KR20040064047A - System for surface measurement and grinding of propeller blade - Google Patents

Abstract

PURPOSE: An apparatus for measuring and driving a surface of a propeller blade is provided to perform rapidly a surface measurement process and a grinding process of the propeller blade by using a plurality of robots and a plurality of sensors. CONSTITUTION: A central management system(10) stores propeller CAD data and options and performs the propeller production management. A rotation unit(50) shifts a position of a propeller. A non-contact type surface measurement unit measures a surface of a propeller blade loaded at the rotation unit. A grinder(34) is used for grinding the propeller blade. An injector(33) is used for injecting the flat paint into the surface of the propeller blade. A plurality of gentry type traveling units(31) are moved to the X-Y direction. A plurality of robot systems(30) are installed at the gentry type traveling units in order to operate the measuring process and the grinding process. A user interface(21) is used for providing the propeller CAD data and the options of the central management system, the surface measurement data of the propeller, and operation functions for a worker. A central control system(20) controls each component by using the propeller CAD data and the options of the central management system.

Description

System for surface measurement and grinding of propeller blade}

The present invention relates to a device for surface measurement and grinding of a propeller blade, and more particularly, a plurality of dies moving by attaching a visual device for measuring a surface of a propeller blade and a grinding device for grinding work to a gantry traveling device. The present invention relates to a surface measurement and grinding device of a propeller blade, which is capable of automatically performing surface measurement and grinding operations of a propeller blade by interchangeably mounting the end-effectors of robotic joints.

In the conventional method of measuring and grinding the surface of a propeller blade, a worker makes a grid at a predetermined interval on a blade casting surface, and measures the height of the blade surface using a contact probe and design it. After the grinding depth is determined, manual grinding is performed over a long period of time, and rough grinding is first performed by the NC machining equipment using the CAD information of the propeller blade. Create grids according to the pattern direction or at regular intervals, measure the depth of the blade surface at each point of the grid using a contact probe, compare it with the design shape, determine the grinding depth, and then precisely grind for a long time. The way to do it is the majority.

Recently, a device for attaching a grinder to heavy equipment and grinding it by a semi-automatic manipulator has been sold. In addition, a method of automatically generating grinding using a robot after generating a trajectory using blade surface information measured by a contact probe has been studied.

As described above, in the case of blade surface measurement using a contact probe that is generally used, the position measuring accuracy of the contact point is excellent, but it is impossible to measure all the points of the large blade surface such as a ship propeller. Therefore, by restoring the blade shape by using only the measurement information on the grid pattern having a certain pattern direction or a certain spacing of the blade surface, there is a disadvantage that evenly measuring and restoring the entire blade surface cannot be performed.

In addition, when the operator performs propeller grinding for a long time by using the measurement information of the blade surface measured manually for a long time, uneven grinding quality, deterioration of the work efficiency of the worker due to simple repetitive work and occurrence during the grinding work Due to problems such as the possibility of injury to the human body due to dust, there is a problem that acts as a cause of the decrease in production efficiency, such as the securing of the grinding work force.

Therefore, it is a system that can efficiently carry out propeller grinding operations in the shipbuilding / defense industry, where large scale or precise propellers such as large ships or submersibles are required. Technology research is being actively promoted.

The technical problems to be solved in the propeller grinding technique include measurement technology that can accurately and quickly measure the surface of a large propeller blade surface, trajectory generation and grinding technology for automatic propeller grinding, shape measurement and high rigid grinding work. There is a need for a design technology of an apparatus that can be automatically performed.

In the technical field of the blade surface measurement and grinding device for propeller grinding as described above, in the case of the propeller blade surface measurement, the technique that has been conventionally used, the surface measurement technology using the contact measuring device by the manual operation is mainly performed. In recent years, a method of performing a scanning operation manually by a human using a laser scanner or by attaching a laser sensor to a robot has been studied.

However, the surface measuring method by the contact measuring device is excellent in the position measurement degree to the measuring point, but difficult to measure the propeller front, there is a problem that a long measurement time is required. In addition, the surface measurement method using the laser scanner has the advantage that the measurement time can be shorter than the contact type because the position information placed on the line can be precisely measured at a time compared to the method using the contact measuring device. In the case of metal objects such as propellers, there is a possibility of measurement error due to the refraction and reflection of the laser line. The measurement area is narrow, and the measurement restoration time of the blade surface takes a long time.

On the other hand, after the blade surface measurement is completed, the grinding operation is performed using the measured surface measurement information. The conventional techniques have been used by the operator to manually hold the grinder, and grinders such as NC and heavy equipment grinders. Therefore, the method of completing the final grinding work by the operator after the first grinding is most commonly used. In recent years, the introduction and development of automatic grinding devices using robots have been actively promoted for the purpose of unmanned grinding.

However, the most commonly used manual grinding method by the operator has the advantage that it is possible to perform fine grinding work using only inexpensive labor force without any special operation device except the surface measuring device, but it has long production period, uneven grinding quality and There are disadvantages such as the possibility of injury to the human body by the worker. In addition, after roughly performing primary grinding by using an NC or grinder with heavy equipment, the area where the grinding operation such as NC cannot be performed by grinding and surface measurement is performed. The method of finishing by manual grinding has the advantage that the grinding period is shorter than the manual grinding method, but the production period is still long, the grinding quality is uneven, and the worker is caused by dust because most of the grinding period is dependent on manual grinding by the worker. Has the same drawbacks as potential harm to humans.

On the other hand, in the case of the automatic grinding method using a robot that has been actively promoted in recent years, research is being actively conducted with the goal of unmanned automatic blade surface measurement and grinding operation by the robot. However, in terms of control and device technology, and how non-contact sensors such as laser sensors can be used to study how effectively robots can perform grinding operations using surface measurement information and trajectory information using pre-input contact probes. There is a separate field of research on technology for performing surface measurement, which can compensate for the shortcomings of the non-contact surface measuring device, and to shorten the time required when the robot grinds a large propeller. It is required to devise a design and operation technology of a device that can simultaneously perform surface measurement and grinding operations.

Accordingly, an object of the present invention is to provide a surface measuring and grinding device of the propeller blade that can be quickly measured by a non-contact method by using a plurality of surface measuring sensor unit and the image processing PC to measure the surface of the propeller blade. have.

Another object of the present invention to provide a surface measuring and grinding device of the propeller blade to reduce the grinding time of the propeller blade by the grinding method using multiple robots.

Another object of the present invention is to replace the non-contact surface measuring unit, the grinder unit and the matte liquid injector unit in the end effector of the robot surface measurement and grinding device of the propeller blade to automatically perform the surface measurement and grinding operations by the robot To provide.

In order to achieve the above objects, the surface measurement and grinding device of the propeller blade according to the present invention includes a central management system for performing propeller production management and overall propeller production management, including propeller CAD information and product specifications, and primary grinding operation. Rotor unit for performing the position conversion of the propeller during the grinding operation of the propeller after the casting step without the completed propeller or grinding operation, Non-contact surface measuring unit for performing the surface measurement of the propeller blade located in the rotary unit, and the rotary device A grinder unit for grinding the propeller blades located in the unit, a matte liquid injector unit for spraying a matte liquid to prevent surface reflection of the propeller blades during the surface measurement operation of the propeller blades by the non-contact surface measuring unit, and an XY direction Multiple gantry-type tracks Surface measurement and grinding operation is performed by operating the non-contact surface measuring unit, grinder unit, or matte liquid injector unit mounted on the robot end effector according to the surface measurement and grinding operation procedure of the propeller blade mounted on the tooth part and the gantry traveling device. A plurality of robot system units to perform, propeller CAD information and product specifications provided from the central management system unit, a user interface unit providing surface measurement information and operator operation functions of the propeller blades, and a propeller from the central management system unit; The central control unit is provided to download the CAD information and product specifications, and to control the components to sequentially perform the surface measurement and grinding operation of the propeller blade using the same.

1 is a block diagram showing a first embodiment of a surface measuring and grinding device of a propeller blade according to the present invention.

Figure 2 is a block diagram showing a second embodiment of the surface measuring and grinding device of the propeller blade according to the present invention.

Explanation of symbols on the main parts of the drawings

10: central management system unit 20: central control unit

21: user interface unit 30: robot system unit

31: Gantry type traveling device part 32: Tool changer part

33: Matte liquid injector part 34: Grinder part

40: PC for image processing 41: surface measurement sensor unit

50: rotation device 60: transparent shielding device

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

1 is a block diagram showing a first embodiment of the surface measuring and grinding device of the propeller blade according to the present invention.

Referring to Figure 1, the surface measurement and grinding device (1) of the propeller blade (Propeller Blade) according to the present invention, the propeller (Propeller) CAD (Computer-Aided Design) information and product specifications, such as storage and overall propeller Central management system unit 10 to perform production management, and the rotation device unit 50 to perform the position conversion of the propeller during the grinding operation of the propeller after the first grinding (Grinding) is completed or the propeller after the casting step without grinding work And, the non-contact surface measuring unit 40, 41 for performing the surface measurement of the propeller blades (Blade) located in the rotary unit 50, and the grinder unit for performing grinding of the propeller blades located in the rotary unit 50 (34), and a matte liquid injector (33) for injecting a matte liquid for preventing the surface reflection of the propeller blades during the surface measurement operation of the propeller blades by the non-contact surface measuring section (40) (41), The robot end effector is mounted on a plurality of gantry traveling devices 31 capable of traveling in the XY direction and the gantry traveling devices 31 according to the surface measurement and grinding operation procedures of the propeller blades. A plurality of robot system units 30 for operating the non-contact surface measuring unit 40 (41), the grinder unit 34, or the matte liquid injector unit 33 mounted on the surface unit to perform surface measurement and grinding operations; A tool changer 32 for replacing and replacing the non-contact surface measuring unit 40, 41, grinder 34, and matte liquid injector 33 with the robot end effector of the robot system 30, and a central management system. Propeller CAD information and product specifications provided from the unit 10, the user interface unit 21 for providing surface measurement information and operator operation functions of the propeller blades, and the propeller CAD information and product specifications from the central management system unit 10. Download the back This surface is measured and the grinding operation of the propeller blade comprises a central controller unit (20) for controlling the configuration to proceed in sequence with.

The user interface unit 21 allows the operator who manages the surface measurement and grinding operations of the propeller blades to perform operations and monitoring (Monitering) of the entire configuration. More specifically, the operator performs a process order setting and monitoring operation for surface measurement and grinding of the propeller blades through a graphical user interface (GUI) through a monitor screen, and a plurality of non-contact surface measuring units 40 It is possible to remotely operate and to monitor the surface measurement information and the restored shape information measured by the non-contact surface measuring unit 40 (41). In addition, the operation of the plurality of robot system unit 30 and the monitoring operation status of the robot operation and the monitoring and transmission of the CAD information and product specifications, etc. by the connection with the central management system unit 10 is performed.

The central control unit 20 is a device for central control of the propeller blade surface measurement and grinding operation in accordance with the process order, peripheral devices necessary for the process, that is, the rotary device unit 50, the tool changer 32, the matte liquid injection The operation of restoring the surface measurement shape of the propeller blade is performed using the control of the base 33 and the like and the measurement information obtained from the plurality of non-contact surface measuring units 40 and 41.

In addition, the central control unit 20 measures the grinding depth by comparing the CAD design shape information of the propeller downloaded from the central management system unit 10, and generates the on-line trajectory information of the robot to the robot system unit ( 30) to carry out the function. Then, the reading and storing of the propeller blade measurement information and CAD information is performed.

The non-contact surface measuring unit 40 (41) for measuring the surface of the propeller blade is classified into two types. Type 41 and the image processing PC 40, and secondly, the surface measurement sensor unit 41 and the image processing unit integrally composed of a laser device for projecting the laser slit on the surface of the blade and the image acquisition camera PC 40 is divided into types. The image processing PC 40 performs three-dimensional shape measurement of the propeller blade surface.

The non-contact surface measuring unit 40, 41 has at least two or more surface measuring sensor units 41 connected to one image processing PC 40, and is mounted on the end effector of the robot, Perform surface measurement.

The grinder part 34 for grinding the propeller blade is made of a structure that can be mounted on the end effector of the robot, and is connected to the robot system part 30 to be operated on / off.

The matte liquid injector 33 sprays the matte liquid used to prevent the model pattern projected from the surface measuring sensor 41 from being distorted by blade surface reflection or the like to the propeller blades.

The tool changer 32 includes a matt liquid injector 33, a surface measuring sensor 41, and a grinder 34 by means of a control logic of the central control unit 20. Replace it on.

The robot system unit 30 is composed of two or more articulated robots to improve the work efficiency, and is attached to two or more gantry-type traveling device units 31 capable of traveling in the XY direction to measure the surface of the propeller blades. And grinding operations. If the number of propeller blades is small or the propeller blades are small, the work may be performed after only one articulated robot is mounted on one gantry traveling unit 31.

The plurality of robots are reversely attached to the gantry traveling device 31 in a posture facing the propeller placed on the rotating device 50 so as to take one propeller blade per robot and perform surface measurement and grinding operations. In this case, in order to avoid collision between robots, a robot performing work toward the concentric circle from the outside of the blade and a robot performing the work from the inside of the concentric circle of the propeller blade to the outside of the blade simultaneously perform the work.

When the work on the blade by the robot system unit 30 is completed, the rotating device unit 50 performs a position switching operation so that the raw blade is placed in the robot work area under the control of the central control unit 20. .

Figure 2 is a block diagram showing a second embodiment of the surface measuring and grinding device of the propeller blade according to the present invention.

Referring to Figure 2, the surface measurement and grinding device 100 of the propeller blade according to the present invention, in the first embodiment is a non-contact surface measuring unit 140 to the robot end effector of the robot system unit 130 ( 141, the tool changer for sequentially replacing and mounting the grinder 133 and the matte liquid injector 132 is not provided.

The non-contact surface measuring unit 140, 141 is mounted on the robot end effector of each robot system unit 130 without replacement by the tool changer of the first embodiment, and performs surface measurement with a robot dedicated to surface measurement. The grinder unit 133 is mounted to perform a grinding operation with a robot dedicated to grinding.

Surface measurement and grinding device of the propeller blade according to the present invention made of a configuration as described above is operated through the following process.

The propeller whose primary grinding operation is completed by the grinding device (not shown) such as NC, or the propeller that has passed through the casting step without the first grinding operation, is placed on the upper part of the rotary device 50 placed on the floor using a crane device or the like. After mounting, hold the initial position and fix it.

The operator operating the surface measurement and grinding device 1 of the propeller blade of the present invention, first, the CAD information and product specifications of the propeller for the surface measurement operation of the propeller blade through the computer network from the central management system 10 Download to the central control unit 20.

Next, the operator executes the surface measurement and grinding operation simulator of the propeller blade, that is, the shape output program through the user interface 21, and then displays the three-dimensional shape information of the target propeller by using the downloaded CAD information of the propeller. Output to.

In addition, the operator selects the initial position correction function of the propeller through the user interface 21 to generate a trajectory file for measuring the blade surface using the CAD information on the propeller and the robot system unit 30, the robot Perform a surface measurement simulation to correct the problem. At this time, the operator cuts the surface of the propeller blade and the transparent shielding device unit 60 that sags around the grinding device to block the device periphery.

Next, the operator transmits the locus information file for the propeller to the plurality of robot system units 30 by using the robot operation menu of the user interface unit 21, and then loads the work file to the robot system unit 30. After checking that this is completed, turn on the motors of the robots.

The operator presses the start button of the user interface 21 to perform the surface measurement of the propeller blade to perform the surface measurement.

When the start button is pressed by the operator, the plurality of robot system units 30 move the robot to the designated tool changer 32 position through the gantry traveling device unit 31 to move the matt liquid injector unit 33. After mounting on the end effector, the liquid is sprayed onto the surface of the designated propeller blade while moving along the trajectory for measuring the surface of the propeller blade.

When the spraying of the matte liquid is completed, the robot system unit 30 moves the robots to the position of the tool changer 32 again through the gantry traveling unit 31 to move the surface measuring sensor 41 to the end effector. After mounting on the, the three-dimensional shape image information of the blade surface is measured according to the trajectory for measuring the surface of the propeller blade.

The image file measured by the surface measurement sensor unit 41 is compressed and stored in the image processing PC 40 in the order of each blade and track position.

When the surface measurement operation for the blade is completed by the above-described process, the central control unit 20 using the specifications of the propeller downloaded from the central management system unit 10, the rotary unit 50 Move the position of the blade that has not been measured to enable surface measurement by robot.

After the robot of the robot system unit 30 completes the process of spraying matte liquid to all blades of the propeller and acquiring surface measurement and acquiring measurement information, the robot controller 20 transmits the image to the PC 40 for image processing. Send the compressed and saved video file.

The central control unit 20 arranges the received surface measurement information files according to the trajectory order of each blade and then restores the blade shape.

When the restoration of the blade shape is completed by the central control unit 20, the user interface unit 21 simultaneously measures the three-dimensional shape information of the measured propeller blades and the CAD design shape downloaded from the central management system unit 10. The output allows you to compare the difference between the measured shape and the designed shape. At this time, when the operator designates an arbitrary position of the measurement shape with the mouse cursor, the measured grinding depth and the amount to be ground are output.

Then, after reviewing the surface measurement information, the operator generates the blade grinding trajectory file and transmits the trajectory file to the robot system unit 30.

The operator presses the start button of the user interface 21 to perform the grinding operation of the propeller blade to operate the grinding function by the robot system unit 30.

When the grinding function is activated, the central control unit 20 operates the rotary unit 50 to rotate the propeller to the initial position of the propeller.

Next, the robot system unit 30 moves the robot to the designated tool changer unit 32 via the gantry traveling unit unit 31 to mount the grinder unit 34 on the end effector, and then, by grinding trajectory. Carry out grinding work.

When the grinding operation by the robot system unit 30 is completed, the central control unit 20 controls the robot system unit 30 to apply the matte liquid injector unit 33, the surface measuring sensor unit 41, and the grinder unit. Replace (34) on the robot end effector and repeat the surface measurement and grinding operations on the corresponding blade face. Continue to work until the surface measurement on the propeller blades is measured with surface measurements similar to the design geometry. . At this time, the grinding grinder part 34 is periodically replaced by an interlock with the operator or the tool changer part 32.

When the grinding operation of the blade is completed, the central control unit 20 stops the operation and waits until the grinding quality confirmation and measurement information confirmation by the operator, and when the grinding quality confirmation and measurement information confirmation is completed Decide if you need to do extra work on the blade.

When the additional grinding work of the corresponding blade is unnecessary, the operator instructs a process for grinding the next propeller blade, that is, rotation, measurement, and grinding of the propeller.

When the grinding operation on one side of the propeller using the robot of the robot system unit 30 is finished according to the above-described procedure, the operator suspends the central control unit 20 and then uses the crane to Perform flipping and initial positioning. Then, the surface measurement and the grinding operation on one side of the propeller that is not ground is repeatedly performed based on the above-described procedure.

When all the above processes are completed, the operator re-performs the surface measurement work process for the performance test of the propeller's grinding quality, and then performs additional grinding work on the parts requiring manual grinding by human, so that both ends of the propeller blade Finish the grinding process. At this time, the central management system unit 10 stores the work history and measurement information for all process periods.

Therefore, by using the surface measurement and grinding device of the propeller blade according to the present invention it is possible to quickly and safely automatically perform the surface measurement and grinding operation of the propeller blade.

What has been described above is only one embodiment of the surface measurement and grinding device of the propeller blade according to the present invention, anyone skilled in the art to which the present invention belongs to the scope of the present invention can be changed in various ways Would have a technical spirit.

As described above, the surface measurement and grinding device of the propeller blade according to the present invention has the following effects.

First, by using a multi-robot system, a plurality of non-contact surface measuring units and grinders can be replaced and mounted on the end effector of a multi-robot according to a process control procedure to automatically perform surface measurement and grinding operations of the propeller blades by the robot. It is advantageous to quickly perform the surface measurement of the propeller blade by the non-contact measurement method using multiple sensors.

Second, by the simultaneous grinding method using multiple robots, it provides the advantages of reducing the grinding time of the blades, providing even grinding quality and minimizing the possibility of harm to human body, thereby improving the grinding quality of the propeller blades and producing the product by shortening the production schedule. There is an effect that can increase the efficiency.

Claims (4)

Propeller A central management system for storing computer-aided design (CAD) information and product specifications and overall propeller production management; Rotator unit for performing a change of the position of the propeller during the grinding operation of the propeller after the primary grinding (Grinding) is completed or the propeller after the casting step without grinding; Non-contact surface measuring unit for performing a surface measurement of the propeller blade (Blade) located in the rotating device; A grinder unit for grinding the propeller blades located in the rotating unit; A matte liquid injector unit for spraying a matte liquid to prevent surface reflection of the propeller blades during the surface measurement operation of the propeller blades by the non-contact surface measuring unit; A plurality of gantry traveling devices capable of traveling in the X-Y direction; The non-contact surface measuring unit, the grinder unit, or the matte liquid injector unit mounted on the gantry traveling unit mounted on the robot end-effector according to the surface measurement and grinding operation procedure of the propeller blade to operate the surface A plurality of robot system units performing measurement and grinding operations; A user interface unit providing propeller CAD information and product specifications provided from the central management system unit, surface measurement information of the propeller blades, and an operator manipulation function; And The surface of the propeller blade, characterized in that the central control unit for controlling the configuration so that the surface measurement and grinding of the propeller blade proceeds sequentially by downloading the propeller CAD information and product specifications, etc. from the central management system unit Measuring and grinding device. The method of claim 1, wherein the non-contact surface measuring unit, A surface measuring sensor unit integrally configured with a projection device for projecting a marker pattern onto the surface of the propeller blades and an image acquisition camera; Surface measuring and grinding device of the propeller blade, characterized in that the at least two surface measuring sensor is connected to the image processing PC for performing a three-dimensional shape measurement of the propeller blade. The method of claim 1, wherein the non-contact surface measuring unit, A surface measuring sensor unit integrally configured with a laser device for projecting a laser slit onto a surface of a propeller blade and an image acquisition camera; Surface measuring and grinding device of the propeller blade, characterized in that the at least two surface measuring sensor is connected to the image processing PC for performing a three-dimensional shape measurement of the propeller blade. The method of claim 1, wherein the robot system unit, Tool changer exchange method is further provided to replace the non-contact surface measuring unit, the grinder unit and the matte liquid injector unit on the robot end effector at the same time to sequentially perform the surface measurement and grinding operations for a plurality of propeller blades, or The non-contact surface measuring unit, the grinder unit, and the matte liquid injector unit are mounted on the robot end effector, respectively, and are classified into a robot dedicated to surface measurement of the propeller blade or a robot dedicated to grinding operation to perform surface measurement and grinding operations on the propeller blades. Surface measurement and grinding device of the propeller blade, characterized in that the work is carried out by a dedicated robot to perform.