KR20220055624A - Automatic additive system with repeatable production - Google Patents

Automatic additive system with repeatable production Download PDF

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Publication number
KR20220055624A
KR20220055624A KR1020200139907A KR20200139907A KR20220055624A KR 20220055624 A KR20220055624 A KR 20220055624A KR 1020200139907 A KR1020200139907 A KR 1020200139907A KR 20200139907 A KR20200139907 A KR 20200139907A KR 20220055624 A KR20220055624 A KR 20220055624A
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South Korea
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mold
robot
vision system
shape
laminated
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KR1020200139907A
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Korean (ko)
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이상진
조형찬
윤석진
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재단법인 한국섬유기계융합연구원
주식회사 유니온테크
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Priority to KR1020200139907A priority Critical patent/KR20220055624A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B39/00—Layout of apparatus or plants, e.g. modular laminating systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B41/00—Arrangements for controlling or monitoring lamination processes; Safety arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B41/00—Arrangements for controlling or monitoring lamination processes; Safety arrangements
    • B32B2041/04—Detecting wrong registration, misalignment, deviation, failure

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  • Moulding By Coating Moulds (AREA)

Abstract

The present invention relates to an automatic lamination method for repetitive production. By installing a robot system and a vision system equipped with a material laminating head on one mainframe, resin can be automatically laminated on chopped fiber or fabric material through a spray lay-up process instead of manufacturing products through manual lamination. According to the present invention, a mold (4) is tilted through a material tilting device (5) into a state where a material is stackable and scanned with a vision system (3), wherein in order to accurately set to the same position as the initially installed position, the mold (4) is scanned using the vision system (3) and fixed again to the initial tilting position, and a robot path is created along the scanned shape, and the material is laminated to a prescribed thickness along the path. When the laminated material is cured, the mold is returned to the original state to de-mould and produce a product, and the material is laminated by applying a robot path to repeatedly produce a product of the same shape and specification.

Description

반복생산이 가능한 자동적층 방법 {Automatic additive system with repeatable production}{Automatic additive system with repeatable production}

본 발명은 반복생산이 가능한 자동적층 방법에 관한 것으로, 특히 하나의 메인 프레임 위에 소재 적층헤드를 장착한 로봇시스템과 비전시스템을 함께 설치하여 기존 수작업 적층으로 제품을 제조했던 것을 쵸프드 피버 또는 직물소재에 수지 스프레이 레이 업(Spray Lay-Up)공정을 로봇을 통해 자동적층을 수행하고 비전시스템을 통해 스캔을 수행하도록 한 것이다.The present invention relates to an automatic lamination method capable of repeating production. In particular, a robot system equipped with a material lamination head on a single main frame and a vision system are installed together to manufacture products using conventional manual lamination, such as chopped fiber or fabric material. In the resin spray lay-up process, automatic lamination is performed through a robot and scan is performed through a vision system.

일반적으로 프리폼이란 복합 재료 부품 제조공정에서의 제품의 구조 특성상 또는 요구 기능이 이상적으로 발휘될 수 있도록 최종 제품 형상으로 제작된 섬유 집합체를 말한다.In general, a preform refers to a fiber assembly manufactured in the shape of a final product so that the structural characteristics of the product or the required function can be ideally exhibited in the composite material part manufacturing process.

이러한 복합 재료의 자동화 제조 기술은 관련 장비 개발과 함께 발전되어 왔으며, 대표적인 자동화 공정은 ATL(Automated Tape Laying), AFP(Automated Fiber Placement), 필라멘트와인딩, 브레이딩 공법이 있고 주로 우주/항공 분야에서 기술개발이 시작되어 현재는 자동차 부품 제조에 적용되고 있다.The automated manufacturing technology of these composite materials has been developed along with the development of related equipment, and representative automation processes include ATL (Automated Tape Laying), AFP (Automated Fiber Placement), filament winding and braiding methods, and are mainly technologies in the space/aerospace field. The development started and is now being applied to the manufacturing of automobile parts.

이러한 복합재료는 몰드에 고강도 섬유재료를 다수회 적층한 프리폼을 구성하고, 그 프리폼을 열성형하여 제조하는데 프리폼은 몰드에 원사, 띠 또는 시트 형태의 고강도 섬유재료 또는 고강도 섬유재료에 수지를 적층하거나 와인딩 등의 방법으로 구성하고 프리폼을 가열 및 가압하여 몰드의 형태를 가지는 복합재료로 제조한다.These composite materials constitute a preform in which a high-strength fiber material is laminated multiple times on a mold, and the preform is thermoformed to manufacture the preform. It is constructed by methods such as winding, and the preform is heated and pressurized to produce a composite material having the shape of a mold.

종래에는 예를 들어, 레저용 선박에 수지 등을 적층하고자 할 때, 먼저 이형제를 도포하고, 겔코트 혼합과 도포를 한 후 섬유매트를 커팅하고 수지(수지+경화제+촉진제)를 혼합하여 유리 섬유를 적층하고 소재를 압착하여 마감도장을 함으로써 일련의 레저용 선박의 표면 수지 도작 작업을 완성하였다.Conventionally, for example, when trying to laminate a resin on a leisure vessel, first apply a release agent, mix and apply the gel coat, cut the fiber mat, and mix the resin (resin + hardener + accelerator) to glass fiber A series of surface resin painting work for leisure vessels was completed by laminating the materials and applying finishing coatings by pressing the material.

그러나 종래에는 상술한 바와 같이, 작업 공정이 복잡하여 작업시간이 많이 걸리고 인건비가 증가함은 물론, 복잡한 형상 및 다품종 생산이 불가능함과 함께 도장 색상 선택의 자유도가 제한되는 결점이 있었다.However, as described above, in the related art, the complicated work process takes a lot of work time, increases the labor cost, and it is impossible to produce a complex shape and a variety of types, and there is a limitation in the degree of freedom in choosing a paint color.

특허공개번호 제10-2001-0092456호Patent Publication No. 10-2001-0092456 특허출원번호 제10-2015-188289호Patent Application No. 10-2015-188289

본 발명은 상기와 같은 종래의 결점을 해결하기 위한 것으로, 본 발명의 목적은, 소재 적층 헤드 툴을 장착한 로봇과 몰드 스캔용 비전시스템을 동일 메인 프레임에 함께 구비하여 메인 프레임 위에서 로봇과 비전시스템이 동일 구간을 이동하며 소재 적층과 스캔 동작을 수행하도록 하는 반복생산이 가능한 자동적층 방법을 제공하는데 있다.The present invention is to solve the conventional drawbacks as described above, and an object of the present invention is to provide a robot equipped with a material lamination head tool and a vision system for mold scanning in the same main frame, so that the robot and the vision system are installed on the main frame. The purpose of this is to provide an automatic lamination method capable of repeating production by moving the same section and performing material stacking and scanning operations.

상기와 같은 목적을 달성하기 위한 본 발명은, 몰드를 소재 적층이 가능한 형태로 몰드틸팅장치를 통해 틸팅한 후 비전 시스템으로 기울어진 몰드 형상을 스캔하고, 스캔 형상을 따라 로봇 경로를 생성하여 그 경로를 따라 규정된 두께까지 소재를 자동으로 적층하며, 적층소재가 경화되면 몰드를 원상 복귀하여 탈형하여 제품을 생산하며, 초기 로봇경로를 적용하여 소재를 적층하여 동일 형상/사양의 제품을 생산하도록 하는 반복생산이 가능한 자동적층 방법을 제공하는데 있다.The present invention for achieving the above object is to tilt the mold in a form in which material stacking is possible through a mold tilting device, scan the tilted mold shape with a vision system, create a robot path according to the scan shape, and the path The material is automatically laminated up to a prescribed thickness according to An object of the present invention is to provide an automatic lamination method capable of repeating production.

본 발명은 초기 설치된 위치와 동일 위치로 정확히 셋팅하기 위해 비전 시스템을 이용하여 몰드를 스캔하여 초기 틸팅위치에 다시 고정하는 반복생산이 가능한 자동적층 방법을 제공하는데 있다.An object of the present invention is to provide an automatic laminating method capable of repeating production by scanning a mold using a vision system to accurately set it to the same position as the initially installed position and fixing it back to the initial tilting position.

이상과 같은 본 발명은 소재 적층헤드를 장착한 로봇시스템을 이용하여 기존 수작업 적층으로 제품을 제조했던 것을 소재 적층헤드 툴을 장착한 로봇과 몰드 스캔용 비전시스템을 동시에 메인 프레임 위에 설치하여 로봇과 비전 시스템이 동일 구간을 이동하며 소재 적층과 스캔을 자동으로 수행함으로써 쵸프드 피버 또는 직물소재와 수지를 스프레이 레이 업 공정으로 몰드에 자동 적층할 수 있는 효과가 있다.As described above, the present invention uses a robot system equipped with a material lamination head to manufacture products by manual lamination, but a robot equipped with a material lamination head tool and a vision system for mold scanning are installed on the main frame at the same time to provide a robot and a vision system. As the system moves in the same section and automatically performs material lamination and scanning, it has the effect of automatically laminating chopped fibers or fabric materials and resins on the mold through the spray layup process.

도 1은 본 발명의 반복생산이 가능한 자동적층을 구현하기 위한 장치를 나타낸 도면
도 2는 본 발명의 대형 제품의 몰드를 구현하기 위한 장치를 나타낸 도면이다.1 is a view showing an apparatus for realizing automatic lamination capable of repeated production of the present invention;
2 is a view showing an apparatus for implementing a mold of a large-sized product of the present invention.

이하, 본 발명의 실시예를 첨부된 도면을 참고로 하여 상세히 설명하면 다음과 같다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 반복생산이 가능한 자동적층을 구현하기 위한 장치를 나타낸 것이고, 도 2는 본 발명의 대형 제품의 몰드를 구현하기 위한 장치를 나타낸 것으로, 본 발명은 소재 적층헤드 툴을 장착한 로봇(1)과 몰드 스캔용 비전시스템(2)을 구비하여 동일 메인 프레임(3)위에 로봇(1)과 비전 시스템(2)이 동일 구간을 이동하며 소재 적층과 스캔 동작을 자동으로 수행하도록 구성한 것이다.1 shows an apparatus for realizing automatic lamination capable of repeated production of the present invention, and FIG. 2 shows an apparatus for realizing a mold of a large product of the present invention. A robot (1) and a vision system (2) for scanning the mold are provided so that the robot (1) and the vision system (2) move in the same section on the same main frame (3) and automatically perform material stacking and scanning operations. will be.

또한, 대형 제품 몰드(4)를, 로봇(1)의 동작 구간내에 몰드(4) 전체에 소재 적층이 가능하도록 몰드(4)를 틸팅하는 몰드 틸팅장치(5)가 추가로 구성되고, 소재 적층을 위해 몰드(4)를 틸팅한 후 최종 제품 적층 완료후 경화되면 탈형을 위해 다시 몰드(4)를 틸팅하여 원상 복귀한 후 제품을 탈형하도록 구성한 것이다.In addition, a mold tilting device 5 for tilting the large product mold 4 so that the material can be stacked on the entire mold 4 within the operation section of the robot 1 is additionally configured, and the material stacking After tilting the mold 4 for this purpose, when the final product lamination is completed and cured, the mold 4 is tilted again for demolding to return to its original state, and then the product is demolded.

이하, 본 발명의 반복생산이 가능한 자동적층 방법의 공정을 상세히 설명하면 다음과 같다.Hereinafter, the process of the automatic lamination method capable of repeated production of the present invention will be described in detail as follows.

본 발명은 도 1과 도 2에 도시된 바와 같이 하나의 메인프레임(3)위에 로봇(1)과 비전시스템(3)을 구비하고, 몰드(4)를 몰드틸팅장치(5)를 통해 틸팅상태에서 스캔하고 몰드(4)에 소재를 적층할 수 있는 것으로, 몰드(4) 적층후에는 다시 몰드(4)를 틸팅상태에서 원위치시키고 탈형함으로써 제품을 단계적으로 제조할 수 있는 것이다. 1 and 2, the present invention includes a robot 1 and a vision system 3 on one main frame 3, and tilts the mold 4 through a mold tilting device 5. It is possible to scan and laminate the material to the mold 4, and after laminating the mold 4, the product can be manufactured step by step by placing the mold 4 back in a tilted state and demolding it.

즉, 본 발명은 몰드(4)를 소재 적층이 가능한 형태로 몰드틸팅장치(5)를 통하여 틸팅한 후 비전 시스템(2)의 이동을 통하여 기울어진 몰드(4)의 형상을 스캔한다.That is, according to the present invention, the shape of the inclined mold 4 is scanned through the movement of the vision system 2 after tilting the mold 4 through the mold tilting device 5 in a form in which material stacking is possible.

그리고 상기 몰드(4)의 스캔 형상을 따라 로봇(1)의 경로를 생성하고 그 경로를 따라 규정된 두께까지 소재를 자동으로 적층한다.Then, a path of the robot 1 is created according to the scan shape of the mold 4, and materials are automatically stacked up to a prescribed thickness along the path.

또한, 상기 적층 소재가 경화되면 몰드(4)를 원상 복귀하여 탈형 및 제품을 생산한다. In addition, when the laminate material is cured, the mold 4 is returned to its original state to produce demolding and products.

이때, 본 발명에서는 하나의 메인프레임(3)위에 로봇(1)과 비전시스템(3)을 동시에 구비함으로써 초기 설치된 위치와 동일 위치로 정확히 셋팅할 수 있는 비전 시스템(2)을 이용하여 몰드(4)를 스캔하여 초기 틸팅위치에 다시 고정할 수 있는 것이다. At this time, in the present invention, by providing the robot 1 and the vision system 3 on one main frame 3 at the same time, the mold 4 using the vision system 2 that can be accurately set to the same position as the initially installed position. ) can be scanned and fixed back to the initial tilting position.

그리고 반복적으로 상술한 바와 같은 과정을 통하여 초기 로봇(1)의 경로를 적용함으로써 몰드(4)에 소재를 적층하여 동일 형상과 동일사양의 제품을 반복적으로 생산할 수 있는 것이다.And by repeatedly applying the path of the initial robot 1 through the process as described above, it is possible to repeatedly produce products with the same shape and the same specifications by stacking the materials on the mold 4 .

1:로봇 2:비전시스템
3:메인프레임 4:몰드
5:몰드틸팅장치1: Robot 2: Vision System
3: main frame 4: mold
5: Mold tilting device

Claims (3)

몰드를 소재 적층이 가능한 형태로 틸팅한 후 기울어진 몰드 형상을 스캔하는 제1공정과,
스캔 형상을 따라 로봇 경로를 생성하고 그 경로를 따라 규정된 두께까지 소재를 적층하는 제2공정과,
적층소재가 경화되면 몰드를 원상 복귀하여 탈형 및 제품을 생산하는 제3공정과,
초기 로봇경로를 적용하여 소재를 적층하여 동일 형상/사양의 제품을 반복적으로 생산하는 제4공정을 차례로 수행하는 것을 특징으로 하는 반복생산이 가능한 자동적층 방법.
A first process of scanning the inclined mold shape after tilting the mold to a form in which material stacking is possible;
A second process of creating a robot path along the scan shape and stacking the material up to a prescribed thickness along the path;
A third process of demolding and producing products by returning the mold to its original state when the laminated material is cured;
An automatic lamination method capable of repeat production, characterized in that the fourth process of repeatedly producing products of the same shape/specification by applying the initial robot path to stacking materials is performed in turn.
 제1항에 있어서, 상기 로봇이, 소재 적층 헤드 툴을 장착하며, 몰드 스캔용 시스템과 함께 동일 메인 프레임에 구비되어 로봇과 비전시스템이 동일 구간을 이동하며 소재 적층과 스캔 동작을 함께 수행하도록 한 것을 특징으로 하는 반복생산이 가능한 자동적층 방법.
The method according to claim 1, wherein the robot is equipped with a material lamination head tool and is provided on the same main frame together with a mold scanning system so that the robot and the vision system move in the same section and perform material lamination and scanning operations together. Automatic lamination method capable of repeated production, characterized in that.
 제1항에 있어서, 상기 몰드 형상 스캔시, 초기 설치된 위치와 동일 위치에 정확한 셋팅을 위해 비전 시스템을 이용하여 몰드를 스캔하여 초기 틸팅위치에 재고정하는 것을 특징으로 하는 반복생산이 가능한 자동적층 방법.[2] The automatic lamination method according to claim 1, wherein when scanning the mold shape, the mold is scanned using a vision system to accurately set the same position as the initially installed position, and then re-fixed at the initial tilting position.
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Citations (1)

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Publication number Priority date Publication date Assignee Title
KR20010092456A (en) 1998-12-30 2001-10-25 휴스톤 로버트 엘 Process and apparatus for filament winding composite workpieces

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20010092456A (en) 1998-12-30 2001-10-25 휴스톤 로버트 엘 Process and apparatus for filament winding composite workpieces

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