KR20130095900A - Section steel shape measuring system and method thereof - Google Patents

Abstract

PURPOSE: A system and method for measuring the form of section steel are provided to reduce mechanical measurement error suing laser sensor with a vision sensor which has an automatic point function. CONSTITUTION: A system for measuring the form of section steel comprises a steel transfer roller unit (210) and a sensor system unit (220). The steel transfer roller unit horizontally presses and fixes steel (215), and measures a transfer length of the steel. The sensor system unit comprises a sensor unit (221) and a driving unit (222), and transmits each measurement of the section steel.

Description

Section steel shape measuring system and method

The present invention relates to a shape measuring system and a method thereof, and more particularly, a sensor feeding portion for moving and fixing a shaped steel, and a sensor system portion for measuring dimensions of the shaped steel fixed to the shaped steel feeding roller and a shape feeding roller. A shape steel shape measuring system including a control unit for controlling the unit and the sensor system unit, and a method thereof.

In general, the work of cutting and welding various beams required for the production of large structures in shipyards is frequently performed.

In such large structures, various types of steels are used, which requires an automated system for measuring and cutting the size of the steels.

This automatic cutting device for the section steel is disclosed in Korean Patent No. 0492150 (2005.5.20) automatic cutting device and its cutting method,

The automatic cutting device is a device that accurately grasps the position and posture of the section steel using a laser distance sensor, determines the cutting path by reflecting the position and posture, and performs cutting to improve cutting accuracy and cutting efficiency.

However, since the apparatus requires a separate scanning operation for checking the position information of the steel in the cutting steel cutting process using a robot, an additional mechanism part required for the process and a scan time are required.

In addition, an apparatus for automatically measuring a steel member is disclosed in Korean Utility Model Registration No. 0393203 (2005.8.10).

The section member automatic measuring device is a section member automatic measuring device that can measure the height, thickness, width and length of the 'c' section steel supplied to the cutting robot to quickly cut the work, centering the section steel to one side And measuring the length by linking the width measuring part measuring the width of the section steel by the measuring sensor, the two displacement sensors measuring the thickness, the encoder installed to hold and cut the section steel and transport it in the direction of the robot. It is composed of wealth.

However, in the process of measuring the length of the steel member while pushing the section steel with the cutting robot, the section member automatic measuring device requires a separate mechanism and a clamping unit for clamping and pushing the section steel, and the section steel enters the cutting process and then returns to its original position. There is a problem that takes time to do.

In addition, a Utility Model Registration No. 0438303 (2008.1.29) for fixing an L-shaped steel member is disclosed.

As shown in FIG. 1, the L-shaped steel member fixing and measuring device includes a ram 103 which is advanced or retracted in the cylinder 101 and the cylinder 101, and a pressing member mounted to one end of the ram 103. 105 and the movable plate 109 coupled to the lower surface of the pressing member 105 and the pinion which is gear coupling to the rack guide 111 and the rack guide 111 formed on one side of the lower surface of the movable plate 109 At least one set device 100 having a configuration including a gear 113 and an encoder 115 connected to the shaft center of the pinion gear 113 and mounted in a height measuring direction and a width measuring direction of the L-shaped steel member 1. And an integrated server 140 that detects the number of revolutions of the encoder 115 connected to the shaft center of the pinion gear 113 and uses a predetermined relational expression built into the integrated server 140 to obtain a plurality of height values and width values. Calculate

Therefore, the L-shaped steel member fixing and measuring device closely adheres the pressing member to the section steel to be measured and detects the encoder rotational speed according to the movement of the pressing member in close contact, thereby reducing the time required for production by measuring the dimensions of the L-shaped steel member. It can be effective.

However, this measuring device generates a measurement error according to the contact pressure or surface condition of the pressure member when the pressure member is measured by mechanical contact with the steel, and pushes the steel to fix it, and at the same time transport distance to the encoder attached to the rack pinion. At the same time, it is possible to check at the same time, but because the cylinder is not controlled simultaneously, all cylinders can be measured after the completion of normal operation, and there is no separate distance measuring unit in the cylinder, which requires a mechanism for additional encoder attachment.

In order to solve the above-mentioned problems, the present invention uses a sensor system unit and a section steel feed roller unit having a non-contact sensor unit, thereby simplifying the mechanism unit for measuring the length of the member and the mechanism for measuring the width and height of the member, while enabling accurate measurement. It provides a shaped steel shape measuring system and a method thereof.

In order to solve this problem, the shape steel shape measuring system of the present invention is a shape steel measuring system for measuring the shape steel of various shapes, and through the transferred steel in order to measure the size of each part and the shape of the steel, the mounted steel Shape steel feed roller unit for measuring the conveying length of the shaped steel while pressing and fixing in the horizontal direction; And a sensor system unit configured to measure a shape of the section steel to be measured at a position opposite to the section steel feed roller unit, and to measure a dimension of each part according to the shape, and a driving unit for moving the sensor unit in each direction. And the sensor system unit measures the shape and various dimensions of the shaped steel and transmits the measured shape and dimension data to an external system.

Here, the steel feed roller portion and the support pedestal for transporting and loading the steel; A support guide fixed to the support pedestal for guiding the steel to move; A rotary roller coupled to the support guide to move a shape; A guide roller part fixed to the support guide and installed in the longitudinal direction of the section steel feed roller part to be a reference surface for checking the entry of the section steel and measuring the width of the section steel; It includes a plurality of servo actuator for measuring the width of the steel while pushing the steel to be in close contact with the guide roller in a position facing the guide roller.

In addition, the sensor system unit and the frame having a table-shaped body; A front laser sensor for measuring a distance between the front end of the section steel mounted on the section of the section steel feed roller and the sensor system section to obtain position and overall length and height information of the section steel; A sensor driver for moving the laser sensor up and down to a position corresponding to the end of the beam; Vision sensor for measuring the height and thickness of the steel by photographing the shape of the steel; And a moving stage to which the vision sensor is attached to move forward and backward to adjust the focus of the vision sensor in order to accurately photograph the shape of the steel beam.

In addition, the sensor system unit further includes a rear laser sensor on the opposite side of the front laser sensor to accurately measure the length of the entire steel.

In addition, the method for measuring the shape of the steel according to the present invention for solving the above problems in the method for measuring the shape of the steel using the steel feed roller, the sensor system and the control to measure the steel of various shapes, (a A) the steel is entered and moved by the rotation of the rotating roller of the steel-steel feed roller, and the moved steel is aligned using a servo actuator unit; (b) lowering the sensor part of the sensor system part in the Z-axis direction and measuring the total length of the aligned steels using a laser sensor; And (c) focusing using the moving stage of the sensor system unit and measuring an image profile of the section steel section.

Here, in the step (b), the section steel feed roller unit further comprises the step of measuring the entry length of the section steel using a rotary encoder that is in close contact with the steel using the idle roller and rotated in accordance with the transfer of the steel.

In addition, in the step (b), the distance from the front surface of the section steel entered by the laser sensor on the front surface of the section steel feed roller part and the rear position of the section steel by the rear laser sensor attached to the back of the section steel roller section One result is converted to calculate the total length of the section steel.

In addition, after the step (c), the controller unit further includes the step of correcting the cutting position of the section steel by receiving the section parameters of the section profile, width, height, thickness, alignment posture, entry length and overall length of the section steel.

According to the shaped steel shape measuring system and the method of the present invention, there is an effect that the mechanical measurement error due to direct contact can be reduced by measuring the cross section of the shaped steel by a non-contact method using a laser sensor equipped with a vision sensor.

In addition, according to the shape measurement system and the method thereof, there is an effect that the measurement time can be shortened by shortening the focus adjustment time using the vision sensor.

Moreover, according to the shaped steel shape measuring system and its method, there is an effect that a measurement time is quicker and more efficient compared with a contact sensor.

In addition, according to the shaped steel shape measuring system and the method, by measuring the cross-sectional profile of the shaped steel using the sensor unit, there is an effect that the alignment posture, width, height, thickness and overall length including the shaped steel can be measured.

1 is a conceptual view showing an L-shaped steel member fixing and measuring device according to the prior art;
2 is a perspective view of a shape steel shape measurement system according to the present invention;
3 is a front view of a sensor system unit equipped with a laser sensor having the vision sensor shown in FIG. 2;
4 is an enlarged view of a portion where the guide roller unit and the idle roller are located in the section steel feed roller unit shown in FIG. 2;
5 is a perspective view of a full steel length measuring system according to the present invention;
6 is an overall block diagram for explaining the electrical function of the shape measurement system according to the present invention;
7 is a flowchart illustrating a method for measuring a shape steel shape according to the present invention;

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

FIG. 2 is a perspective view of a shape steel shape measuring system according to the present invention, FIG. 3 is a front view of a sensor system unit equipped with a laser sensor having a vision sensor shown in FIG. 2, and FIG. 4 is a shape transferring roller shown in FIG. 2. It is an enlarged view of the part where the guide roller part and the idle roller are located in the part.

Referring to FIG. 2, the shape steel shape measuring system 200 includes a shape steel feed roller 210 and a sensor system 220.

The sensor system unit 220 includes a controller unit 320.

The steel feed roller unit 210 includes a plurality of support pedestals 217, two support guides 212, and a plurality of servo actuators 213 for feeding and loading the steel beams in the longitudinal direction of the steel feed roller unit 210. It is installed to include and comprises a plurality of guide rollers 214 to be a reference plane for checking the entry of the steel and to measure the width of the steel.

One end of the plurality of support pedestals 217 is fixed to the ground and the other end is fixed to the two support guides 212.

The plurality of rotating rollers 211 are coupled and fixed between the two support guides 212 to move the shaped steel.

The support guide 212 is fixed to the support pedestal 217 to guide the movement of the shaped steel.

The plurality of servo actuator portions 213 are fixed (installed) at positions facing the guide roller portion 214.

The controller 320 enters on the plurality of rotating rollers 211 to align the support guide 212 to cut the shaped steel 215 to an appropriate length, and the aligned shaped steel is guide roller portion 214 and an idle roller. In close contact with each other 216, it is moved and stopped (and / or fixed).

Here, the steel 215 is present in various shapes such as L-type, H-type, T-type, C-type, or I-type.

The sensor system unit 220 includes a frame 220a, a sensor driver 222, a sensor unit 221, and a movement stage 224.

The frame 220a has a table-shaped body.

The movement stage 224 operates forward and backward (Y-axis direction, shape-wide length direction) for focusing and / or measuring the shape of the vision sensor to accurately capture the shape of the steel.

The movement stage 224 has one end fixed to the frame 220a and the other end fixed to the sensor driver 222.

In addition, one end of the sensor driver 222 is fixed to the movement stage 224, and the other end thereof is fixed to the first driving means 223.

One end of the first driving means 223 is fixed to the sensor driver 222 and the other end is fixed to the sensor unit 221.

The sensor driver 222 moves the laser sensor 211a up and down and / or left and right to a position corresponding to the front end of the shaped steel.

The controller 320 controls the sensor driver 222 by outputting a control signal according to the output signal of the sensor unit 221.

The sensor driver 222 incorporates a plurality of actuators (not shown) into the first driving means 223.

The sensor driver 222 moves in the width direction (X direction) and the height direction (Z direction) of the shaped steel 215 stationary and / or fixed on the plurality of rotating rollers 211.

In addition, the sensor driver 222 attaches the sensor unit 221 to the first driving unit 223 and moves for measurement.

On the other hand, a plurality of servo actuator parts 213 are installed (fixed) in one support guide 212, and a plurality of guide roller parts 214 are provided in the other support guide 212.

The section steel feed roller unit 210 measures the shape steel of various shapes, and the guide steel section 214 and the plurality of servo actuators are mounted through the transferred section steel to measure the size and shape of each section of the section steel. Pressing and fixing in the horizontal direction through the portion 213.

The controller unit 320 measures the distance between the front end of the section steel mounted on the section steel feed roller section 210 and the laser sensor 211a using the laser sensor 211a to measure the position and overall length and height of the section steel. Acquire information and transmit it to an external system (not shown).

Referring to FIG. 3, the sensor unit 221 includes a laser sensor 211a and a vision sensor 211b, and the vision sensor 211b has an auto focus function and provides an accurate focus on a measurement object (beam, etc.). The measurement error is corrected by fitting, and the laser sensor 211a is positioned at the end of the shaped steel 215 to measure the cross-sectional profile (shape) of the shaped steel 215 to measure dimensions of the shaped steel such as width, height, thickness, and alignment posture.

Here, the laser sensor 211a mounts the vision sensor 211b.

The sensor unit 221 is fixed to the first driving means 223, the first driving means 223 is the width direction (X axis direction or left and right direction) and the height direction (Z axis direction or up and down) for auto focus and dimension measurement. Direction).

The controller 320 measures the dimensions of the shaped steel 215 away from the surface of the shaped steel 215 by a predetermined distance, and the dimensions of the shaped steel include an alignment posture including a cross-sectional profile, a width, a height, a thickness, an entry length (transfer length or movement). Distance or entry distance) and overall length.

The controller unit 320 causes the plurality of servo actuator units 213 fixed to the support guide 212 to push the shaped steel 215 to align it to one side of the supporting guide 212, and the aligned shaped steel 215 is provided in plurality. The two guide rollers 214 and the plurality of idle rollers 216 are tightly fixed and moved and / or stopped by the rotation of the plurality of guide rollers 214.

The servo actuator 213 is configured to include an idle roller 216 and an actuator (not shown), and the actuator uses the cylinder or ram connected to the actuator to guide the idle roller 216 to the guide roller 214. The steel beam is aligned and / or fixed by moving in the width direction (X direction).

That is, the actuator closely moves the shaped steel 215 between the rollers 214b of the plurality of guide rollers 214 and the idle roller 216 to move in the width direction, or moves the idle roller 216 in the initial position Ps. Returning to, the steel 215 is stopped and / or released.

The sensor system unit 220 may include a driving unit for moving the sensor unit 221 in each direction to measure the shape of the shape steel at a position opposite to the shape steel feed roller unit 210 and to measure the size of each part according to the shape ( 222).

Referring to FIG. 4, the plurality of guide rollers 214 and the plurality of servo actuators 213 are fixed to the respective support guides 212 using a bracket or the like.

The roller 214b of the guide roller portion 214 has a built-in rotary encoder 214a inside the rotating roller 214b in direct contact with the shaped steel, and outputs a rotational speed proportional to the rotation of the roller 214b. ) Rotates by the driving means 330 receiving the control signal from the controller 320.

The output rotation speed is proportional to the moving distance (feeding length or moving length or length) of the shaped steel 215.

In this case, the idle roller 216 only idles without transmitting / receiving a control signal.

Therefore, the controller 320 detects the number of rotations of the rotary encoder 214a according to the contact and rotation of the section steel 215 located between the guide roller section 214 and the idle roller 216 and is proportional to the moving distance of the section steel. To calculate the moving distance of the shaped steel 215 according to the detected rotational speed.

5 is a perspective view of a full-length steel measuring system according to the present invention.

Referring to FIG. 5, the full steel length measuring system according to the present invention includes a first sensor unit 218 in the shape steel shape measuring system 200 of the present invention.

The first sensor unit 218 is made of a laser sensor fixed to a measuring table (not shown) and the measuring table (not shown) is fixed to the floor for easy movement and measurement.

The controller unit 320 is a first sensor unit installed at the sensor unit 221 of the sensor system unit 220 installed at the start position P0 of the front side of the steel feed roller unit 210 and at the end position P1 of the opposite rear surface. Use (218) to precisely measure the overall length of the section steel.

The sensor unit 221 measures the position and dimension of the shaped steel (section profile), and the overall length and height information.

The laser sensor of the sensor unit 221 and the first sensor unit 218 may accurately measure the distance and / or position information of the section steel away from the laser sensor.

Figure 6 is a complete block diagram for explaining the electrical function of the shaped steel measuring system according to the present invention.

Referring to FIG. 6, the entire block diagram includes a sensor unit 310, a controller unit 320, and a driving unit 330.

The sensor unit 310 is configured to include a rotary encoder 214a, a laser sensor 211a and a vision sensor 211b.

Output signals of the rotary encoder 214a, the laser sensor 211a, and the vision sensor 211b are transmitted to the controller 320.

The controller 320 outputs a control signal according to the output signal to control the driving means 330.

The driving means 330 includes a driving body (not shown) for driving the guide roller 214 and the first driving means 223.

That is, the controller 320 controls the components of the steel feed roller 210 and the sensor system 220 to measure the shape and various dimensions of the steel, and the cutting position of the steel using the measured shape and the dimensional data. Control in conjunction with a cutting robot (not shown).

Therefore, as described above, the controller 320 may transmit the measured shape and various dimensions of the shaped steel to an external system (such as a cutting robot).

Meanwhile, the sensor driver 222 stops the laser sensor 211a by operating a limit sensor (not shown) when the laser sensor 211a descends to a height at which the laser sensor 211a recognizes the position of the shaped steel. And a home sensor (not shown) to confirm that 222 is returned to its original position.

7 is a flowchart illustrating a shape steel shape measuring method according to the present invention.

Referring to FIG. 7, the measuring method of the shaped steel shape measuring system according to the present invention will be described in detail.

First, a conveying apparatus (not shown) positioned at the front end of the shaped steel shape measuring system 200 transfers and enters the shaped steel 215 onto the plurality of rotating rollers 211 of the shaped steel conveying roller 210, and then enters the controller 320. ) Drives the servo actuator portion 213 fixed to the support guide 212 and slides the shaped steel 215 to align it (S110).

The controller 320 detects the operation state of each guide roller 214 of the entering section steel 215, and moves the close contact with the section steel until the last guide roller 214 operates, and then stops and / Or fixed (S110).

The controller 320 embedded in the sensor system 220 descends the sensor 221 in the Z-axis direction using the first driving means 223 and senses the end of the shaped steel 215 with the laser sensor 211a. By measuring the distance from the laser sensor 211a to the beam 215 and confirms the position of the laser sensor 211a and / or the beam (S120).

In addition, the controller 320 measures (measures) the entire length of the section steel after measuring and locating the distance to the section steel 215 using the opposite laser sensor (laser sensor of the first sensor section) (S120).

In step S120, the controller 320 measures the distance from the front surface of the section steel entered by the laser sensor 211a on the front surface of the steel transmission roller 210, and the laser sensor attached to the rear of the steel transmission roller section 210 The total length of the section steel is calculated by converting the result of measuring the rear position of the section steel by using.

On the other hand, the controller 320 measures the overall length of the section steel, detects the number of revolutions of the rotary encoder 214a as it is in close contact with the idle roller 216 and rotates, and the section steel enters using the detected number of revolutions ( Measure the length (distance) transferred or moved (S130).

The controller 320 adjusts the vision sensor 211b by using the first driving means 223 and / or the moving stage 224 to focus, and measures the cross-sectional image profile of the shaped steel (S140).

In step S140, the controller unit 320 measures the alignment posture including the cross-sectional profile (cross-sectional image), width, height, thickness, entry length, and overall length.

The controller 320 receives the steel beam parameters (section profile, alignment posture, width, height, thickness, entry length and overall length) measured in step S140, and cuts the steel beam using the steel beam parameters inputted (transmitted). Correct the position (S150).

In addition, after step S150, the controller unit 320 cuts the section steel by a robot linked to the controller unit 320 using the corrected section steel parameters.

The controller 320 moves the first driving means 223 to which the home sensor and the limit sensor are attached to the home position after step S150.

210: section steel feed roller section 220: sensor system section
215: section steel 320: controller

Claims (8)

In the shape measurement system for measuring the shape steel of various shapes,
A section feed roller unit for measuring a conveying length of the section steel while holding the conveyed section steel in order to measure the size and shape of the section steel and pressing and fixing the mounted section steel in a horizontal direction; And
And a sensor system unit formed of a sensor unit for measuring a shape of the section steel to be measured at a position opposite to the section steel feed roller unit and measuring a dimension of each part according to the shape, and a driving unit for moving the sensor unit in each direction. ,
The sensor system unit measures the shape and various dimensions of the shape steel and transmits the measured shape and dimension data to an external system.
The method of claim 1,
The said steel feed roller part is a support base for conveying and loading the said steel;
A support guide fixed to the support pedestal for guiding the steel to move;
A rotary roller coupled to the support guide to move a shape;
A guide roller part fixed to the support guide and installed in the longitudinal direction of the section steel feed roller part to be a reference surface for checking the entry of the section steel and measuring the width of the section steel;
And a plurality of servo actuator sections for measuring the width of the section steel while pushing the section steel in close contact with the guide roller section at a position opposite to the guide roller section.
The method of claim 2,
The sensor system unit and the frame having a table-shaped body;
A front laser sensor for measuring a distance between the front end of the section steel mounted on the section of the section steel feed roller and the sensor system section to obtain position and overall length and height information of the section steel;
A sensor driver for moving the laser sensor up and down to a position corresponding to the end of the beam;
Vision sensor for measuring the height and thickness of the steel by photographing the shape of the steel; And
And a moving stage to which the vision sensor is attached to move forward and backward to adjust the focus of the vision sensor in order to accurately photograph the shape of the steel beam.
The method of claim 3, wherein
And the sensor system unit further comprises a rear laser sensor on the opposite side of the front laser sensor to accurately measure the length of the entire steel.
In the method for measuring the shape of the shape of the steel using a sensor system unit having a steel feed roller and a control unit for measuring the steel of various shapes,
(a) entering and moving the section steel by the rotation of the rotating roller of the section steel conveying roller unit, and aligning the moved section steel using a servo actuator unit;
(b) lowering the sensor part of the sensor system part in the Z-axis direction and measuring the total length of the aligned steels using a laser sensor; And
and (c) focusing using the moving stage of the sensor system unit and measuring an image profile of the section of the section steel.
6. The method of claim 5,
In the step (b), the section steel feed roller unit further comprises the step of measuring the entry length of the section steel using a rotary encoder that is in close contact with the steel using the idle roller and rotated in accordance with the transfer of the steel. Shape measuring method.
6. The method of claim 5,
In the step (b), the distance from the front surface of the steel beam entered by the laser sensor on the front surface of the steel feed roller part is measured, and the rear position of the steel beam is measured by the rear laser sensor attached to the rear surface of the steel feed roller part. Shape steel shape measuring method, characterized in that to calculate the total length of the steel.
6. The method of claim 5,
After the step (c), the controller unit further comprises the step of correcting the cutting position of the section steel by receiving the section parameters of the section steel, width, height, thickness, alignment posture, entry length and overall length of the section steel Method of measuring shape steel shape.

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