the separation distance of the to-be-cut member using the distance measuring unit while the movable body moves left and right;

Calculating a movement trajectory for maintaining the predetermined height when the movable body moves left and right using the measured position information and the distance information;

And cutting and processing the cut member to a predetermined size using the torch while moving the movable body from side to side according to the calculated movement trajectory.

Preferably, before cutting and processing the to-be-cut member, the distance measuring unit and the torch are shielded with a protective member to shield and protect the distance measuring unit from fumes and spatters generated during the cutting and processing. It further comprises the step.

In this way, the cutting position and cutting efficiency are improved by accurately measuring the position of the member to be cut through the laser displacement sensor and determining the optimum cutting position.In the case of cutting, the laser displacement sensor is attached to the protective body to cut the cutting work. The contamination of the laser displacement sensor caused by the fume and spatter generated from is prevented.

There may be a plurality of embodiments of the present invention. Hereinafter, the most preferred embodiment will be described in detail with reference to the accompanying drawings.

This preferred embodiment allows for a better understanding of the objects, features and advantages of the present invention.

Incidentally, in the exemplary drawings of the present invention, the same components as in the prior art may be denoted by the same reference numerals and may not be described.

3 is a configuration diagram of an automatic cutting device according to the present invention, Figure 4 is a partial cutaway perspective view showing an enlarged important part of FIG.

As shown therein, the cutting device of the present invention has a robot arm 7 linked to a manipulator 6 moving in a rectangular coordinate system, and is mounted on one side of the robot arm 7 and exits to the light exit surface to enter the light incident surface. The laser displacement sensor 110 measures the separation distance from the shaped steel 2 using the laser light 110a as an information medium, and outputs the measurement result in real time, and the output signal and the signal of the laser displacement sensor 110. Flammability of acetylene and the like by the robot control unit 9 which controls the robot arm 7 through the manipulator 6 according to the input cutting program, and the torch control module 10a connected to the robot control unit 9 by an interface. The torch cutout part 10 which cuts the shape steel material 2 with the flame made from the torch 10b installed in the ship arm of the robot arm 7 by mixing and regulating gas and pure oxygen, and the operation state of this torch cutout part 10. Control of the robot controller 9 caused by La consists of the outgoing light surface and the light incidence surface of the laser displacement sensor 110 to the outside and the sensor mounting box 120 for shielding.

The sensor mounting box 120 has an opening surface at one side, and the housing 121 for mounting the laser displacement sensor 110 to the light exit surface and the light entrance surface corresponding to the opening surface, and the opening surface can be opened / closed. The shielding door 122 is attached to the housing 121 and has a locking door 122 formed at one end thereof to limit the protruding distance of the late cylinder pin 123b, and the shielding door according to the control of the robot controller 9. A tension spring which is installed between the door driving unit 123 operating the 122 and the housing 121 and the shielding door 122 to rotate and close the shielding door 122 about the folding shaft 122b by a tension force to close the tension spring. (Not shown).

The door driver 123 is a solenoid 123a magnetized under the control of the robot controller 9 and an air cylinder 123c in which the cylinder pin 123b protrudes outside depending on whether the solenoid 123a is magnetized. The shielding door 122 is installed inside the housing 121 so as to be open / closed in association with the entrance and exit from the inside of the housing 121 of the cylinder pin 123b.

Hereinafter, a process of cutting a cutting member such as a shaped steel by the flow chart of the present invention shown in Figure 5 is configured as described above is as follows.

First, when the shape steel material 2 is loaded by the transfer device 4 and loaded into the cutting device 5, the manipulator 6 moving in the rectangular coordinate system moves under the control of the robot control unit 9. The mobile chain robot arm 7 is moved to the cutting operation position above the shaped steel 2. At this time, the initial state of the sensor mounting box 120, which is a protective body mounted with a distance measuring unit such as the laser displacement sensor 110, the cylinder pin 123b of the air cylinder 123c of the door driving unit 123 of the housing 121 The shielding door 122 is opened at a predetermined opening angle while being limited to the maximum protruding distance by being caught by the locking projection 122a while protruding to the outside.

Then, the laser displacement sensor 110 mounted on one side of the robot arm 7 with a sieve attached to the sensor mounting box 120 is emitted from its light exit surface and then reflected by the shape steel 2 to enter the light incident surface The laser beam 110a is used as an information medium to measure a distance from the shape steel 2 and output the measurement result in real time (S101).

Then, the robot controller 9 which receives the measurement result of the laser displacement sensor 110 through the analog-to-digital converter 8a moves the manipulator 6 until the robot arm 7 is positioned at a predetermined target height. Feedback control. That is, as shown in FIG. 6, if the separation distance with the shaped steel 2 measured by the laser displacement sensor 110 at the position (a) is lower than the preset target height (separation distance), the position is raised to the position (b), If the separation distance from the shaped steel material 2 measured by the laser displacement sensor 110 at the position (a) is higher than the predetermined target height, it is lowered to the position (c) (S102 to S103).

Subsequently, as shown in FIG. 7A, the robot arm 7 and the torch 10b installed on the approximately line side of the robot arm 7 move to the right under the control of the robot control unit 9 and the laser displacement sensor ( 110 continuously measures the separation distance from the shaped steel (2), the robot control unit 9 is a laser displacement sensor 110, the distance measured by the laser displacement sensor 110 does not deviate significantly from the predetermined target height is near to infinity The position considering the distance between the displacement sensor 110 and the torch 10b is determined as the right edge of the shaped steel 2, and the position and the separation distance are stored together in the memory (not shown) (S104). S105).

Next, as shown in FIG. 7B, the torch 10b moves to the left side under the control of the robot control unit 9, and the position and the separation distance of the left edge of the torch 10b are moved by the same principle as the moving to the right side described above. They are stored together in a memory (not shown) (S106 to S107).

Then, the robot controller 9 calculates the inclination of the cut surface of the shaped steel 2 using both edge position information and the separation distance information stored in the memory, and in view of this, the robot arm 7 is formed on the shaped steel 2. The movement trajectory which can maintain a predetermined target height when exercising left and right is calculated (S108).

Subsequently, when the solenoid 123a of the door driver 123 is magnetized and the cylinder pin 123b is raised into the air cylinder 123c under the control of the robot controller 9, the housing 121 and the shielding door 122 The shielding door 122 is rotated about the folding shaft 122b by the tension force of the tension member such as a tension spring (not shown) placed between and to close the open surface of the housing 121. That is, between the light exit surface and the light incident surface of the laser displacement sensor 110 and the torch 10a is shielded by the shielding door 122 (S109).

Next, according to the control of the robot controller 9, the manipulator 6 moves with the movement trajectory calculated in step S108, and the torch control module 10a is provided in the torch 10b installed on the side of the robot arm 7 linked thereto. A flame is produced under the control of a), and the shaped steel material 2 is cut and processed to a predetermined size by the flame (S110).

At this time, fumes and spatters are generated due to the gas or plasma used as the cutting medium during the cutting of the shaped steel 2, but the laser displacement sensor 110 is shielded from the outside by the sensor mounting box 120. And it is not adversely affected by the spatter.

As described above, the present invention, after accurately measuring the position of the shaped steel material through the laser displacement sensor to determine the optimum cutting position improves the cutting accuracy and cutting efficiency, the laser displacement sensor sensitive to external influences during the cutting operation It is mounted on the sensor mounting box, there is an effect to prevent the fouling by the fume and spatter generated in the cutting operation.

Claims (5)

A moving object moving in a rectangular coordinate system, a distance measuring part mounted on one side of the moving object and measuring a separation distance from the to-be-cut member, and controlling the movement of the moving object according to a measurement result and a pre-programmed distance measuring part. In the automatic cutting device having a control unit, and a torch cutting unit for cutting the cutting member with a flame made from a torch installed at the distal end of the movable body: The distance measuring unit is a laser displacement sensor measuring the separation distance using a laser beam as an information medium and outputting the measurement result in real time; And a protector for shielding at least the light-emitting surface and the light-incident surface of the laser displacement sensor and the torch under the control of the control unit due to the operation of the torch cutting unit. The method of claim 1, The protector has an opening on at least one side, and the light exiting surface and the light receiving surface mount the laser displacement sensor corresponding to the opening surface, and a shielding door attached to the housing to open / close the opening surface. And a door driving part for operating the shielding door under the control of the controller. The method of claim 2, The door driving unit includes a solenoid controlled by the control unit and magnetized, and an air cylinder in which cylinder pins enter and exit from the inside of the housing according to whether the solenoid is magnetized; A latching jaw is formed at one end of the shielding door, and a tension member is disposed between the housing and the shielding door; And the shielding door is opened by the projecting force of the cylinder pin to the outside of the housing, and the shielding door is closed by the tension force of the tension member. A moving object moving in a rectangular coordinate system, a distance measuring part mounted on one side of the moving object and measuring a separation distance from the to-be-cut member, and controlling the movement of the moving object according to a measurement result and a pre-programmed distance measuring part. In the automatic cutting device having a control unit, and a torch cutting unit for cutting the cutting member with a flame made from a torch installed at the distal end of the movable body: Moving the movable body to a cutting operation position and placing the movable body at a predetermined height on the cutting member; Measuring both edge positions and the separation distance of the to-be-cut member using the distance measuring unit while the movable body moves left and right; Calculating a movement trajectory for maintaining the predetermined height when the movable body moves left and right using the measured position information and the distance information; And cutting and processing the to-be-cut member to a predetermined size using the torch while moving the movable body from side to side in accordance with the calculated movement trajectory. The method of claim 4, wherein Shielding and protecting the distance measuring part from the fume and spatter generated during the cutting and processing by shielding between the distance measuring part and the torch before cutting and processing the cut member. Including automatic cutting method.