KR20230114502A - Robotic system and method for drilling air vent hole of mold - Google Patents

Abstract

The present invention relates to an air vent hole drilling system and method of a mold using a robot to easily process a plurality of air vent holes in a mold for manufacturing panels such as outer panels for vehicles using an automated process using a robot. will be.
That is, the present invention uses an automated process using a robot based on 3D design modeling data, using a robot to easily process a plurality of air vent holes in a mold for manufacturing panels such as outer panels for vehicles. It is intended to provide an air vent hole drilling system and method for a mold.

Description

Air vent hole drilling system and method for mold using robot {Robotic system and method for drilling air vent hole of mold}

The present invention relates to a system and method for drilling air vent holes in a mold using a robot, and more particularly, by using an automated process using a robot to easily form a plurality of air vent holes in a mold for manufacturing panels such as outer panels for vehicles. It relates to an air vent hole drilling system and method of a mold using a robot so that it can be processed smoothly.

Press mold equipment including an upper mold and a lower mold is used to manufacture exterior panels such as fenders and door panels constituting the exterior panels of automobiles.

Accordingly, the step of seating the panel material for manufacturing the outer panel of the vehicle on the upper and lower molds of the press mold, and pressing the panel material into the desired outer panel shape by descending until the upper mold of the press mold contacts the lower mold. Through the steps of doing, the outer plate for the vehicle can be manufactured.

At this time, when the upper mold of the press mold descends and momentarily contacts the lower mold, the air existing inside the press mold must be discharged, and for this purpose, an air vent hole for discharging air in the press mold this is being processed.

Generally, about 70 to 200 air vent holes are formed by drilling holes in an upper mold of a press mold, and about 30 to 100 air vent holes are formed in a lower mold by drilling holes.

However, conventionally, the following problems are caused as the drilling hole processing operation of processing the air vent hole in the press mold is performed manually.

First, when machining the inclined hole of the press mold, as shown in FIG. 1, after manually setting the press mold 10 arbitrarily, the operator manually operates the drilling machine 20 to supply air to the mold 10. When processing a vent hole, at this time, when the air vent hole must be processed in the vertical direction on the curved surface of the mold, the crane mounts the mold obliquely and at the same time holds the support in the mold, and then the operator directly climbs on the mold to perform the drilling operation. By doing so, there is a potential risk that material damage to the mold and peripheral equipment as well as personnel accidents may occur when the mold is moved due to a crane malfunction.

Second, since the press mold has countless curvatures and surfaces, when processing multiple air vent holes in the press mold, a different drilling direction is required for each air vent hole. For this purpose, a direction perpendicular to the surface of the mold In order to process the air vent hole, a number of mold settings must be made, and accordingly, not only the workability for setting a large number of molds is greatly reduced, but also the time required for mold setting is long, resulting in greatly reduced workability and productivity. There is a downside problem.

Third, the operator manually manipulates the drilling machine to process air vent holes in the mold, as shown in FIG. There is a problem in that the location and size of processing the hole 12 are different, resulting in different quality even in the same or symmetrical mold.

As such, as the conventional drilling hole processing operation for processing air vent holes in a press mold is performed manually, the risk for work stability is high and the worker's position is unstable, which affects musculoskeletal disorders. Due to the mold setting, there is a problem in that machining productivity is lowered due to a large error in the normal direction of the mold and the position of the mold.

Publication No. 10-2016-0075110 (2016.06.29)

The present invention has been made to solve the above conventional problems, using an automated process using a robot based on 3D design modeling data, using a plurality of air vents in a mold for manufacturing panels such as outer panels for vehicles An object of the present invention is to provide an air vent hole drilling system and method for a mold using a robot to easily process holes.

In order to achieve the above object, one embodiment of the present invention is: a mold fixing base on which a mold for processing an air vent hole is seated; carriages disposed on both sides of the mold fixing base; a robot equipped with a structure having a robot arm movable in X, Y, and Z axes and mounted on the carriage to be able to move forward and backward, respectively; a drilling tool that is interchangeably mounted on the robot arm; a computer for simulating whether a drilling operation of the robot normally proceeds before an actual drilling operation of the robot to form an air vent hole in the mold; and a robot controller for receiving data simulated by the computer and controlling an actual drilling operation of the robot to form an air vent hole in the mold. It provides an air vent hole drilling system of a mold using a robot, characterized in that configured to include.

The computer converts the 3D modeling data of the mold into robot cam data, which is 3D data for robot movement including drilling points and sections for processing air vent holes, robot starting, moving and end points, and the robot's progress path for the mold. After conversion, it is characterized in that it is configured to virtually simulate whether the drilling operation of the robot normally proceeds.

The robot controller receives the 3D data for robot movement, which is simulated data from the computer, and controls the actual drilling operation of the robot for forming an air vent hole in the mold. It is characterized in that it is configured to perform error correction control for the air vent hole formation position when an error occurs in the air vent hole formation position of the mold as a result of laser tracking by irradiating a laser on the air vent hole formation position of the mold.

Another embodiment of the present invention in order to achieve the above object is: seating the mold for air vent hole processing on the mold fixing base; In the computer, the 3D modeling data of the mold is converted into robot cam data, which is 3D data for robot movement including drilling points and sections for processing air vent holes, robot starting, moving and end points, and the robot's progress path for the mold. After converting, virtual simulating whether or not the drilling operation of the robot normally proceeds; Transmitting simulation data to a robot controller when it is determined that the drilling operation of the robot normally proceeds as a result of the virtual simulation in the computer; controlling an actual drilling operation of the robot for forming an air vent hole in the mold based on the simulated data in the robot controller; and drilling an air vent hole in the mold while moving in X, Y, and Z axes while the robot moves forward and backward along the carriage under the control of the robot controller. It provides an air vent hole drilling method of a mold using a robot, characterized in that it comprises a.

Before the drilling process of the robot under the control of the robot controller is performed, laser tracking is further performed by irradiating a laser to the position where the air vent hole of the mold is formed in the laser irradiator mounted on the robot arm, and the laser tracking result When an error occurs in the air vent hole formation position of the mold, error correction control for the air vent hole formation position of the robot controller is further performed.

Through the means for solving the above problems, the present invention provides the following effects.

First, after converting the 3D design modeling data of the mold into robot cam data, which is 3D data for robot movement, virtual simulation of whether or not the drilling operation of the robot proceeds normally, and then the robot actually processes a number of air vent holes in the mold. By enabling this, it is possible to eliminate site risk factors such as manual work of manually setting press molds manually and manual work of processing air vent holes in molds by manipulating a drilling machine, thereby preventing safety accidents as well as workers. can improve workability and safety.

Second, after converting the 3D design modeling data of the mold into robot cam data, which is 3D data for robot movement, virtual simulation of whether or not the drilling operation of the robot proceeds normally, and then a large number of air By machining the vent hole, since a plurality of air vent hole machining can be automatically performed after setting the mold once, workability and productivity can be greatly improved.

Third, by processing a plurality of air vent holes in the mold using an automated process using a robot based on 3D design modeling data, the position and size of the air vent holes in the mold can be kept constant, and accordingly The quality of hole processing in the same or symmetrical mold can be improved.

1 is an image showing that arbitrary setting of a press mold and processing of an air vent hole are performed manually in the prior art;
2 is an image showing that air vent holes are formed differently in molds for manufacturing conventional left (LH) and right (RH) panels of the outer panel;
3 is a perspective view showing an air vent hole drilling system of a mold using a robot according to the present invention;
4 is a plan view showing an air vent hole drilling system of a mold using a robot according to the present invention;
5 is a side view showing a state in which a robot processes an air vent hole in a mold during configuration of an air vent hole drilling system according to the present invention;
6 is a flowchart illustrating a method of drilling an air vent hole of a mold using a robot according to the present invention.

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

3 is a perspective view showing an air vent hole drilling system for a mold using a robot according to the present invention, and FIG. 4 is a plan view showing an air vent hole drilling system for a mold using a robot according to the present invention. is a side view showing how a robot processes an air vent hole in a mold among configurations of an air vent hole drilling system according to the present invention.

As shown in FIGS. 3 and 4, a mold fixing base 120 is disposed on one side of the floor in a space of a predetermined area partitioned by the safety fence 150, and an air vent hole is formed in the mold fixing base 120. The mold 10 to be processed is seated.

In addition, a carriage 110 for moving the robot forward and backward is disposed at a side of the mold fixing base 120.

In particular, a robot 100 having a robot arm 102 movable in X, Y, and Z axes is mounted on the carriage 110 to be able to move forward and backward.

At this time, drilling tools 104 of various sizes may be mounted to the robot arm 102 of the robot 100 in a replaceable manner.

To this end, a tool changer table 160 on which various tools are aligned is disposed at one side of the carriage 110 and at a rear position of the mold fixing base 120.

On the other hand, a computer 130 operable by an operator is disposed at a position outside the safety fence 150, and the computer 130 is a part of the robot 100 for forming an air vent hole in the mold 10. It is configured to virtually simulate whether the drilling operation of the robot 100 normally proceeds before the actual drilling operation.

More specifically, the computer 130 converts the 3D modeling data of the mold 10 to the drilling point and section for processing the air vent hole, the robot's starting, moving and end points, and the robot's progress path for the mold. After converting to robot cam data, which is 3D data for robot movement including, it is configured to virtually simulate whether the drilling operation of the robot is performed at the correct position without interference, that is, whether the drilling operation of the robot proceeds normally.

At this time, the computer 130, as a result of virtually simulating whether or not the drilling operation of the robot proceeds normally, if it is confirmed that the drilling operation of the robot proceeds normally, the simulation data (robot cam data that is 3D data for robot movement) It is configured to transmit to the robot controller 140.

Accordingly, the robot 100 and the robot arm for forming an air vent hole in the mold 10 by receiving simulation data (robot cam data that is 3D data for robot movement) from the computer 130 in the robot controller 140 The actual drilling operation and movement of 102 is controlled.

Here, a method of drilling an air vent hole of a mold using a robot based on the above system configuration will be described sequentially as follows.

6 is a flowchart illustrating a method of drilling an air vent hole of a mold using a robot according to the present invention.

First, the mold 10 to be processed through the air vent hole is seated on the mold fixing base 130 .

Subsequently, whether the drilling operation for processing the air vent hole in the mold by the robot 100 proceeds normally, that is, whether or not the drilling operation of the robot 100 is performed at a preset precise position without any interference is detected by the computer 130. virtual simulation.

More specifically, when the 3D modeling data of the mold 10 designed in advance is input to the computer 130 (S101), the computer 130 converts the 3D modeling data of the mold 10 to drilling for processing air vent holes. After converting into robot cam data, which is 3D data for robot movement including point and section, robot starting, moving and end point, and robot progress path to the mold (S102), robot starting based on the converted robot cam data , Moving and end points, and the path of the robot for the mold are designated (S103), and a virtual simulation is performed as to whether or not the drilling operation of the robot 100 normally proceeds (S104).

At this time, during the simulated simulation process in the computer 130, whether or not there is interference with the surroundings when the robot drills is checked, and whether the movement of the robot moves along the path for forming the air vent hole of the mold is determined. The route is checked, and whether the drill (tool) fastened to the robot arm can process an air vent hole of the desired size is checked (S105).

Subsequently, when it is determined that the drilling operation of the robot proceeds normally as a result of the virtual simulation of the computer 130, that is, when it is confirmed that the drilling operation of the robot 100 is performed at a preset precise position without any interference, the simulation data (robot Robot cam data, which is 3D data for movement, is transmitted to the robot controller 140 through wired or wireless communication means (S106).

On the other hand, before the actual drilling process of the robot 100 under the control of the robot controller 140 is performed, the air vent of the mold 10 in a laser irradiator (not shown) mounted on the robot arm 102 A laser tracing step of irradiating a laser to a position where a hole is formed, and as a result of the laser tracking, if an error occurs in the position where the air vent hole of the mold 10 is formed, the robot controller 140 controls the robot. Error correction control is performed on the position where the air vent hole is formed (S107).

Preferably, after the error correction control, laser tracking is performed again to confirm that there is no error in the position where the robot forms the air vent hole of the mold 10, and the drilling operation of the robot 100 is performed in advance without any interference. It is confirmed that it is made in the set exact position, and it is confirmed that the drill (tool) fastened to the robot arm has been exchanged to process an air vent hole of the desired size (S108).

Next, the robot controller 140 controls the actual drilling operation of the robot for forming an air vent hole in the mold 10 based on the simulated data, so that the robot 100 moves the carriage 120 The process of actually drilling the air vent hole in the mold 10 while moving along the X, Y, and Z axes along with the forward and backward movement proceeds (S109).

In this way, after converting the 3D design modeling data of the mold into robot cam data, which is 3D data for robot movement, virtual simulation of whether or not the drilling operation of the robot proceeds normally, and then the robot actually processes a number of air vent holes in the mold By enabling this, it is possible to improve workability and safety, such as eliminating site risk factors such as manual work of manually setting press molds manually and manual work of processing air vent holes in molds by manipulating drilling machines. In addition, workability and productivity can be greatly improved because multiple air vent hole processing can be performed automatically after one mold setting.

Meanwhile, an antifouling coating layer made of an antifouling coating composition may be applied around the drilling tool 104 to effectively prevent adhesion and removal of contaminants.

The antifouling coating composition contains 4A zeolite and Ethyl Cellusolve in a molar ratio of 1:0.01 to 1:2, and the total content of 4A zeolite and Ethyl Cellusolve is 1 to 10% by weight based on the total aqueous solution.

The 4A zeolite and ethylcellusolve are preferably 1:0.01 to 1:2 as a molar ratio. If the molar ratio is out of the above range, the coating ability of the drilling tool 104 is reduced or the moisture adsorption on the surface increases after application. There is a problem with the film being removed.

The 4A zeolite and ethyl cellusolve are preferably 1 to 10% by weight of the total aqueous solution of the composition. If the content is less than 1% by weight, the coating property of the drilling tool 104 is reduced, and if the content exceeds 10% by weight, the coating film thickness Crystallization is likely to occur due to an increase in

On the other hand, as a method of applying the antifouling coating composition to the drilling tool 104, it is preferable to apply it by a spray method. In addition, the final coating film thickness of the drilling tool 104 is preferably 800 to 2400 Å, more preferably 900 to 2000 Å. If the thickness of the coating film is less than 800 Å, there is a problem of deterioration in the case of high-temperature heat treatment, and if it exceeds 2400 Å, there is a disadvantage in that crystallization of the coated surface is easy to occur.

In addition, this antifouling coating composition can be prepared by adding 0.1 mole of 4A zeolite and 0.05 mole of Ethyl Cellusolve to 1000 ml of distilled water and then stirring.

The reason why the ratio of the constituent components and the thickness of the coating film were numerically limited as described above was that the present inventors showed the optimal antifouling coating effect at the ratio as a result of analyzing the test results while repeating several failures.

In addition, a vibration absorbing part made of rubber may be further installed at the lower end of the robot controller 140 .

The vibration absorbing part may be made of a rubber material, and the raw material content of the vibration absorbing part is 62% by weight of rubber, 8% by weight of zinc dimethyl dithiocarbamate, 8% by weight of barium stearate, 11% by weight of carbon black, 3C (N -PHENYL-N'-ISOPROPYL-P-PHENYLENEDIAMINE) 5% by weight and 6% by weight of diphenylguanidine were mixed.

Zinc dimethyldithiocarbamate is added to improve vulcanization acceleration, barium stearate is added to act as a softener, and carbon black is added to increase or improve wear resistance, thermal conductivity, and the like.

3C (N-PHENYL-N'-ISOPROPYL-P-PHENYLENEDIAMINE) is added as an antioxidant, and diphenylguanidine is added to act as an accelerator.

Therefore, in the present invention, since elasticity, toughness, and rigidity of the vibration absorbing part are increased, durability is improved, and thus the life of the vibration absorbing part is increased.

The rubber material has a tensile strength of 158Kg/cm2 and an elongation of 620%.

The reason for limiting the components and components of the rubber material and limiting the numerical values of the mixing ratio is that, as a result of the inventor's analysis through test results while repeating several failures, the optimal effect in the constituent components and numerically limited ratios showed up

10: mold
12: air vent hole
20: drilling machine
100: robot
102: robot arm
104: drilling tool
110: carriage
120: mold fixing base
130: computer
140: robot controller
150: safety fence
160: tool changer table

Claims (4)

A mold fixing base 120 on which the mold 10 of the air vent hole processing target is seated;
carriages 110 disposed on both sides of the mold fixing base 120;
A robot 100 equipped with a structure having a robot arm 102 movable in X, Y, and Z axes and mounted to the carriage 110 to be movable forward and backward, respectively;
a drilling tool 104 that is interchangeably mounted to the robot arm 102;
A computer 130 simulating whether a drilling operation of the robot 100 normally proceeds before an actual drilling operation of the robot 100 for forming an air vent hole in the mold 10; and
a robot controller 140 that receives simulated data from the computer 130 and controls an actual drilling operation of the robot 100 to form an air vent hole in the mold 10;
Air vent hole drilling system of a mold using a robot, characterized in that configured to include.
The method of claim 1,
The computer 130,
After converting the 3D modeling data of the mold into robot cam data, which is 3D data for robot movement including drilling points and sections for processing air vent holes, robot starting, moving and end points, and the robot's progress path to the mold, It is configured to virtually simulate whether the drilling operation of the robot proceeds normally,
The robot controller 140,
Receive the 3D data for robot movement, which is simulated data from the computer 130, and control the actual drilling operation of the robot 100 for forming an air vent hole in the mold 10, but prior to that, the robot arm As a result of laser tracking in which the laser irradiator irradiates the laser at the position where the air vent hole of the mold is formed, if an error occurs in the position of the air vent hole of the mold, it is configured to perform error correction control for the position of the air vent hole. An air vent hole drilling system of a mold using a robot.
Seating the mold 10 for air vent hole processing on the mold fixing base 130;
In the computer 130, the 3D modeling data of the mold 10 is converted to 3D data for robot movement, including drilling points and sections for processing air vent holes, starting, moving and end points of the robot, and robot movement paths for the mold. After converting data into robot cam data, simulating whether drilling of the robot 100 normally proceeds or not;
Transmitting simulation data to the robot controller 140 when it is determined that the drilling operation of the robot proceeds normally as a result of the virtual simulation in the computer 130;
In the robot controller 140, based on the 3D data for robot movement, which is the simulated data transmitted from the computer 130, to control the actual drilling operation of the robot for forming an air vent hole in the mold 10 step; and
Under the control of the robot controller 140, the robot 100 moves forward and backward along the carriage 120 and moves in the X, Y, and Z axes while drilling an air vent hole in the mold 10 step;
Air vent hole drilling method of a mold using a robot, characterized in that it comprises a.
The method of claim 3,
Before the drilling process of the robot 100 under the control of the robot controller 140 is performed, a laser is applied to the position where the air vent hole of the mold 10 is formed in the laser irradiator mounted on the robot arm 102. Laser tracking to investigate is further progressing,
As a result of the laser tracking, if an error occurs in the air vent hole formation position of the mold 10, the error correction control for the air vent hole formation position of the robot controller 140 is further performed. Vent hole drilling method.

Images