WO2023277463A1 - System for automatically manufacturing steel frame - Google Patents

System for automatically manufacturing steel frame Download PDF

Info

Publication number
WO2023277463A1
WO2023277463A1 PCT/KR2022/009052 KR2022009052W WO2023277463A1 WO 2023277463 A1 WO2023277463 A1 WO 2023277463A1 KR 2022009052 W KR2022009052 W KR 2022009052W WO 2023277463 A1 WO2023277463 A1 WO 2023277463A1
Authority
WO
WIPO (PCT)
Prior art keywords
base material
reinforcing member
steel
processed
steel frame
Prior art date
Application number
PCT/KR2022/009052
Other languages
French (fr)
Korean (ko)
Inventor
성종민
김도훈
김선호
이대영
김보훈
박나정
박창하
천상필
이병열
최민규
서찬원
추정훈
Original Assignee
현대로보틱스 주식회사
삼성엔지니어링 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020220048007A external-priority patent/KR20230004234A/en
Application filed by 현대로보틱스 주식회사, 삼성엔지니어링 주식회사 filed Critical 현대로보틱스 주식회사
Publication of WO2023277463A1 publication Critical patent/WO2023277463A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P13/00—Making metal objects by operations essentially involving machining but not covered by a single other subclass
    • B23P13/02—Making metal objects by operations essentially involving machining but not covered by a single other subclass in which only the machining operations are important
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/02—Machine tools for performing different machining operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to an automatic steel frame manufacturing system.
  • Oil or gas plants and buildings include complex steel structures.
  • Steel structures such as oil or gas plants and buildings, are formed by making a steel frame that forms part of the steel structure in advance in another place, and then connecting a plurality of steel frames in the oil or gas plant, building, etc. to each other.
  • Steel frames constituting steel structures such as oil or gas plants and buildings have different shapes and sizes. Accordingly, it is difficult to automate the manufacturing of steel frames, so conventionally, steel frames having different shapes and sizes are manually manufactured, or steel frames having different shapes and sizes are manufactured semi-automatically by automating only some automatable processes.
  • the present invention has been made in recognition of at least one of the above-mentioned needs or problems occurring in the prior art.
  • One aspect of the object of the present invention is to automatically manufacture steel frames having various shapes and sizes.
  • Another aspect of the object of the present invention is to minimize the user's intervention in manufacturing the steel frame or to make the steel frame without the user.
  • An automatic steel frame manufacturing system includes a steel frame base material processing machine for processing the steel frame base material, and a steel base material processing and supply unit supplying the processed steel base material;
  • a reinforcing member processing supply unit for supplying the processed reinforcing member including a reinforcing member processing machine for processing the reinforcing member;
  • a welding unit including a welding robot that makes a steel frame by welding the processed reinforcing member to the processed steel frame base material, a positioner that grips the processed steel frame base material when welding, and a welding handling robot that grips the reinforcing member; and a control unit controlling the steel frame base material processing and supply unit, the reinforcing member processing and supply unit, and the welding unit to manufacture the steel frame having a desired shape and size.
  • the positioners include a first positioner supporting the steel frame base material having a length in a first predetermined range, and a second positioner supporting the steel frame base material having a length in a predetermined second range longer than the first range.
  • the steel frame base material processing supply unit includes a first steel frame base material standby unit in which the steel frame base material before processing is moved and standby, a second steel frame base material standby unit in which the processed steel frame base material is moved and standby, and the processed steel frame base material. It may further include a steel frame base material supply unit supplying the second steel base material to the welding portion from the standby unit.
  • the steel-frame base material processing supply unit includes a first steel-frame base material mover for moving the steel base base material before processing from the first steel base base material standby unit; a second steel-frame base material mover provided at one side of the steel-frame base material processing machine to move the steel base material before processing, moved from the first steel-frame base material mover, to the steel-frame base material processing machine; and a third steel base material mover provided on the other side of the steel base material processing machine to move the processed steel base material from the steel base material processing machine to the second steel base material waiting unit.
  • the steel frame base material feeder includes a plurality of grippers that grip the processed steel base material and are spaced apart from each other by a predetermined distance, and the plurality of grippers are configured to move at least in the front-back direction, left-right direction, and up-down direction. It is a gantry crane robot , The steel frame base material feeder moves the processed steel frame base material to the positioner so that the positioner grips the processed steel frame base material, and the reference point of the processed steel frame base material coincides with the reference point of the positioner.
  • the reinforcing member processing supply unit includes a first reinforcing member storage unit in which the reinforcing member before processing is moved and standby, a second reinforcing member storage unit in which the processed reinforcing member is moved and stored separately by shape, and the processed reinforcing member storage unit.
  • a reinforcing member supplier supplying a reinforcing member from the second reinforcing member storage unit to the welding part may be further included.
  • the reinforcing member processing supply unit includes a first reinforcing member mover for moving the reinforcing member before processing from the first reinforcing member storage unit to the reinforcing member processing machine; a second reinforcing member mover for moving the processed reinforcing member from the reinforcing member processing machine; and a third reinforcing member mover for moving the processed reinforcing member moved from the second reinforcing member mover to the second reinforcing member storage unit.
  • the welding robot in a state in which the welding handling robot grips the processed reinforcing member and places it at the reinforcing member attachment part of the processed steel frame base material, the welding robot, in a state where the processed reinforcing member is processed After tack welding the reinforcing member attachment portion of the steel frame base material, the processed reinforcing member may be permanently welded to the processed reinforcing member attachment portion of the steel frame base material.
  • the part between the processed reinforcing member and the processed reinforcing member attachment part of the steel frame base material, which requires the backing material can be welded first and then welded to another part.
  • control unit receives information on the steel frame to be manufactured and automatically generates manufacturing information including a manufacturing order and robot motion, and a manufacturing information generating unit exchanging information with the user and manufacturing information generated by the manufacturing information generating unit.
  • a manufacturing management unit that stores and transmits information, and a manufacturing operation unit that operates the steel base material processing and supplying unit, the reinforcing member processing and supplying unit, and the welding unit to manufacture the steel frame in a desired shape and size according to the manufacturing information received from the manufacturing management unit. can include
  • the manufacturing information generation unit receives and analyzes information on the steel frame to be manufactured, and a material analysis unit extracts information necessary for manufacturing the steel frame.
  • a scheduling unit generates a manufacturing order based on the information extracted from the material analysis unit. , And based on the information extracted from the material analysis unit and the manufacturing order generated by the scheduling unit, it may include a robot motion generation unit for reviewing interference between robots during work and generating robot motions.
  • the material analysis unit receives and analyzes the information on the steel frame to be manufactured, which is designed by the user through the steel frame design computer program, as a computer file, and analyzes the shape, thickness, or size of the steel frame base material or reinforcing member constituting the steel frame to be manufactured. Information about quantity or weight can be extracted and made into a computer file.
  • the manufacturing management unit extracts main information from among a user interface unit exchanging information with a user, a first information storage unit storing manufacturing information generated by the manufacturing information generating unit, and manufacturing information stored in the first information storage unit. And may include a second information storage unit for processing and storing the desired information form.
  • the manufacturing operation unit includes a steel base material processing and supply control unit controlling the steel base material processing and supply unit, a reinforcing member processing control unit controlling processing of the reinforcing member in the reinforcing member processing and supply unit, and the reinforcement processed in the reinforcing member processing and supply unit. It may include a processing reinforcing member supply controller for controlling the supply of members, and a master PLC for controlling the welded portion.
  • steel frames having various shapes and sizes can be automatically manufactured.
  • the user's intervention in manufacturing the steel frame can be minimized, or the steel frame can be manufactured without the user.
  • FIG. 1 is a schematic diagram showing an automatic steel frame manufacturing system according to the present invention.
  • FIG. 2 is a diagram showing an automatic steel frame manufacturing system according to the present invention.
  • FIG. 3 is a view showing the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 4 is a view showing a first steel base material standby part of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 5 is a view showing the first steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 6 is a view showing the second steel-frame base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 7 is a view showing a steel base material processing machine and a second steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 8 is a view showing a steel base material processing machine and a third steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 9 is a view showing the tilter of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 10 is a diagram showing a steel frame base material feeder of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 11 is a view showing the operation of the steel frame base material feeder of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 12 is a view showing the second steel frame base material standby unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 13 is a view showing a steel frame base material standby unit for recycling of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 14 is a view showing a reinforcing member processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
  • 15 is a view showing the first reinforcing member storage unit and the first reinforcing member mover of the automatic steel frame manufacturing system according to the present invention.
  • 16 is a view showing a reinforcing member processing machine of the automatic steel frame manufacturing system according to the present invention.
  • 17 is a view showing the second reinforcing member storage unit of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 18 is a view showing a sorting handling robot in the second reinforcing member storage unit of the automatic steel frame manufacturing system according to the present invention.
  • 19 is a view showing a third reinforcing member mover of the automatic steel frame manufacturing system according to the present invention.
  • 20 is a diagram showing a reinforcing member feeder of the automatic steel frame manufacturing system according to the present invention.
  • 21 is a view showing a welded part of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 22 is an enlarged view of a part of a welded part of the automatic steel frame manufacturing system according to the present invention.
  • FIG. 23 is a view showing the first positioner of the welding part of the automatic steel frame manufacturing system according to the present invention.
  • 24 is a view showing the second positioner of the welding part of the automatic steel frame manufacturing system according to the present invention.
  • 25 is a view showing the steel frame standby part of the automatic steel frame manufacturing system according to the present invention.
  • 26 is a view showing a case where a processed reinforcing member, which is an end plate, is welded to an end of a processed steel frame base material, which is an H beam, in a welding part of the automatic steel frame manufacturing system according to the present invention.
  • 27 is a diagram showing the control unit of the automatic steel frame manufacturing system according to the present invention.
  • an embodiment of the automatic steel frame manufacturing system 100 includes a steel base material processing and supply unit 200, a reinforcing member processing and supply unit 300, a welding unit 400 and a control unit ( 500) may be included.
  • the steel frame base material processing and supply unit 200 may include the steel base material processing machine 210 shown in FIGS. 7 and 8 .
  • the steel frame base material processing machine 210 may process the steel base material PS.
  • the steel frame base material PS processed by the steel frame base material processing machine 210 may be, for example, an H-beam as shown in FIG. 4 .
  • the steel frame base material (PS) processed by the steel frame base material processing machine 210 is not particularly limited, and the steel frame (SF) as shown in FIG. 25 formed by welding the reinforcing member (ST) to the steel frame base material (PS) As long as it can be made, anything well-known is possible.
  • the steel frame base material processing machine 210 drilling, cutting, beveling, etc. of the steel frame base material (PS) may be performed.
  • a hole into which a bolt (not shown) or the like is to be inserted may be formed in the steel base material PS by a drill (not shown) or the like.
  • the steel frame base material PS may be cut by a plasma processing machine (not shown) or the like so that the steel frame base material PS has a predetermined desired length.
  • welding improvements may be formed on the steel frame base material PS by a plasma processing machine or the like so that the reinforcing member ST is welded to the steel frame base material ST.
  • the processing of the steel frame base material (PS) performed by the steel frame base material processing machine 210 is not particularly limited, and the steel frame (SF) can be made, and any known processing is possible as long as it is required for the steel frame (SF).
  • a plurality of steel frame base material processing machines 210 are provided, a plurality of steel frame base materials PS may be simultaneously processed in the plurality of steel base material processing machines 210 .
  • processing of the steel base material (PS) is not all performed in one steel frame base material processing machine 210, and processing is performed while the steel base material (PS) moves through each of a plurality of steel base material processing machines 210 that perform different processing. may be done For example, machining may be performed while the steel base material PS moves through each of the three steel base material processors 210 that perform drilling, cutting, and beveling.
  • the steel frame base material processing supply unit 200 may supply the steel frame base material PS processed by the steel base material processing machine 210 to the welding part 400 .
  • the steel frame base material processing and supply unit 200 may further include a first steel frame base material standby unit 220, a second steel frame base material standby unit 230, and a steel frame base material supply unit 240. there is.
  • the steel frame base material PS before processing may be moved and stand by.
  • the steel frame base material PS before processing may be moved to the first steel frame base material standby unit 220 by a forklift (not shown) or the like and placed in the first steel frame base material standby unit 220 .
  • the steel frame base material (PS) can be moved to the first steel frame base material standby unit 220 and stand by in the first steel frame base material standby unit 220 .
  • an object detection sensor (not shown) connected to the controller 500 is provided in the first steel frame base material standby unit 220 to detect the steel frame base material PS waiting in the first steel frame base material standby unit 220. can do. Accordingly, the control unit 500 can know that the steel frame base material PS is moved to the first steel frame base material waiting unit 220 and is waiting through the object detection sensor.
  • the object detection sensor provided in the first steel-frame base material standby unit 220 is not particularly limited, and is provided in the first steel-frame base material standby unit 220 to be connected to the control unit 500 so that the steel frame base material PS is the first steel base material. As long as it can sense that it is moved to the waiting unit 220 and is waiting, and can transmit it to the control unit 500, any well-known one is possible.
  • the steel frame base material PS waiting in the first steel frame base material waiting unit 220 is, for example, the first and second steel base material movers 250 and 260 as shown in FIGS. 1 to 3 and 5 to 7 described later. It can be moved to the steel base material processing machine 210 by the.
  • the steel base material PS processed by the steel base material processing machine 210 may be moved and stand by.
  • the steel base material PS processed in the steel base material processing machine 210 is, for example, the second steel base material standby unit in the steel base material processing machine 210 by the third steel base material mover 270 and the steel base material feeder 240, which will be described later. It is moved to 230 and can be placed in the second steel frame base material waiting unit 230. As a result, the steel frame base material (PS) can be moved to the second steel-frame base material standby unit 230 and stand by in the second steel-frame base material standby unit 230 .
  • An object detection sensor connected to the controller 500 is provided in the second steel-frame base material waiting unit 230 to detect the steel frame base material PS waiting in the second steel-frame base material waiting unit 230 . Accordingly, the control unit 500 can know that the steel frame base material PS processed by the steel base material processing machine 210 is moved to the second steel frame base material waiting unit 230 and is waiting through the object detection sensor.
  • the object detection sensor provided in the second steel-frame base material standby unit 230 is not particularly limited, and is provided in the second steel-frame base material standby unit 230 to be connected to the control unit 500 so that the steel frame base material PS is the second steel base material. As long as it can sense that it is moved to the waiting unit 230 and is waiting, and can transmit it to the control unit 500, any well-known one is possible.
  • the steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting unit 230, is, for example, a steel base material feeder 240 as described later and shown in FIGS. 1 to 3 and 10 ) and the like can be supplied to the welding portion 400.
  • the steel base material feeder 240 transfers the steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting part 230, to the welding part 400 from the second steel base material waiting part 230. can supply In addition, the steel frame base material feeder 240 can move the steel base material PS, which has been moved by the third steel base material mover 270 and processed in the steel base material processing machine 210, to the second steel base material standby unit 230. there is.
  • the steel frame feeder 240 may be, for example, a gantry crane robot as shown in FIGS. 2, 3, 10 and 11.
  • the gantry crane robot which is the steel frame base material feeder 240, may include a plurality of grippers (GP) that hold the processed steel base material (PS) and are spaced apart from each other by a predetermined distance. Accordingly, the plurality of grippers GP spaced apart from each other by a predetermined distance can stably grip the relatively long processed steel frame base material PS. Accordingly, the movement of the processed steel frame base material PS by the steel frame base material feeder 240 can be made stably.
  • GP grippers
  • a typical gantry crane grips and moves the processed steel base material PS by a hoist (not shown) using a chain or wire, an electromagnet (not shown), or the like. Accordingly, when a normal gantry crane grips and moves the processed steel frame base material (PS), when gripping or moving the processed steel frame base material (PS), the processed steel frame base material (PS) tilts to one side, shakes, or , can fall.
  • the grippers (GP) spaced apart from each other at a predetermined interval grip and move the processed steel frame base material (PS).
  • the gantry crane robot which is the steel frame base material feeder 240 of the present invention, can more stably grip the processed steel frame base material (PS) and more stably move the processed steel frame base material (PS).
  • the gantry crane robot which is the steel frame base material feeder 240, may include two grippers GP spaced apart from each other by a predetermined distance in the longitudinal direction of the processed steel base material PS.
  • the number of grippers (GP) included in the gantry crane robot, which is the steel base material feeder 240 is not particularly limited, and is plural, and can more stably grip the processed steel base material (PS) and more stably, processing Any number can be used as long as the number of the steel base materials (PS) can be moved.
  • the processed steel frame base material (PS) stored in the control unit 500 for example, 3D information of the processed steel frame base material (PS), and the positioners 420 and 430 of the welded part 400 ), the processed actual steel base material (PS) can be matched. Accordingly, the welding robot 410 of the welding part 400 uses information about the size, thickness, and shape of the processed steel base material PS stored in the control unit 500 without separate teaching by the user.
  • the processed reinforcing member ST may be welded to the processed steel frame base material PS held by the positioners 420 and 430 of the welding portion 400 .
  • the steel-frame base material supplier 240 is not particularly limited, and the steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting unit 230, is transferred to the second steel-frame base material waiting unit 230. ), any well-known material can be supplied to the welding part 400.
  • the second steel frame base material mover 260 may be provided on one side of the steel base material processing machine 210 as shown in FIGS. 1 to 3 .
  • the second steel frame base material mover 260 may move the steel frame base material PS, which has been moved from the first steel frame base material mover 250, to the steel base material processing machine 210.
  • the second steel frame base material mover 260 may be a conveyor as shown in FIGS. 2, 3, 6 and 7, for example.
  • the second steel frame base material mover 260 is not particularly limited, and it is well known that the steel base material PS moved from the first steel frame base material mover 250 before processing can be moved to the steel base material processing machine 210. Anything from is possible.
  • a tilter TT may be provided next to the third steel-frame base material mover 270 or the third steel-frame base material mover 270, as shown in FIGS. 1 and 3.
  • the tilter TT can rotate the steel base material PS processed in the steel base material processor 210 in the third steel base material mover 270 at a predetermined angle, for example, 90 degrees.
  • the steel frame base material feeder 240 can easily grip the steel frame base material PS.
  • the steel base material feeder 240 is processed in the steel base material processing machine 210 in the third steel base material mover 270 (PS). ) can be moved to the second steel frame base material waiting unit 230.
  • the configuration of the tilter TT is not particularly limited, as long as it is configured to rotate the steel base material PS processed in the steel base material processor 210 in the third steel base material mover 270 at a predetermined angle, for example, 90 degrees Any well-known configuration is possible.
  • a recycling steel base material waiting unit RW may be provided next to the third steel frame base material mover 270 or next to the tilter TT. Since the third steel frame base material mover 270 remains after being processed in the steel frame base material processing machine 210, there may be a steel frame base material PS that cannot currently be a steel frame base material SF. These steel frame base materials (PS) are moved from the third steel frame base material mover 270 to the recycled steel base material standby unit (RW) by the steel frame base material feeder 240, and as shown in FIG. 13, the recycled steel frame base material standby unit (RW).
  • the recycling steel base material mover MS may be a conveyor as shown in FIGS. 2 and 3, for example.
  • the recycled steel frame base material mover (MS) is not particularly limited, and any well-known one is possible as long as it can move the steel frame base material (MS).
  • a series of processes in the steel base material processing and supply unit 200 may be controlled by the control unit 500 connected to each component included in the steel frame base material processing and supply unit 200.
  • the reinforcing member processing supply unit 300 may include the reinforcing member processing machine 310 shown in FIG. 16, as shown in FIGS. 1, 2, and 14.
  • the reinforcing member processing machine 310 may process the reinforcing member ST.
  • the reinforcing member ST processed in the reinforcing member processing machine 310 may be, for example, an iron plate.
  • the reinforcing member (ST) processed in the reinforcing member processing machine 310 is not particularly limited, and any well-known one is possible as long as it can make the steel frame (SF).
  • the reinforcing member processing machine 310 drilling, cutting, beveling, etc. of the reinforcing member ST may be performed.
  • a hole into which a bolt or the like is to be inserted may be formed in the reinforcing member ST by a drill or the like.
  • the reinforcing member ST may be cut by a plasma processing machine or the like so that the reinforcing member ST has a desired shape.
  • welding improvement may be formed on the reinforcing member ST by a plasma processing machine or the like so that the reinforcing member ST is welded to the steel frame base material ST.
  • processing of the reinforcing member (ST) performed in the reinforcing member processing machine 310 is not particularly limited, and the steel frame (SF) can be made, and any known processing is possible as long as it is required for the steel frame (SF).
  • two reinforcing member processing machines 310 are provided so that reinforcing members ST having different lengths can be respectively processed.
  • the processing of the reinforcing member (ST) is not all performed in one reinforcing member processing machine 310, and the reinforcing member (ST) moves through each of the plurality of reinforcing member processing machines 310 that perform different processing. may be done For example, machining may be performed while the reinforcing member ST moves through each of the three reinforcing member processors 310 that perform drilling, cutting, and beveling.
  • the reinforcing member processing machine 310 information on the processed reinforcing member (ST) or information on the steel frame (SF) to be made by the processed reinforcing member (ST) is stored in the processed reinforcing member (ST). It may be marked by an information marking machine (not shown).
  • the information marking machine is not particularly limited, and is provided in the reinforcing member processing machine 310 and can be made by the processed reinforcing member ST, information on the processed reinforcing member ST, or the processed reinforcing member ST. As long as it can mark information on the steel frame (SF) or the like, any well-known ones are possible.
  • the reinforcing member processing and supply unit 300 further includes a first reinforcing member storage unit 320, a second reinforcing member storage unit 330 and a reinforcing member supplier 340.
  • a first reinforcing member storage unit 320 can include,
  • the reinforcing member ST before processing may be moved and stand by.
  • the reinforcing member ST before processing may be moved to the first reinforcing member storage unit 320 by a forklift or the like and placed in the first reinforcing member storage unit 320 .
  • the reinforcing member ST before processing may be moved to the first reinforcing member storage unit 320 and stand by in the first reinforcing member storage unit 320 .
  • an object detection sensor connected to the control unit 500 is provided in the first reinforcing member storage unit 320 to detect the reinforcing member ST waiting in the first reinforcing member storage unit 320 . Accordingly, the control unit 500 can know that the reinforcing member ST is moved to the first reinforcing member storage unit 320 and waits through the object detection sensor.
  • the object detection sensor provided in the first reinforcing member storage unit 320 is not particularly limited, and is provided in the first reinforcing member storage unit 320 to be connected to the control unit 500 so that the reinforcing member ST is the first reinforcing member. Any known material may be used as long as it can sense that it is moved to the storage unit 320 and wait, and transmit it to the control unit 500 .
  • the reinforcing member ST waiting in the first reinforcing member storage unit 320 is reinforced by the first reinforcing member mover 350 or the like, as described later and shown in FIGS. 1, 2, 14 and 15, for example. It can be moved to the member processing machine 310. Meanwhile, the reinforcing member ST before processing may be classified by thickness in the first reinforcing member storage unit 320 and stand by.
  • the method of waiting for the reinforcing member ST before processing in the first reinforcing member storage unit 320 is not particularly limited, and any method is possible.
  • the reinforcing member ST processed in the reinforcing member processing machine 310 is moved and stored separately for each shape. It can be.
  • the reinforcing member ST processed in the reinforcing member processing machine 310 is stored as the second reinforcing member in the reinforcing member processing machine 310 by, for example, the second reinforcing member mover 360 and the third reinforcing member mover 370 to be described later. It can be moved to the unit 330 and placed in the second reinforcing member storage unit 330 .
  • the activated reinforcing member ST may be moved to the second reinforcing member storage unit 330 and stored in the second reinforcing member storage unit 330 .
  • the processed reinforcing member ST is classified according to shape by the reinforcing member sorter SL and the sorting handling robot RS, as will be described later, and the second reinforcing member storage unit 330, for example, the second reinforcing member storage. It may be stored in a processed reinforcing member storage unit 331 of the unit 330, which will be described later.
  • the reinforcing member processing and supply unit 300 includes a first reinforcing member mover 350, a second reinforcing member mover 360 and a third reinforcing member mover 370. can include more.
  • the second reinforcing member mover 360 may move the reinforcing member ST processed in the reinforcing member processing machine 310 from the reinforcing member processing machine 310 .
  • the second reinforcing member mover 360 may move the reinforcing member ST processed in the reinforcing member processing machine 310 to the third reinforcing member mover 370 .
  • the second reinforcing member mover 360 may be, for example, a conventional gantry crane as shown in FIG. 14 or the aforementioned gantry crane robot.
  • the second reinforcing member mover 360 is not particularly limited, and any known one can be used as long as it can move the reinforcing member ST processed in the reinforcing member processing machine 310 from the reinforcing member processing machine 310. .
  • the third reinforcing member mover 370 may include a blaster BL.
  • the processed reinforcing member ST may be blasted by the blaster BL.
  • the configuration of the blaster BL is not particularly limited, and any well-known configuration is possible as long as it can blast the reinforcing member ST processed in the reinforcing member processing machine 310.
  • a reinforcing member selector SL may be provided in the third reinforcing member mover 370 next to the blaster BL in the moving direction of the reinforcing member ST. .
  • the reinforcing member selector SL can recognize the shape of the processed reinforcing member ST.
  • the reinforcing member selector SL is provided with a shape recognition sensor (not shown) such as a vision sensor or a laser scanner, and can recognize the shape of the processed reinforcing member ST.
  • the configuration capable of recognizing the shape of the processed reinforcing member ST is not particularly limited, and any well-known configuration capable of recognizing the shape of the processed reinforcing member ST configuration is also possible.
  • the reinforcing member selector SL connects with the control unit 500 to match the design information of the steel frame SF, and then the processed reinforcing member ( A storage place of the second reinforcing member storage unit 330 in which ST) is to be stored, for example, a storage drawer to be described later of the processed reinforcing member storage unit 331 may be designated.
  • the reinforcing member processing machine 310 information on the processed reinforcing member (ST) or information on the steel frame (SF) to be made by the processed reinforcing member (ST) is marked on the processed reinforcing member (ST). It may not be. In this case, information on the processed reinforcing member ST or information on the steel frame SF to be made by the processed reinforcing member ST is transmitted from the reinforcing member selector SL to the reinforcing member selector SL. By the provided information marking machine, it can be marked on the processed reinforcing member (ST).
  • the reinforcing member ST processed in the reinforcing member processing machine 310 is welded to the steel base material PS processed in the steel base material processing machine 210 of the steel base material processing and supply unit 200 at the welding part 400, as will be described later. It can be. However, some of the reinforcing members ST processed in the reinforcing member processing machine 310 are not welded and connected to the steel base material PS processed in the steel base material processing machine 210 at the welding portion 400, but by bolts or the like. may be connected.
  • the second reinforcing member storage unit 330 may include a processed reinforcing member storage device 331 in the form of a drawer having a plurality of storage drawers. And, as described above, the processed reinforcing members (ST) classified by shape can be moved and stored in the corresponding storage drawer of the processed reinforcing member storage device 331 in the form of a drawer by the sorting handling robot (RS). there is.
  • the configuration of the processed reinforcing member storage device 331 is not particularly limited, and any configuration is possible as long as the processed reinforcing member ST is classified according to shape and stored.
  • the welding unit 400 may include a welding robot 410, positioners 420 and 430, and a welding handling robot 440.
  • the welding robot 410 is the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing supply unit 200, the reinforcing member processed in the reinforcing member processing machine 310 of the reinforcing member processing supply unit 300 ( ST) can be welded to make steel frame (SF).
  • the welding robot 410 is not particularly limited, and the steel base material PS processed in the steel base material processing machine 210 of the steel base material processing and supplying unit 200, in the reinforcing member processing machine 310 of the reinforcing member processing and supplying unit 300 As long as the steel frame SF can be made by welding the processed reinforcing member ST, any well-known one is possible.
  • the steel frame base material feeder 240 of the steel base material processing and supply unit 200 includes a plurality of grippers GP holding the processed steel base material PS and spaced apart from each other by a predetermined distance
  • the gripper GP may be a gantry crane robot configured to move at least in the front and rear directions, left and right directions, and up and down directions.
  • the positioners 420 and 430 may include a first positioner 420 as shown in FIG. 23 and a second positioner 430 as shown in FIG. 24 .
  • the first positioner 420 may support the steel base material PS having a length in a first predetermined range, for example, in a range of 1m to 4m during welding. Accordingly, when the steel base material PS waiting in the second steel base material standby unit 230 of the steel base material processing and supply unit 200 has a length within the first predetermined range, the steel base material supply unit of the steel base material processing and supply unit 200 240 may supply the steel frame base material PS to the first positioner 420 .
  • the second positioner 430 may support a steel frame base material PS having a length of a predetermined second range longer than the first range, for example, a length ranging from 4m to 16m. Accordingly, when the steel base material (PS) waiting in the second steel base material standby unit 230 of the steel base material processing and supply unit 200 has a length within the predetermined second range, the steel frame base material supply unit of the steel base material processing and supply unit 200 240 may supply the steel frame base material PS to the second positioner 430 .
  • the welding handling robot 440 may grip the reinforcing member ST.
  • the welding handling robot 440 processes the reinforcing member ST, which is supplied through the reinforcing member supplier 340 of the reinforcing member processing and supplying unit 300, and processed in the reinforcing member processing machine 310 of the reinforcing member processing and supplying unit 300.
  • the welding handling robot 440 may be equipped with a member positioning sensor (not shown) such as a vision sensor or a laser scanner. Accordingly, the welding handling robot 440 can hold the processed reinforcing member ST supplied through the reinforcing member supplier 340 of the reinforcing member processing and supplying unit 300 in a correct position. Accordingly, welding of the processed reinforcing member (ST) to the processed steel frame base material (PS) by the welding robot 410 can be made more easily.
  • the welding handling robot 440 may move the processed reinforcing member ST to a place where the welding robot 410 and the positioners 420 and 430 are located.
  • the welding handling robot 440 is not particularly limited, and any well-known one can be used as long as it can grip the reinforcing member ST.
  • the welding robot 410 In the welding part 400, in a state where the welding handling robot 440 grips the processed reinforcing member ST and places it in the reinforcing member attachment part of the processed steel frame base material PS, the welding robot 410, The processed reinforcing member ST may be tack welded to the reinforcing member attachment portion of the processed steel frame base material PS.
  • the welding robot 410 is provided with a position correction sensor such as a vision sensor or a laser scanner to determine the position of the processed reinforcing member ST to be welded to the processed steel base material PS. By grasping, it is possible to correct the welding position of the processed reinforcing member (ST) to the processed steel base material (PS) according to the design position.
  • a position correction sensor such as a vision sensor or a laser scanner to determine the position of the processed reinforcing member ST to be welded to the processed steel base material PS.
  • the position correction sensor of the welding robot 410 is the processing reinforcing member ST held by the welding handling robot 440 and the reinforcing member of the processed steel base material PS held by the positioners 420 and 430. It is possible to correct the welding position of the processed reinforcing member (ST) to the processed steel frame base material (PS) according to the design position by determining whether the attachment unit is correctly positioned.
  • the welding portion 400 when a backing material (not shown) is required during main welding, the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), which requires the backing material, You can weld the other parts after welding them first.
  • the processed reinforcing member ST which is an end plate
  • the processed steel base material PS which is an H beam
  • the processed reinforcing member ST The melt may flow down through a portion of the portion between the reinforcement member attachment portion of the processed steel frame base material (PS). Accordingly, a part of the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), where the melt can flow down, must be blocked through the backing material. In this case, through the positioners 420 and 430, etc., as shown in (b) of FIG.
  • the backing material is required between the processed reinforcing member ST and the reinforcing member attachment portion of the processed steel base material PS.
  • the part for example, the part on the opposite side of the weld improvement may face upward.
  • the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), which requires a backing material can be welded first.
  • other parts between the processed reinforcing member ST and the reinforcing member attachment portion of the processed steel frame base material PS for example, welding improvement
  • the part can be pointed upwards. And, it is possible to weld another part between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS).
  • two welding robots 410 and two welding handling robots 440 may be provided on each side of the two first positioners 420, respectively.
  • the two welding robots 410 and the two welding handling robots 440 can work simultaneously as long as there is no risk of safety and collision.
  • two welding robots 410 and two welding handling robots 440 may be provided on both sides of one second positioner 430. there is. And, two more of these configurations may be provided. Even in this case, the two welding robots 410 and the two welding handling robots 440 can work simultaneously, as long as there is no safety or risk of collision.
  • the configuration of the welding portion 400 is not particularly limited, and the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing and supplying unit 200 is placed in the reinforcing member processing machine of the reinforcing member processing and supplying unit 300 ( Any configuration may be used as long as the reinforcing members ST processed in 310) can be connected by welding.
  • PS steel base material
  • the steel frame SF made at the welded portion 400 may be moved to the steel frame waiting unit WF as shown in FIG. 25 by the steel frame mover MF as shown in FIGS. 1 and 2 and wait.
  • the steel frame mover MF includes a plurality of grippers GP gripping the steel base material PS and spaced apart from each other by a predetermined distance.
  • GP may be a gantry crane robot configured to move in at least forward and backward directions, left and right directions, and up and down directions.
  • the steel frame mover (MF) is not particularly limited, and any well-known configuration is possible as long as it can move the steel frame (SF) made in the welded portion 400 to the steel frame base portion (WF).
  • the non-welded steel frame base material mover passes through the welding part 400 from the second steel frame base material waiting part 230 of the steel frame base material processing and supply unit 200 to the steel frame waiting part. (WF) may be located.
  • the steel base material PS processed by the steel base material processing machine 210 of the steel base material processing and supply unit 200 which has been moved to the steel frame base material processing unit WF, is moved to the steel frame base material WF by the steel frame mover MF and is waiting can do.
  • the non-welded steel frame base material mover MN may be a conveyor as shown in FIGS. 1 and 2, for example.
  • the non-welded steel frame base material mover (MN) is not particularly limited, and the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing supply unit 200, which is not welded at the welding part 400, is transferred to the steel frame base material PS.
  • any well-known material is possible.
  • a series of processes in the welding part 400 may be controlled by the controller 500 connected to each component included in the welding part 400 .
  • the control unit 500 may control the steel frame base material processing and supply unit 200, the reinforcing member processing and supply unit 300, and the welding unit 400 to manufacture the steel frame SF having a desired shape and size.
  • control unit 500 may include a manufacturing information generation unit 510, a manufacturing management unit 520, and a manufacturing operation unit 530.
  • the manufacturing information generating unit 510 may receive, for example, information about the steel frame (SF) to be manufactured, which is extracted from a 3D model, and automatically generate manufacturing information including a manufacturing sequence and robot motion.
  • the manufacturing information generated in this way may be utilized by the manufacturing management unit 520 and the manufacturing operation unit 530 to manufacture the steel frame SF of a desired shape and size, as will be described later. Accordingly, it is possible to automatically manufacture steel frames (SF) having various shapes and sizes.
  • the manufacturing information generation unit 510 may include a material analysis unit 511, a scheduling unit 512, and a robot motion generation unit 513, as shown in FIG.
  • the material analysis unit 511 may receive and analyze information on the steel frame SF to be manufactured, and extract information necessary for manufacturing the steel frame SF.
  • the material analysis unit 511 receives and analyzes the information on the steel frame to be manufactured, which is designed by the user through the steel frame design computer program, as a computer file, and analyzes the base material constituting the steel frame to be manufactured.
  • Information on the shape, thickness, size, quantity, or weight of (PS) or reinforcing member (ST) can be extracted and made into a computer file.
  • a user may design a steel frame (SF) to be manufactured through a commercial program for designing a steel frame such as TEKLA.
  • the material analysis unit 511 may receive information on the steel frame (SF) to be manufactured, designed through a commercial program such as TEKLA, as a file generated by a commercial program such as TEKLA.
  • a computer file with an extension of .tekla which is designed and created through a commercial program such as TEKLA, can be changed into a computer file with an extension of .ifc in a commercial program such as TEKLA.
  • information on the steel frame (SF) to be manufactured which is made of a computer file having an extension of .ifc, may be transmitted to the material analysis unit 511 through a wired, wireless, or portable computer file storage medium.
  • a method of receiving information on the steel frame SF to be manufactured in the material analysis unit 511 is not particularly limited, and any well-known method is possible.
  • the scheduling unit 512 may generate a manufacturing order based on the information extracted by the material analysis unit 511 . Creation of the manufacturing order based on the information extracted by the material analysis unit 511 in the scheduling unit 512 may be performed by a computer program created for this purpose and may be generated as a computer file.
  • the first positioner 420 or the second positioner 420 of the welding portion 400 Two positioners 430 may be selected.
  • components included in the welding unit 400 such as the welding robot 410, the first and second positioners 420 and 430, and the welding handling robot 440, and the steel base material processing supply unit 200
  • information necessary for the operation of the components included in each of the reinforcing member processing and supply unit 300 may generate a computer file in which a series of manufacturing sequences are listed.
  • the second information storage unit 523 may extract main information from among the manufacturing information stored in the first information storage unit 522, process it into a desired information format, and store it.
  • the second information storage unit 523 stores the shape, thickness, size, quantity, or shape of the steel base material (PS) or reinforcing member (ST), which is information provided to the user among the manufacturing information stored in the first information storage unit 522.
  • Weight, etc. can be extracted, processed into desired information types, and stored.
  • the manufacturing operation unit 530 according to the manufacturing information received from the manufacturing management unit 520, the steel base material processing and supplying unit 200, the reinforcing member processing and supplying unit 300, and the welding unit to manufacture the steel frame (SF) of a desired shape and size. 400 can be operated.
  • the manufacturing operation unit 530 includes a steel frame base material processing and supply control unit 531, a reinforcing member processing control unit 532, a processing reinforcing member supply control unit 533 and a master PLC 534, as shown in FIG. can do.
  • the steel base material processing and supply control unit 531 may cause the steel base material PS waiting in the first steel base material waiting unit 220 to be moved to the steel base material processing machine 210 of the steel base material processing and supply unit 200 and processed. there is.
  • the steel frame base material processing and supply control unit 531 may allow the processed steel frame base material PS to be moved to the second steel base material waiting unit 230 of the steel base material processing and supply unit 200 to stand by.
  • the steel base material processing and supply control unit 531 stores the processed steel base material (PS) waiting in the second steel base material waiting unit 230 of the steel base material processing and supply unit 200. It can be supplied to the positioners 420 and 430 of the welding part 400 by the supply 240 .
  • the master PLC 534 may control the welding part 400 .
  • the master PLC 534 may be connected to the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400.
  • the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400 may be controlled by each slave PLC 535.
  • the master PLC 534 may be connected to each slave PLC 535 of the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400.
  • the configuration in which the master PLC 534 is connected to the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400 is not particularly limited, and any well-known configuration is possible.
  • steel frames having various shapes and sizes can be automatically manufactured, and the user's intervention in manufacturing the steel frame can be minimized, or the steel frame can be manufactured without the user. can
  • the above-described automatic steel frame manufacturing system is not limited to the configuration of the above-described embodiment, but the above embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made.
  • the present invention is a useful technique for manufacturing steel frames for, for example, plants and buildings.

Abstract

A system for automatically manufacturing a steel frame according to an embodiment of the present invention may comprise: a steel frame base material processing supplying portion which includes a steel frame base material processor for processing a steel frame base material, and supplies a processed steel frame base material; a reinforcing member processing supplying portion which includes a reinforcing member processor for processing a reinforcing member, and supplies a processed reinforcing member; a welding portion including a welding robot that makes a steel frame by welding the processed reinforcing member to the processed steel frame base material, a positioner that grips the processed steel frame base material when welding is performed, and a welding handling robot that grips the reinforcing member; and a control portion for controlling the steel frame base material processing supplying portion, the reinforcing member processing supplying portion, and the welding portion, so as to manufacture the steel frame having a desired form and size.

Description

철골 자동제조 시스템Steel frame automatic manufacturing system
본 발명은 철골 자동제조 시스템에 관한 것이다.The present invention relates to an automatic steel frame manufacturing system.
원유나 가스 플랜트 및 건축물 등은 복잡한 철골구조물을 포함한다.Oil or gas plants and buildings include complex steel structures.
원유나 가스 플랜트 및 건축물 등의 철골구조물은, 철골구조물의 일부를 이루는 철골을 다른 곳에서 미리 만든 후, 원유나 가스 플랜트 및 건축물 등에서 복수개의 철골을 서로 연결하여 이루어진다.Steel structures, such as oil or gas plants and buildings, are formed by making a steel frame that forms part of the steel structure in advance in another place, and then connecting a plurality of steel frames in the oil or gas plant, building, etc. to each other.
원유나 가스 플랜트 및 건축물 등의 철골구조물을 이루는 철골은 각각 다른 형태와 크기를 가진다. 이에 따라, 철골 제조의 자동화가 어려워, 종래에는 수작업으로 각각 다른 형태와 크기를 가지는 철골을 만들거나, 일부 자동화 가능한 공정만 자동화하는 반자동으로 각각 다른 형태와 크기를 가지는 철골을 만들었다.Steel frames constituting steel structures such as oil or gas plants and buildings have different shapes and sizes. Accordingly, it is difficult to automate the manufacturing of steel frames, so conventionally, steel frames having different shapes and sizes are manually manufactured, or steel frames having different shapes and sizes are manufactured semi-automatically by automating only some automatable processes.
본 발명은 상기와 같은 종래에서 발생하는 요구 또는 문제들 중 적어도 어느 하나를 인식하여 이루어진 것이다.The present invention has been made in recognition of at least one of the above-mentioned needs or problems occurring in the prior art.
본 발명의 목적의 일 측면은 다양한 형태와 크기를 가지는 철골을 자동으로 제조하도록 하는 것이다.One aspect of the object of the present invention is to automatically manufacture steel frames having various shapes and sizes.
본 발명의 목적의 다른 측면은 철골의 제조에 사용자의 개입이 최소화 되도록 하거나 사용자 없이도 철골의 제조가 이루어지도록 하는 것이다.Another aspect of the object of the present invention is to minimize the user's intervention in manufacturing the steel frame or to make the steel frame without the user.
본 발명의 일 실시예에 따른 철골 자동제조 시스템은, 철골 모재를 가공하는 철골모재 가공기를 포함하여 가공된 철골 모재를 공급하는 철골모재 가공공급부; 보강부재를 가공하는 보강부재 가공기를 포함하여 가공된 보강부재를 공급하는 보강부재 가공공급부; 가공된 상기 철골 모재에, 가공된 상기 보강부재를 용접하여 철골을 만드는 용접로봇, 가공된 상기 철골 모재를 용접시 파지하는 포지셔너, 및 상기 보강부재를 파지하는 용접핸들링로봇을 포함하는 용접부; 및 원하는 형태와 크기의 상기 철골을 제조하도록 상기 철골모재 가공공급부, 상기 보강부재 가공공급부 및 상기 용접부를 제어하는 제어부를 포함할 수 있다.An automatic steel frame manufacturing system according to an embodiment of the present invention includes a steel frame base material processing machine for processing the steel frame base material, and a steel base material processing and supply unit supplying the processed steel base material; A reinforcing member processing supply unit for supplying the processed reinforcing member including a reinforcing member processing machine for processing the reinforcing member; A welding unit including a welding robot that makes a steel frame by welding the processed reinforcing member to the processed steel frame base material, a positioner that grips the processed steel frame base material when welding, and a welding handling robot that grips the reinforcing member; and a control unit controlling the steel frame base material processing and supply unit, the reinforcing member processing and supply unit, and the welding unit to manufacture the steel frame having a desired shape and size.
이 경우, 상기 포지셔너는 소정의 제1범위의 길이를 가지는 상기 철골 모재를 지지하는 제1포지셔너와, 상기 제1범위보다 긴 소정의 제2범위의 길이를 가지는 상기 철골 모재를 지지하는 제2포지셔너를 포함할 수 있다.In this case, the positioners include a first positioner supporting the steel frame base material having a length in a first predetermined range, and a second positioner supporting the steel frame base material having a length in a predetermined second range longer than the first range. can include
또한, 상기 철골모재 가공공급부는 가공 전의 상기 철골 모재가 이동되어 대기하는 제1철골모재대기부, 가공된 상기 철골 모재가 이동되어 대기하는 제2철골모재대기부, 및 가공된 상기 철골 모재를 상기 제2철골모재대기부에서 상기 용접부로 공급하는 철골모재공급기를 더 포함할 수 있다.In addition, the steel frame base material processing supply unit includes a first steel frame base material standby unit in which the steel frame base material before processing is moved and standby, a second steel frame base material standby unit in which the processed steel frame base material is moved and standby, and the processed steel frame base material. It may further include a steel frame base material supply unit supplying the second steel base material to the welding portion from the standby unit.
그리고, 상기 철골모재 가공공급부는 가공 전의 상기 철골 모재를 상기 제1철골모재대기부로부터 이동시키는 제1철골모재이동기; 상기 철골모재 가공기의 일측에 구비되어 상기 제1철골모재이동기로부터 이동된, 가공 전의 상기 철골 모재가 상기 철골모재 가공기로 이동하도록 하는 제2철골모재이동기; 및 상기 철골모재 가공기의 타측에 구비되어 가공된 상기 철골 모재가 상기 철골모재 가공기로부터 상기 제2철골모재대기부로 이동하도록 하는 제3철골모재이동기를 더 포함할 수 있다.In addition, the steel-frame base material processing supply unit includes a first steel-frame base material mover for moving the steel base base material before processing from the first steel base base material standby unit; a second steel-frame base material mover provided at one side of the steel-frame base material processing machine to move the steel base material before processing, moved from the first steel-frame base material mover, to the steel-frame base material processing machine; and a third steel base material mover provided on the other side of the steel base material processing machine to move the processed steel base material from the steel base material processing machine to the second steel base material waiting unit.
또한, 상기 철골모재공급기는, 가공된 상기 철골 모재를 파지하며 서로 소정 간격 이격되는 복수개의 그리퍼를 포함하고 복수개의 상기 그리퍼가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성되는 갠트리크레인로봇이며, 상기 철골모재공급기는, 가공된 상기 철골 모재를 상기 포지셔너로 이동시켜서 상기 포지셔너가 가공된 상기 철골 모재를 파지하도록 하고, 가공된 상기 철골 모재의 기준점이 상기 포지셔너의 기준점과 일치되도록 할 수 있다.In addition, the steel frame base material feeder includes a plurality of grippers that grip the processed steel base material and are spaced apart from each other by a predetermined distance, and the plurality of grippers are configured to move at least in the front-back direction, left-right direction, and up-down direction. It is a gantry crane robot , The steel frame base material feeder moves the processed steel frame base material to the positioner so that the positioner grips the processed steel frame base material, and the reference point of the processed steel frame base material coincides with the reference point of the positioner.
그리고, 상기 보강부재 가공공급부는 가공 전의 상기 보강부재가 이동되어 대기하는 제1보강부재저장부, 가공된 상기 보강부재가 이동되고 형상 별로 구분되어 보관되는 제2보강부재저장부, 및 가공된 상기 보강부재를 상기 제2보강부재저장부에서 상기 용접부로 공급하는 보강부재 공급기를 더 포함할 수 있다.In addition, the reinforcing member processing supply unit includes a first reinforcing member storage unit in which the reinforcing member before processing is moved and standby, a second reinforcing member storage unit in which the processed reinforcing member is moved and stored separately by shape, and the processed reinforcing member storage unit. A reinforcing member supplier supplying a reinforcing member from the second reinforcing member storage unit to the welding part may be further included.
또한, 상기 보강부재 가공공급부는 가공 전의 상기 보강부재를 상기 제1보강부재저장부에서 상기 보강부재 가공기로 이동시키는 제1보강부재이동기; 가공된 상기 보강부재를 상기 보강부재 가공기로부터 이동시키는 제2보강부재이동기; 및 상기 제2보강부재이동기로부터 이동된, 가공된 상기 보강부재를 상기 제2보강부재저장부로 이동시키는 제3보강부재이동기를 더 포함할 수 있다.In addition, the reinforcing member processing supply unit includes a first reinforcing member mover for moving the reinforcing member before processing from the first reinforcing member storage unit to the reinforcing member processing machine; a second reinforcing member mover for moving the processed reinforcing member from the reinforcing member processing machine; and a third reinforcing member mover for moving the processed reinforcing member moved from the second reinforcing member mover to the second reinforcing member storage unit.
또한, 상기 용접부에서는, 상기 용접핸들링로봇이, 가공된 상기 보강부재를 파지하여, 가공된 상기 철골 모재의 보강부재 부착부에 위치시킨 상태에서, 상기 용접로봇이, 가공된 상기 보강부재를 가공된 상기 철골 모재의 보강부재 부착부에 가용접한 후에, 가공된 상기 보강부재를 가공된 상기 철골 모재의 보강부재 부착부에 본용접할 수 있다.In addition, in the welding part, in a state in which the welding handling robot grips the processed reinforcing member and places it at the reinforcing member attachment part of the processed steel frame base material, the welding robot, in a state where the processed reinforcing member is processed After tack welding the reinforcing member attachment portion of the steel frame base material, the processed reinforcing member may be permanently welded to the processed reinforcing member attachment portion of the steel frame base material.
그리고, 상기 용접부에서는, 상기 본용접시 백킹재가 필요한 경우에는, 백킹재가 필요한, 가공된 상기 보강부재와 가공된 상기 철골 모재의 보강부재 부착부 사이의 부분을 먼저 용접한 후 다른 부분을 용접할 수 있다.And, in the welding part, when the backing material is required during the main welding, the part between the processed reinforcing member and the processed reinforcing member attachment part of the steel frame base material, which requires the backing material, can be welded first and then welded to another part. there is.
또한, 상기 제어부는 제조될 상기 철골에 대한 정보를 전달받아 제조순서와 로봇모션을 포함하는 제조정보를 자동으로 생성하는 제조정보 생성부, 사용자와 정보를 주고받으며 상기 제조정보 생성부에서 생성된 제조정보를 저장하고 전달하는 제조관리부, 및 상기 제조관리부로부터 전달받은 제조정보에 따라 원하는 형태와 크기의 상기 철골을 제조하도록 상기 철골모재 가공공급부, 상기 보강부재 가공공급부 및 상기 용접부를 동작시키는 제조운영부를 포함할 수 있다.In addition, the control unit receives information on the steel frame to be manufactured and automatically generates manufacturing information including a manufacturing order and robot motion, and a manufacturing information generating unit exchanging information with the user and manufacturing information generated by the manufacturing information generating unit. A manufacturing management unit that stores and transmits information, and a manufacturing operation unit that operates the steel base material processing and supplying unit, the reinforcing member processing and supplying unit, and the welding unit to manufacture the steel frame in a desired shape and size according to the manufacturing information received from the manufacturing management unit. can include
그리고, 상기 제조정보 생성부는 제조될 상기 철골에 대한 정보를 전달받아 분석하고 상기 철골의 제조를 위해서 필요한 정보를 추출하는 소재분석부, 상기 소재분석부에서 추출한 정보를 토대로 제조순서를 생성하는 스케쥴링부, 및 상기 소재분석부에서 추출한 정보와 상기 스케쥴링부에서 생성된 제조순서를 토대로, 작업시 로봇 간의 간섭 여부를 검토하고 로봇모션을 생성하는 로봇모션 생성부를 포함할 수 있다.The manufacturing information generation unit receives and analyzes information on the steel frame to be manufactured, and a material analysis unit extracts information necessary for manufacturing the steel frame. A scheduling unit generates a manufacturing order based on the information extracted from the material analysis unit. , And based on the information extracted from the material analysis unit and the manufacturing order generated by the scheduling unit, it may include a robot motion generation unit for reviewing interference between robots during work and generating robot motions.
또한, 상기 소재분석부에서는 철골 설계 컴퓨터 프로그램을 통해 사용자가 설계한, 제조될 철골에 대한 정보를 컴퓨터 파일로 전달받아 분석하여, 제조될 철골을 이루는 철골 모재나 보강부재의 형상이나 두께 또는 크기나 수량 또는 중량에 대한 정보를 추출하고 컴퓨터 파일로 만들 수 있다.In addition, the material analysis unit receives and analyzes the information on the steel frame to be manufactured, which is designed by the user through the steel frame design computer program, as a computer file, and analyzes the shape, thickness, or size of the steel frame base material or reinforcing member constituting the steel frame to be manufactured. Information about quantity or weight can be extracted and made into a computer file.
그리고, 상기 제조관리부는 사용자와 정보를 주고받는 사용자 인터페이스부, 상기 제조정보 생성부에서 만들어진 제조정보를 저장하는 제1정보저장부, 및 상기 제1정보저장부에 저장된 제조정보 중 주요정보를 추출하고 원하는 정보형태로 가공하여 저장하는 제2정보저장부를 포함할 수 있다.The manufacturing management unit extracts main information from among a user interface unit exchanging information with a user, a first information storage unit storing manufacturing information generated by the manufacturing information generating unit, and manufacturing information stored in the first information storage unit. And may include a second information storage unit for processing and storing the desired information form.
또한, 상기 제조운영부는 상기 철골모재 가공공급부를 제어하는 철골모재 가공공급 제어부, 상기 보강부재 가공공급부에서의 상기 보강부재의 가공을 제어하는 보강부재 가공 제어부, 상기 보강부재 가공공급부에서 가공된 상기 보강부재의 공급을 제어하는 가공 보강부재 공급 제어부, 및 상기 용접부를 제어하는 매스터 PLC를 포함할 수 있다.In addition, the manufacturing operation unit includes a steel base material processing and supply control unit controlling the steel base material processing and supply unit, a reinforcing member processing control unit controlling processing of the reinforcing member in the reinforcing member processing and supply unit, and the reinforcement processed in the reinforcing member processing and supply unit. It may include a processing reinforcing member supply controller for controlling the supply of members, and a master PLC for controlling the welded portion.
본 발명의 실시예에 따르면, 다양한 형태와 크기를 가지는 철골을 자동으로 제조할 수 있다.According to an embodiment of the present invention, steel frames having various shapes and sizes can be automatically manufactured.
또한, 본 발명의 실시예에 따르면, 철골의 제조에 사용자의 개입이 최소화 되도록 할 수 있거나, 사용자 없이도 철골의 제조가 이루어지도록 할 수 있다.In addition, according to an embodiment of the present invention, the user's intervention in manufacturing the steel frame can be minimized, or the steel frame can be manufactured without the user.
도1은 본 발명에 따른 철골 자동제조 시스템을 나타내는 개략도이다.1 is a schematic diagram showing an automatic steel frame manufacturing system according to the present invention.
도2는 본 발명에 따른 철골 자동제조 시스템을 나타내는 도면이다.2 is a diagram showing an automatic steel frame manufacturing system according to the present invention.
도3은 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부를 나타내는 도면이다.3 is a view showing the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도4는 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 제1철골모재대기부를 나타내는 도면이다.4 is a view showing a first steel base material standby part of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도5는 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 제1철골모재이동기를 나타내는 도면이다.5 is a view showing the first steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도6은 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 제2철골모재이동기를 나타내는 도면이다.6 is a view showing the second steel-frame base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도7은 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 철골모재 가공기와 제2철골모재이동기를 나타내는 도면이다.7 is a view showing a steel base material processing machine and a second steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도8은 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 철골모재 가공기와 제3철골모재이동기를 나타내는 도면이다.8 is a view showing a steel base material processing machine and a third steel base material mover of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도9는 본 발명에 따른 철골 자동제조 시스템의 철골모재 가공공급부의 틸터를 나타내는 도면이다.9 is a view showing the tilter of the steel base material processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도10은 본 발명에 따른 철골 자동제조 시스템의 철골모재공급기를 나타내는 도면이다.10 is a diagram showing a steel frame base material feeder of the automatic steel frame manufacturing system according to the present invention.
도11은 본 발명에 따른 철골 자동제조 시스템의 철골모재공급기의 작동을 나타내는 도면이다.11 is a view showing the operation of the steel frame base material feeder of the automatic steel frame manufacturing system according to the present invention.
도12는 본 발명에 따른 철골 자동제조 시스템의 제2철골모재대기부를 나타내는 도면이다.12 is a view showing the second steel frame base material standby unit of the automatic steel frame manufacturing system according to the present invention.
도13은 본 발명에 따른 철골 자동제조 시스템의 재활용 철골모재 대기부를 나타내는 도면이다.13 is a view showing a steel frame base material standby unit for recycling of the automatic steel frame manufacturing system according to the present invention.
도14는 본 발명에 따른 철골 자동제조 시스템의 보강부재 가공공급부를 나타내는 도면이다.14 is a view showing a reinforcing member processing and supply unit of the automatic steel frame manufacturing system according to the present invention.
도15는 본 발명에 따른 철골 자동제조 시스템의 제1보강부재저장부와 제1보강부재이동기를 나타내는 도면이다.15 is a view showing the first reinforcing member storage unit and the first reinforcing member mover of the automatic steel frame manufacturing system according to the present invention.
도16은 본 발명에 따른 철골 자동제조 시스템의 보강부재 가공기를 나타내는 도면이다.16 is a view showing a reinforcing member processing machine of the automatic steel frame manufacturing system according to the present invention.
도17은 본 발명에 따른 철골 자동제조 시스템의 제2보강부재저장부를 나타내는 도면이다.17 is a view showing the second reinforcing member storage unit of the automatic steel frame manufacturing system according to the present invention.
도18은 본 발명에 따른 철골 자동제조 시스템의 제2보강부재저장부의 분류핸들링로봇을 나타내는 도면이다.18 is a view showing a sorting handling robot in the second reinforcing member storage unit of the automatic steel frame manufacturing system according to the present invention.
도19는 본 발명에 따른 철골 자동제조 시스템의 제3보강부재이동기를 나타내는 도면이다.19 is a view showing a third reinforcing member mover of the automatic steel frame manufacturing system according to the present invention.
도20은 본 발명에 따른 철골 자동제조 시스템의 보강부재 공급기를 나타내는 도면이다.20 is a diagram showing a reinforcing member feeder of the automatic steel frame manufacturing system according to the present invention.
도21은 본 발명에 따른 철골 자동제조 시스템의 용접부를 나타내는 도면이다.21 is a view showing a welded part of the automatic steel frame manufacturing system according to the present invention.
도22는 본 발명에 따른 철골 자동제조 시스템의 용접부의 일부를 확대한 것을 나타내는 도면이다.22 is an enlarged view of a part of a welded part of the automatic steel frame manufacturing system according to the present invention.
도23은 본 발명에 따른 철골 자동제조 시스템의 용접부의 제1포지셔너를 나타내는 도면이다.23 is a view showing the first positioner of the welding part of the automatic steel frame manufacturing system according to the present invention.
도24는 본 발명에 따른 철골 자동제조 시스템의 용접부의 제2포지셔너를 나타내는 도면이다.24 is a view showing the second positioner of the welding part of the automatic steel frame manufacturing system according to the present invention.
도25는 본 발명에 따른 철골 자동제조 시스템의 철골대기부를 나타내는 도면이다.25 is a view showing the steel frame standby part of the automatic steel frame manufacturing system according to the present invention.
도26은 본 발명에 따른 철골 자동제조 시스템의 용접부에서, H빔인, 가공된 철골 모재의 단부에, 엔드 플레이트인, 가공된 보강부재를 용접하는 경우를 나타내는 도면이다.26 is a view showing a case where a processed reinforcing member, which is an end plate, is welded to an end of a processed steel frame base material, which is an H beam, in a welding part of the automatic steel frame manufacturing system according to the present invention.
도27은 본 발명에 따른 철골 자동제조 시스템의 제어부를 나타내는 도면이다.27 is a diagram showing the control unit of the automatic steel frame manufacturing system according to the present invention.
본 발명에 대한 이해를 돕기 위하여, 이하 본 발명의 실시예와 관련된 철골 자동제조 시스템이 보다 상세하게 설명된다. To facilitate understanding of the present invention, an automatic steel frame manufacturing system related to an embodiment of the present invention will be described in more detail below.
이하 설명되는 실시예들은 본 발명의 기술적인 특징을 이해시키기에 가장 적합한 실시예들을 기초로 하여 설명될 것이며, 설명되는 실시예들에 의해 본 발명의 기술적인 특징이 제한되는 것이 아니라, 이하 설명되는 실시예들과 같이 본 발명이 구현될 수 있다는 것을 예시하는 것이다. The embodiments described below will be described based on the most suitable embodiments for understanding the technical characteristics of the present invention, and the technical characteristics of the present invention are not limited by the described embodiments, but the following It is to illustrate that the present invention can be implemented like the embodiments.
따라서, 본 발명은 아래 설명된 실시예들을 통해 본 발명의 기술 범위 내에서 다양한 변형 실시가 가능하며, 이러한 변형 실시예는 본 발명의 기술 범위 내에 속한다 할 것이다. Therefore, the present invention can be implemented with various modifications within the technical scope of the present invention through the embodiments described below, and these modified embodiments will be said to fall within the technical scope of the present invention.
이하 설명되는 실시예의 이해를 돕기 위하여 첨부된 도면에 기재된 부호에 있어서, 각 실시예에서 동일한 작용을 하게 되는 구성요소 중 관련된 구성요소는 동일 또는 연장 선상의 숫자로 표기하였다.In the reference numerals described in the accompanying drawings to aid understanding of the embodiments to be described below, related components among components that perform the same action in each embodiment are indicated with the same or extended numerals.
이하, 도1 내지 도27을 참조로 하여, 본 발명에 따른 철골 자동제조 시스템의 일실시예에 대하여 설명한다.Hereinafter, with reference to FIGS. 1 to 27, an embodiment of an automatic steel frame manufacturing system according to the present invention will be described.
본 발명에 따른 철골 자동제조 시스템(100)의 일 실시예는 도1과 도2에 도시된 바와 같이, 철골모재 가공공급부(200), 보강부재 가공공급부(300), 용접부(400) 및 제어부(500)를 포함할 수 있다.As shown in FIGS. 1 and 2, an embodiment of the automatic steel frame manufacturing system 100 according to the present invention includes a steel base material processing and supply unit 200, a reinforcing member processing and supply unit 300, a welding unit 400 and a control unit ( 500) may be included.
철골모재 가공공급부(200)는 도1 내지 도3에 도시된 바와 같이, 도7과 도8에 도시된 철골모재 가공기(210)를 포함할 수 있다. 철골모재 가공기(210)에서는 철골 모재(PS)를 가공할 수 있다. 철골모재 가공기(210)에서 가공되는 철골 모재(PS)는, 예컨대 도4에 도시된 바와 같이 H빔일 수 있다. 그러나, 철골모재 가공기(210)에서 가공되는 철골 모재(PS)는 특별히 한정되지 않고, 보강부재(ST)가 철골 모재(PS)에 용접되어 이루어지는 도25에 도시된 바와 같은 철골(SF) 등을 만들 수 있는 것이라면, 주지의 어떠한 것이라도 가능하다.As shown in FIGS. 1 to 3 , the steel frame base material processing and supply unit 200 may include the steel base material processing machine 210 shown in FIGS. 7 and 8 . The steel frame base material processing machine 210 may process the steel base material PS. The steel frame base material PS processed by the steel frame base material processing machine 210 may be, for example, an H-beam as shown in FIG. 4 . However, the steel frame base material (PS) processed by the steel frame base material processing machine 210 is not particularly limited, and the steel frame (SF) as shown in FIG. 25 formed by welding the reinforcing member (ST) to the steel frame base material (PS) As long as it can be made, anything well-known is possible.
철골모재 가공기(210)에서는 철골 모재(PS)의 드릴링, 커팅, 베벨링 등이 이루어질 수 있다. 예컨대, 철골모재 가공기(210)에서는, 볼트(도시되지 않음) 등이 삽입될 구멍이 드릴(도시되지 않음) 등에 의해서 철골 모재(PS)에 형성될 수 있다. 또한, 철골모재 가공기(210)에서는, 철골 모재(PS)가 소정의 원하는 길이를 가지도록, 플라즈마 가공기(도시되지 않음) 등에 의해서 철골 모재(PS)가 절단될 수 있다. 그리고, 철골모재 가공기(210)에서는, 보강부재(ST)가 철골 모재(ST)에 용접되도록, 플라즈마 가공기 등에 의해서 용접개선이 철골 모재(PS)에 형성될 수 있다.In the steel frame base material processing machine 210, drilling, cutting, beveling, etc. of the steel frame base material (PS) may be performed. For example, in the steel base material processing machine 210, a hole into which a bolt (not shown) or the like is to be inserted may be formed in the steel base material PS by a drill (not shown) or the like. In addition, in the steel frame base material processing machine 210, the steel frame base material PS may be cut by a plasma processing machine (not shown) or the like so that the steel frame base material PS has a predetermined desired length. Also, in the steel frame base material processing machine 210, welding improvements may be formed on the steel frame base material PS by a plasma processing machine or the like so that the reinforcing member ST is welded to the steel frame base material ST.
그러나, 철골모재 가공기(210)에서 이루어지는 철골 모재(PS)의 가공은 특별히 한정되지 않고, 철골(SF)을 만들 수 있으며 철골(SF)에 필요한 가공이라면 주지의 어떠한 가공이라도 가능하다. 또한, 복수개의 철골모재 가공기(210)가 구비되어 복수개의 철골 모재(PS)가 복수개의 철골모재 가공기(210)에서 각각 동시에 가공될 수도 있다. 그리고, 하나의 철골모재 가공기(210)에서 철골 모재(PS)에 대한 가공이 모두 이루어지지 않고, 서로 다른 가공을 하는 복수개의 철골모재 가공기(210) 각각을 철골 모재(PS)가 이동하면서 가공이 이루어질 수도 있다. 예컨대, 각각 드릴링, 커팅, 베벨링을 하는 3개의 철골모재 가공기(210) 각각을 철골 모재(PS)가 이동하면서 가공이 이루어질 수도 있다.However, the processing of the steel frame base material (PS) performed by the steel frame base material processing machine 210 is not particularly limited, and the steel frame (SF) can be made, and any known processing is possible as long as it is required for the steel frame (SF). In addition, since a plurality of steel frame base material processing machines 210 are provided, a plurality of steel frame base materials PS may be simultaneously processed in the plurality of steel base material processing machines 210 . In addition, processing of the steel base material (PS) is not all performed in one steel frame base material processing machine 210, and processing is performed while the steel base material (PS) moves through each of a plurality of steel base material processing machines 210 that perform different processing. may be done For example, machining may be performed while the steel base material PS moves through each of the three steel base material processors 210 that perform drilling, cutting, and beveling.
철골모재 가공공급부(200)에서는 전술한 바와 같이 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 용접부(400)에 공급할 수 있다.As described above, the steel frame base material processing supply unit 200 may supply the steel frame base material PS processed by the steel base material processing machine 210 to the welding part 400 .
철골모재 가공공급부(200)는 도1 내지 도3에 도시된 바와 같이, 제1철골모재대기부(220), 제2철골모재대기부(230) 및 철골모재공급기(240)를 더 포함할 수 있다.As shown in FIGS. 1 to 3, the steel frame base material processing and supply unit 200 may further include a first steel frame base material standby unit 220, a second steel frame base material standby unit 230, and a steel frame base material supply unit 240. there is.
제1철골모재대기부(220)에는, 도1 내지 도4에 도시된 바와 같이, 가공 전의 철골 모재(PS)가 이동되어 대기할 수 있다. 예컨대, 가공 전의 철골 모재(PS)가 지게차(도시되지 않음) 등에 의해서 제1철골모재대기부(220)로 이동되어 제1철골모재대기부(220)에 놓여질 수 있다. 이로써, 철골 모재(PS)가 제1철골모재대기부(220)로 이동되어 제1철골모재대기부(220)에서 대기할 수 있다.In the first steel frame base material standby unit 220, as shown in FIGS. 1 to 4, the steel frame base material PS before processing may be moved and stand by. For example, the steel frame base material PS before processing may be moved to the first steel frame base material standby unit 220 by a forklift (not shown) or the like and placed in the first steel frame base material standby unit 220 . As a result, the steel frame base material (PS) can be moved to the first steel frame base material standby unit 220 and stand by in the first steel frame base material standby unit 220 .
그리고, 제1철골모재대기부(220)에는 제어부(500)에 연결되는 물체감지센서(도시되지 않음)가 구비되어, 제1철골모재대기부(220)에서 대기하는 철골 모재(PS)를 감지할 수 있다. 이에 따라, 제어부(500)는 제1철골모재대기부(220)에 철골 모재(PS)가 이동되어 대기하는 것을 물체감지센서를 통해서 알 수 있다. 제1철골모재대기부(220)에 구비되는 물체감지센서는 특별히 한정되지 않고, 제어부(500)에 연결되도록 제1철골모재대기부(220)에 구비되어 철골 모재(PS)가 제1철골모재대기부(220)에 이동되어 대기하는 것을 감지하고 이를 제어부(500)에 전달할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.In addition, an object detection sensor (not shown) connected to the controller 500 is provided in the first steel frame base material standby unit 220 to detect the steel frame base material PS waiting in the first steel frame base material standby unit 220. can do. Accordingly, the control unit 500 can know that the steel frame base material PS is moved to the first steel frame base material waiting unit 220 and is waiting through the object detection sensor. The object detection sensor provided in the first steel-frame base material standby unit 220 is not particularly limited, and is provided in the first steel-frame base material standby unit 220 to be connected to the control unit 500 so that the steel frame base material PS is the first steel base material. As long as it can sense that it is moved to the waiting unit 220 and is waiting, and can transmit it to the control unit 500, any well-known one is possible.
제1철골모재대기부(220)에서 대기하는 철골 모재(PS)는, 예컨대 후술하고 도1 내지 도3과, 도5 내지 도7에 도시된 바와 같은 제1,2철골모재이동기(250,260) 등에 의해서 철골모재 가공기(210)로 이동할 수 있다.The steel frame base material PS waiting in the first steel frame base material waiting unit 220 is, for example, the first and second steel base material movers 250 and 260 as shown in FIGS. 1 to 3 and 5 to 7 described later. It can be moved to the steel base material processing machine 210 by the.
제2철골모재대기부(230)에는, 도1 내지 도3 및 도12에 도시된 바와 같이, 철골모재 가공기(210)에서 가공된 철골 모재(PS)가 이동되어 대기할 수 있다. 철골모재 가공기(210)에서 가공된 철골 모재(PS)는, 예컨대 후술할 제3철골모재이동기(270)와 철골모재공급기(240) 등에 의해서, 철골모재 가공기(210)에서 제2철골모재대기부(230)로 이동되어 제2철골모재대기부(230)에 놓여질 수 있다. 이로써, 철골 모재(PS)가 제2철골모재대기부(230)로 이동되어 제2철골모재대기부(230)에서 대기할 수 있다.As shown in FIGS. 1 to 3 and 12 , in the second steel-frame base material waiting unit 230, the steel base material PS processed by the steel base material processing machine 210 may be moved and stand by. The steel base material PS processed in the steel base material processing machine 210 is, for example, the second steel base material standby unit in the steel base material processing machine 210 by the third steel base material mover 270 and the steel base material feeder 240, which will be described later. It is moved to 230 and can be placed in the second steel frame base material waiting unit 230. As a result, the steel frame base material (PS) can be moved to the second steel-frame base material standby unit 230 and stand by in the second steel-frame base material standby unit 230 .
제2철골모재대기부(230)에는 제어부(500)에 연결되는 물체감지센서가 구비되어, 제2철골모재대기부(230)에서 대기하는 철골 모재(PS)를 감지할 수 있다. 이에 따라, 제어부(500)는 제2철골모재대기부(230)에 철골모재 가공기(210)에서 가공된 철골 모재(PS)가 이동되어 대기하는 것을 물체감지센서를 통해서 알 수 있다. 제2철골모재대기부(230)에 구비되는 물체감지센서는 특별히 한정되지 않고, 제어부(500)에 연결되도록 제2철골모재대기부(230)에 구비되어 철골 모재(PS)가 제2철골모재대기부(230)에 이동되어 대기하는 것을 감지하고 이를 제어부(500)에 전달할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.An object detection sensor connected to the controller 500 is provided in the second steel-frame base material waiting unit 230 to detect the steel frame base material PS waiting in the second steel-frame base material waiting unit 230 . Accordingly, the control unit 500 can know that the steel frame base material PS processed by the steel base material processing machine 210 is moved to the second steel frame base material waiting unit 230 and is waiting through the object detection sensor. The object detection sensor provided in the second steel-frame base material standby unit 230 is not particularly limited, and is provided in the second steel-frame base material standby unit 230 to be connected to the control unit 500 so that the steel frame base material PS is the second steel base material. As long as it can sense that it is moved to the waiting unit 230 and is waiting, and can transmit it to the control unit 500, any well-known one is possible.
제2철골모재대기부(230)에서 대기하는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)는, 예컨대 후술하고 도1 내지 도3 및 도10에 도시된 바와 같은 철골모재공급기(240) 등에 의해서 용접부(400)로 공급될 수 있다.The steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting unit 230, is, for example, a steel base material feeder 240 as described later and shown in FIGS. 1 to 3 and 10 ) and the like can be supplied to the welding portion 400.
철골모재공급기(240)는 제2철골모재대기부(230)에서 대기하는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 제2철골모재대기부(230)에서 용접부(400)로 공급할 수 있다. 또한, 철골모재공급기(240)는 제3철골모재이동기(270)에 의해서 이동된, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 제2철골모재대기부(230)로 이동시킬 수 있다.The steel base material feeder 240 transfers the steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting part 230, to the welding part 400 from the second steel base material waiting part 230. can supply In addition, the steel frame base material feeder 240 can move the steel base material PS, which has been moved by the third steel base material mover 270 and processed in the steel base material processing machine 210, to the second steel base material standby unit 230. there is.
철골모재공급기(240)는, 예컨대 도2, 도3, 도10 및 도11에 도시된 바와 같이 갠트리크레인로봇일 수 있다. 이 경우, 철골모재공급기(240)인 갠트리크레인로봇은, 가공된 철골 모재(PS)를 파지하며 서로 소정 간격 이격되는 복수개의 그리퍼(GP)를 포함할 수 있다. 이에 의해서, 서로 소정 간격 이격되는 복수개의 그리퍼(GP)가 비교적 길이가 긴, 가공된 철골 모재(PS)를 안정적으로 파지할 수 있다. 이에 따라, 철골모재공급기(240)에 의한, 가공된 철골 모재(PS)의 이동이 안정적으로 이루어질 수 있다.The steel frame feeder 240 may be, for example, a gantry crane robot as shown in FIGS. 2, 3, 10 and 11. In this case, the gantry crane robot, which is the steel frame base material feeder 240, may include a plurality of grippers (GP) that hold the processed steel base material (PS) and are spaced apart from each other by a predetermined distance. Accordingly, the plurality of grippers GP spaced apart from each other by a predetermined distance can stably grip the relatively long processed steel frame base material PS. Accordingly, the movement of the processed steel frame base material PS by the steel frame base material feeder 240 can be made stably.
통상의 갠트리크레인은, 체인이나 와이어를 사용하는 호이스트(도시되지 않음)와 전자석(도시되지 않음) 등에 의해서, 가공된 철골 모재(PS)를 파지하여 이동시킨다. 이에 따라, 통상의 갠트리크레인이 가공된 철골 모재(PS)를 파지하여 이동시키는 경우에는, 가공된 철골 모재(PS)의 파지나 이동시, 가공된 철골 모재(PS)가 한쪽으로 기울어지거나, 흔들리거나, 떨어질 수 있다. 그러나, 본 발명의 철골모재공급기(240)인 갠트리크레인로봇의 경우에는, 전술한 바와 같이 서로 소정 간격 이격되는 그리퍼(GP)에 의해서, 가공된 철골 모재(PS)의 파지와 이동이 이루어지기 때문에, 가공된 철골 모재(PS)의 파지나 이동시, 가공된 철골 모재(PS)가 한쪽으로 기울어지거나 흔들리거나 떨어질 염려가 없게 된다. 이에 따라, 본 발명의 철골모재공급기(240)인 갠트리크레인로봇은 보다 안정적으로, 가공된 철골 모재(PS)를 파지할 수 있으며 보다 안정적으로, 가공된 철골 모재(PS)를 이동시킬 수 있다.A typical gantry crane grips and moves the processed steel base material PS by a hoist (not shown) using a chain or wire, an electromagnet (not shown), or the like. Accordingly, when a normal gantry crane grips and moves the processed steel frame base material (PS), when gripping or moving the processed steel frame base material (PS), the processed steel frame base material (PS) tilts to one side, shakes, or , can fall. However, in the case of the gantry crane robot, which is the steel frame base material feeder 240 of the present invention, as described above, the grippers (GP) spaced apart from each other at a predetermined interval grip and move the processed steel frame base material (PS). , When gripping or moving the processed steel frame base material (PS), there is no concern that the processed steel frame base material (PS) tilts to one side, shakes, or falls. Accordingly, the gantry crane robot, which is the steel frame base material feeder 240 of the present invention, can more stably grip the processed steel frame base material (PS) and more stably move the processed steel frame base material (PS).
도11에 도시된 바와 같이, 철골모재공급기(240)인 갠트리크레인로봇은 가공된 철골 모재(PS)의 길이방향으로 서로 소정 간격 이격되는 2개의 그리퍼(GP)를 포함할 수 있다. 그러나, 철골모재공급기(240)인 갠트리크레인로봇에 포함되는 그리퍼(GP)의 개수는 특별히 한정되지 않고, 복수개이며 보다 안정적으로, 가공된 철골 모재(PS)를 파지할 수 있으며 보다 안정적으로, 가공된 철골 모재(PS)를 이동시킬 수 있는 개수라면 어떠한 개수라도 가능하다. 또한, 복수개의 그리퍼(GP)가 서로 이격되는 방향도 특별히 한정되지 않고, 보다 안정적으로, 가공된 철골 모재(PS)를 파지할 수 있으며 보다 안정적으로, 가공된 철골 모재(PS)를 이동시킬 수 있는 방향이라면 어떠한 방향이라도 가능하다.As shown in FIG. 11, the gantry crane robot, which is the steel frame base material feeder 240, may include two grippers GP spaced apart from each other by a predetermined distance in the longitudinal direction of the processed steel base material PS. However, the number of grippers (GP) included in the gantry crane robot, which is the steel base material feeder 240, is not particularly limited, and is plural, and can more stably grip the processed steel base material (PS) and more stably, processing Any number can be used as long as the number of the steel base materials (PS) can be moved. In addition, the direction in which the plurality of grippers (GP) are spaced apart from each other is not particularly limited, and the processed steel base material (PS) can be more stably gripped and the processed steel frame base material (PS) can be moved more stably. Any direction is possible as long as it exists.
철골모재공급기(240)인 갠트리크레인로봇의 그리퍼(GP)는, 예컨대 도11에 도시된 바와 같은 'ㄴ'자 형상이나, 'ㄷ'자 형상의 한 쌍의 파지부재(GM)를 포함할 수 있다. 또한, 한 쌍의 파지부재(GM)는 서로 가까워지거나 멀어지도록 이동할 수 있다. 이에 따라, 그리퍼(GP)를, 가공된 철골 모재(PS)로 이동시킨 후, 한 쌍의 파지부재(GM)를 서로 멀어지도록 이동시켜서, 가공된 철골 모재(PS)가 한 쌍의 파지부재(GM) 사이에 위치하도록 한 다음에, 한 쌍의 파지부재(GM)를 서로 가까워지도록 이동시키는 것으로, 그리퍼(GP)가 가공된 철골 모재(PS)를 파지하도록 할 수 있다. 그러나, 그리퍼(GP)의 구성은 특별히 한정되지 않고, 가공된 철골 모재(PS)를 파지할 수 있는 구성이라면 주지의 어떠한 구성이라도 가능하다.The gripper (GP) of the gantry crane robot, which is the steel frame feeder 240, may include a pair of holding members (GM) in a 'b' shape or a 'c' shape, for example, as shown in FIG. 11 there is. Also, the pair of gripping members GM may move closer to or farther from each other. Accordingly, after moving the gripper GP to the processed steel frame base material PS, the pair of holding members GM are moved away from each other so that the processed steel frame base material PS is moved to the pair of holding members ( GM), and then moving the pair of gripping members (GM) closer to each other, so that the gripper (GP) can grip the processed steel frame base material (PS). However, the configuration of the gripper GP is not particularly limited, and any known configuration is possible as long as it can grip the processed steel frame base material PS.
철골모재공급기(240)인 갠트리크레인로봇은, 도11의 (a)와 (b) 및 (c)에 각각 도시된 바와 같이, 그리퍼(GP)가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성될 수 있다. 그리고, 철골모재공급기(240)인 갠트리크레인로봇은, 제어부(500)에 의한 제어에 따라, 가공된 철골 모재(PS)가 용접부(400)의 포지셔너(420,430)로 이동되어 포지셔너(420,430)가 가공된 철골 모재(PS)를 파지하도록 할 수 있다.As shown in (a), (b) and (c) of FIG. 11, the gantry crane robot, which is the steel frame feeder 240, moves the gripper GP in at least the front and rear directions, left and right directions, and up and down directions. can be configured. In addition, in the gantry crane robot, which is the steel base material feeder 240, the processed steel base material PS is moved to the positioners 420 and 430 of the welding part 400 according to the control of the control unit 500, and the positioners 420 and 430 are processed It can be made to grip the steel base material (PS).
이와 같이, 철골모재공급기(240)인 갠트리크레인로봇이, 가공된 철골 모재(PS)를 파지하는 그리퍼(GP)가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성되기 때문에, 제어부(500)와 철골모재공급기(240)에 의한, 가공된 철골 모재(PS)의 정밀하고 정확한 위치 제어가 가능할 수 있다.In this way, since the gantry crane robot, which is the steel frame base material feeder 240, is configured such that the gripper GP holding the processed steel base material PS is moved in at least the front and rear directions, left and right directions, and up and down directions, the control unit 500 And precise and accurate position control of the processed steel base material (PS) by the steel base material feeder 240 may be possible.
이 경우, 철골모재공급기(240)는 가공된 철골 모재(PS)를 용접부(400)의 포지셔너(420,430)로 이동시켜서 포지셔너(420,430)가 가공된 철골 모재(PS)를 파지하도록 하고, 가공된 철골 모재(PS)의 기준점이 포지셔너(420,430)의 기준점과 일치되도록 할 수 있다. 예컨대, 철골모재공급기(240)인 갠트리크레인로봇은, 가공된 철골 모재(PS)의 중앙의 기준점이, 용접부(400)의 포지셔너(420,430)의 중앙의 기준점과 일치되도록 할 수 있다.In this case, the steel frame base material feeder 240 moves the processed steel frame base material PS to the positioners 420 and 430 of the welding part 400 so that the positioners 420 and 430 grip the processed steel frame base material PS, and the processed steel frame base material The reference point of the parent material PS may be matched with the reference point of the positioners 420 and 430 . For example, the gantry crane robot, which is the steel frame base material feeder 240, can make the central reference point of the processed steel base material PS coincide with the central reference point of the positioners 420 and 430 of the welded part 400.
이에 의해서, 제어부(500)에 저장되어 있는, 가공된 철골 모재(PS)의 크기와 두께 및 형상에 대한 정보, 예컨대 가공된 철골 모재(PS)의 3D 정보와, 용접부(400)의 포지셔너(420,430)에 파지된, 가공된 실제 철골 모재(PS)가 일치되도록 할 수 있다. 이에 따라, 사용자에 의한 별도의 티칭없이, 제어부(500)에 저장되어 있는, 가공된 철골 모재(PS)의 크기와 두께 및 형상에 대한 정보를 사용하여, 용접부(400)의 용접로봇(410)이, 용접부(400)의 포지셔너(420,430)에 파지된, 가공된 철골 모재(PS)에 가공된 보강부재(ST)를 용접할 수 있다.Accordingly, information about the size, thickness, and shape of the processed steel frame base material (PS) stored in the control unit 500, for example, 3D information of the processed steel frame base material (PS), and the positioners 420 and 430 of the welded part 400 ), the processed actual steel base material (PS) can be matched. Accordingly, the welding robot 410 of the welding part 400 uses information about the size, thickness, and shape of the processed steel base material PS stored in the control unit 500 without separate teaching by the user. The processed reinforcing member ST may be welded to the processed steel frame base material PS held by the positioners 420 and 430 of the welding portion 400 .
그러므로, 가공된 철골 모재(PS)에 가공된 보강부재(ST)의 용접이 자동으로 이루어질 수 있어서, 철골(SF)의 제조에 사용자의 개입이 최소화 될 수 있거나, 사용자 없이도 철골(SF)의 제조가 이루어질 수 있도록 할 수 있으며, 철골(SF) 제조에 소요되는 시간이 단축될 수 있다.Therefore, the welding of the reinforcing member (ST) processed to the processed steel frame base material (PS) can be automatically performed, so that the user's intervention in the manufacturing of the steel frame (SF) can be minimized, or the steel frame (SF) can be manufactured without the user. can be made, and the time required for manufacturing the steel frame (SF) can be shortened.
그러나, 철골모재공급기(240)는 특별히 한정되지 않고, 제2철골모재대기부(230)에서 대기하는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 제2철골모재대기부(230)에서 용접부(400)로 공급할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.However, the steel-frame base material supplier 240 is not particularly limited, and the steel base material PS processed in the steel base material processing machine 210, waiting in the second steel base material waiting unit 230, is transferred to the second steel-frame base material waiting unit 230. ), any well-known material can be supplied to the welding part 400.
철골모재 가공공급부(200)는, 도1 내지 도3에 도시된 바와 같이, 제1철골모재이동기(250), 제2철골모재이동기(260) 및 제3철골모재이동기(270)를 더 포함할 수 있다.As shown in FIGS. 1 to 3, the steel-frame base material processing supply unit 200 may further include a first steel-frame base material mover 250, a second steel-frame base material mover 260, and a third steel-frame base material mover 270. can
제1철골모재이동기(250)는 가공 전의 철골 모재(PS)를 제1철골모재대기부(220)로부터 이동시킬 수 있다. 제1철골모재이동기(250)는 제1철골모재대기부(220)에 대기하는, 가공 전의 철골 모재(PS)를 제1철골모재대기부(220)로부터 제2철골모재이동기(260)로 이동시킬 수 있다. 제1철골모재이동기(250)는, 예컨대 도5에 도시된 바와 같이, 제2철골모재이동기(260)로 연장되는 제1철골모재대기부(220)의 부분에 이동 가능하게 구비되어, 제1철골모재대기부(220)에 놓여져서 대기하는, 가공 전의 철골 모재(PS)가 제2철골모재이동기(260)로 이동하도록 할 수 있다.The first steel-frame base material mover 250 may move the steel frame base material PS before processing from the first steel-frame base material waiting unit 220 . The first steel-frame base material mover 250 moves the unprocessed steel base material (PS) waiting in the first steel-frame base material standby unit 220 from the first steel-frame base material standby unit 220 to the second steel frame base material mover 260. can make it As shown in FIG. 5, for example, the first steel-frame base material mover 250 is movably provided in a portion of the first steel-frame base material waiting part 220 extending to the second steel-frame base material mover 260, The steel frame base material PS before processing, which is placed in the steel frame base material waiting unit 220 and is on standby, can be moved to the second steel frame base material mover 260.
그러나, 제1철골모재이동기(250)의 구성은 특별히 한정되지 않고, 가공 전의 철골 모재(PS)를 제1철골모재대기부(220)로부터 이동시킬 수 있는 구성이라면 주지의 어떠한 구성이라도 가능하다.However, the configuration of the first steel frame base material mover 250 is not particularly limited, and any known configuration is possible as long as it can move the steel frame base material PS before processing from the first steel frame base material waiting unit 220.
제2철골모재이동기(260)는 도1 내지 도3에 도시된 바와 같이 철골모재 가공기(210)의 일측에 구비될 수 있다. 또한, 제2철골모재이동기(260)는 제1철골모재이동기(250)로부터 이동된, 가공 전의 철골 모재(PS)가 철골모재 가공기(210)로 이동하도록 할 수 있다. 제2철골모재이동기(260)는, 예컨대 도2, 도3, 도6 및 도7에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 제2철골모재이동기(260)는 특별히 한정되지 않고, 제1철골모재이동기(250)로부터 이동된, 가공 전의 철골 모재(PS)가 철골모재 가공기(210)로 이동하도록 할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The second steel frame base material mover 260 may be provided on one side of the steel base material processing machine 210 as shown in FIGS. 1 to 3 . In addition, the second steel frame base material mover 260 may move the steel frame base material PS, which has been moved from the first steel frame base material mover 250, to the steel base material processing machine 210. The second steel frame base material mover 260 may be a conveyor as shown in FIGS. 2, 3, 6 and 7, for example. However, the second steel frame base material mover 260 is not particularly limited, and it is well known that the steel base material PS moved from the first steel frame base material mover 250 before processing can be moved to the steel base material processing machine 210. Anything from is possible.
제3철골모재이동기(270)는 도1 내지 도3에 도시된 바와 같이 철골모재 가공기(210)의 타측에 구비될 수 있다. 그리고, 제3철골모재이동기(270)는 철골모재 가공기(210)에서 가공된 철골 모재(PS)가 철골모재 가공기(210)로부터 제2철골모재대기부(230)로 이동하도록 할 수 있다. 제3철골모재이동기(270)는, 예컨대 도8에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 제3철골모재이동기(270)는 특별히 한정되지 않고, 철골모재 가공기(210)에서 가공된 철골 모재(PS)가 철골모재 가공기(210)로부터 제2철골모재대기부(230)로 이동하도록 할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The third steel frame base material mover 270 may be provided on the other side of the steel base material processing machine 210 as shown in FIGS. 1 to 3 . In addition, the third steel base material mover 270 may move the steel base material PS processed in the steel base material processing machine 210 from the steel base material processing machine 210 to the second steel base material waiting unit 230. The third steel frame base material mover 270 may be, for example, a conveyor as shown in FIG. 8 . However, the third steel base material mover 270 is not particularly limited, and the steel base material PS processed in the steel base material processing machine 210 moves from the steel base material processing machine 210 to the second steel base material waiting unit 230. Anything that is well-known is possible if it can be done.
한편, 제3철골모재이동기(270)나 제3철골모재이동기(270)의 옆에는 도1과 도3에 도시된 바와 같이 틸터(TT)가 구비될 수 있다. 틸터(TT)는, 도9에 도시된 바와 같이, 제3철골모재이동기(270)에 있는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 소정 각도, 예컨대 90도 회전시킬 수 있다. 이에 따라, 철골모재공급기(240)가 용이하게 철골 모재(PS)를 파지할 수 있다. 그리고, 도2, 도3, 도10 및 도11에 도시된 바와 같이, 철골모재공급기(240)가 제3철골모재이동기(270)에 있는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 제2철골모재대기부(230)로 이동시킬 수 있다. 틸터(TT)의 구성은 특별히 한정되지 않고, 제3철골모재이동기(270)에 있는, 철골모재 가공기(210)에서 가공된 철골 모재(PS)를 소정 각도, 예컨대 90도 회전시킬 수 있는 구성이라면 주지의 어떠한 구성이라도 가능하다.Meanwhile, a tilter TT may be provided next to the third steel-frame base material mover 270 or the third steel-frame base material mover 270, as shown in FIGS. 1 and 3. As shown in FIG. 9, the tilter TT can rotate the steel base material PS processed in the steel base material processor 210 in the third steel base material mover 270 at a predetermined angle, for example, 90 degrees. . Accordingly, the steel frame base material feeder 240 can easily grip the steel frame base material PS. And, as shown in FIGS. 2, 3, 10 and 11, the steel base material feeder 240 is processed in the steel base material processing machine 210 in the third steel base material mover 270 (PS). ) can be moved to the second steel frame base material waiting unit 230. The configuration of the tilter TT is not particularly limited, as long as it is configured to rotate the steel base material PS processed in the steel base material processor 210 in the third steel base material mover 270 at a predetermined angle, for example, 90 degrees Any well-known configuration is possible.
도1 내지 도3에 도시된 바와 같이, 제3철골모재이동기(270) 옆이나 틸터(TT) 옆에는 재활용 철골모재 대기부(RW)가 구비될 수 있다. 제3철골모재이동기(270)에는 철골모재 가공기(210)에서 가공된 후 남는 부분이라, 현재는 철골(SF)이 될 수 없는 철골 모재(PS)도 있을 수 있다. 이러한 철골 모재(PS)는, 철골모재공급기(240)에 의해서, 제3철골모재이동기(270)로부터 재활용 철골모재 대기부(RW)로 이동되어, 도13에 도시된 바와 같이 재활용 철골모재 대기부(RW)에서 대기할 수 있다.As shown in FIGS. 1 to 3 , a recycling steel base material waiting unit RW may be provided next to the third steel frame base material mover 270 or next to the tilter TT. Since the third steel frame base material mover 270 remains after being processed in the steel frame base material processing machine 210, there may be a steel frame base material PS that cannot currently be a steel frame base material SF. These steel frame base materials (PS) are moved from the third steel frame base material mover 270 to the recycled steel base material standby unit (RW) by the steel frame base material feeder 240, and as shown in FIG. 13, the recycled steel frame base material standby unit (RW).
재활용 철골모재 대기부(RW)에는 제어부(500)에 연결되는 물체감지센서가 구비되어, 재활용 철골모재 대기부(RW)에서 대기하는 철골 모재(PS)를 감지할 수 있다. 이에 따라, 제어부(500)는 재활용 철골모재 대기부(RW)에, 재활용될 철골 모재(PS)가 이동되어 대기하는 것을 물체감지센서를 통해서 알 수 있다. 재활용 철골모재 대기부(RW)에 구비되는 물체감지센서는 특별히 한정되지 않고, 제어부(500)에 연결되도록 재활용 철골모재 대기부(RW)에 구비되어, 재활용될 철골 모재(PS)가 재활용 철골모재 대기부(RW)에 이동되어 대기하는 것을 감지하고 이를 제어부(500)에 전달할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.An object detection sensor connected to the control unit 500 is provided in the waiting unit for recycled steel frame base materials (RW) to detect the steel frame base materials PS waiting in the waiting unit for recycled steel base materials (RW). Accordingly, the control unit 500 may know that the steel frame base material PS to be recycled is moved and is waiting in the steel frame base material waiting unit RW through the object detection sensor. The object detection sensor provided in the recycled steel frame base material standby unit (RW) is not particularly limited, and is provided in the recycled steel frame base material standby unit (RW) to be connected to the control unit 500 so that the steel frame base material (PS) to be recycled is the recycled steel frame base material. Any known material can be used as long as it can sense that it is moved to the waiting unit RW and is waiting, and can transmit this to the control unit 500.
철골모재 가공기(210)와 재활용 철골모재 대기부(RW) 사이에는, 도1 내지 도3에 도시된 바와 같이, 재활용 철골모재 이동기(MS)가 재활용 철골모재 대기부(RW)에서 제2철골모재이동기(260)까지 길게 구비될 수 있다. 그리고, 재활용 철골모재 대기부(RW)에서 대기하는 철골 모재(PS)가 필요할 때, 철골모재공급기(240)가 재활용 철골모재 대기부(RW)에서 대기하는 철골 모재(PS)를 재활용 철골모재 이동기(MS)로 이동시킬 수 있다. 재활용 철골모재 이동기(MS)로 이동된 철골 모재(PS)는 재활용 철골모재 이동기(MS)에서 제2철골모재이동기(260) 방향으로 이동할 수 있다. 이와 같이 재활용 철골모재 이동기(MS)에서 제2철골모재이동기(260) 방향으로 이동한 철골 모재(PS)는 제2철골모재이동기(260)와 재활용 철골모재 이동기(MS) 사이에 구비된 다른 재활용 철골모재 이동기(도시되지 않음)에 의해서 제2철골모재이동기(260)로 이동될 수 있다. 재활용 철골모재 이동기(MS)에서 제2철골모재이동기(260)로 이동된 철골모재(MS)는 제2철골모재이동기(260)에 의해서 철골모재 가공기(210)로 이동되어 철골모재 가공기(210)에서 가공될 수 있다.Between the steel frame base material processing machine 210 and the recycled steel base material waiting unit (RW), as shown in FIGS. It may be provided long to the mover 260. And, when the steel frame base material (PS) waiting in the recycling steel base material waiting unit (RW) is needed, the steel frame base material supplyer 240 transfers the steel frame base material (PS) waiting in the recycling steel base material waiting unit (RW) to the recycling steel base material mover. (MS). The steel frame base material PS moved to the recycled steel base material mover MS may move in the direction of the second steel frame base material mover 260 from the recycled steel base material mover MS. In this way, the steel frame base material (PS) moved from the recycling steel base material mover (MS) toward the second steel frame base material mover 260 is another recycling provided between the second steel frame base material mover 260 and the recycled steel base material mover (MS). It may be moved to the second steel frame base material mover 260 by a steel frame base material mover (not shown). The steel frame base material (MS) moved from the recycling steel base material mover (MS) to the second steel frame base material mover 260 is moved to the steel base material processing machine 210 by the second steel frame base material mover 260, and the steel base material processing machine 210 can be processed in
재활용 철골모재 이동기(MS)는, 예컨대 도2와 도3에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 재활용 철골모재 이동기(MS)는 특별히 한정되지 않고, 철골 모재(MS)를 이동시킬 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The recycling steel base material mover MS may be a conveyor as shown in FIGS. 2 and 3, for example. However, the recycled steel frame base material mover (MS) is not particularly limited, and any well-known one is possible as long as it can move the steel frame base material (MS).
이러한 철골모재 가공공급부(200)에서의 일련의 과정은 철골모재 가공공급부(200)에 포함되는 각 구성요소에 연결된 제어부(500)에 의해서 제어되어 이루어질 수 있다.A series of processes in the steel base material processing and supply unit 200 may be controlled by the control unit 500 connected to each component included in the steel frame base material processing and supply unit 200.
보강부재 가공공급부(300)는 도1과 도2 및 도14에 도시된 바와 같이, 도16에 도시된 보강부재 가공기(310)를 포함할 수 있다. 보강부재 가공기(310)에서는 보강부재(ST)를 가공할 수 있다. 보강부재 가공기(310)에서 가공되는 보강부재(ST)는, 예컨대 철판일 수 있다. 그러나, 보강부재 가공기(310)에서 가공되는 보강부재(ST)는 특별히 한정되지 않고, 철골(SF)을 만들 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The reinforcing member processing supply unit 300 may include the reinforcing member processing machine 310 shown in FIG. 16, as shown in FIGS. 1, 2, and 14. The reinforcing member processing machine 310 may process the reinforcing member ST. The reinforcing member ST processed in the reinforcing member processing machine 310 may be, for example, an iron plate. However, the reinforcing member (ST) processed in the reinforcing member processing machine 310 is not particularly limited, and any well-known one is possible as long as it can make the steel frame (SF).
보강부재 가공기(310)에서는 보강부재(ST)의 드릴링, 커팅, 베벨링 등이 이루어질 수 있다. 예컨대, 보강부재 가공기(310)에서는, 볼트 등이 삽입될 구멍이 드릴 등에 의해서 보강부재(ST)에 형성될 수 있다. 또한, 보강부재 가공기(310)에서는, 보강부재(ST)가 소정의 원하는 형상을 가지도록, 플라즈마 가공기 등에 의해서 보강부재(ST)가 절단될 수 있다. 그리고, 보강부재 가공기(310)에서는, 보강부재(ST)가 철골 모재(ST)에 용접되도록, 플라즈마 가공기 등에 의해서 용접개선이 보강부재(ST)에 형성될 수 있다.In the reinforcing member processing machine 310, drilling, cutting, beveling, etc. of the reinforcing member ST may be performed. For example, in the reinforcing member processing machine 310, a hole into which a bolt or the like is to be inserted may be formed in the reinforcing member ST by a drill or the like. In addition, in the reinforcing member processing machine 310, the reinforcing member ST may be cut by a plasma processing machine or the like so that the reinforcing member ST has a desired shape. Further, in the reinforcing member processing machine 310, welding improvement may be formed on the reinforcing member ST by a plasma processing machine or the like so that the reinforcing member ST is welded to the steel frame base material ST.
그러나, 보강부재 가공기(310)에서 이루어지는 보강부재(ST)의 가공은 특별히 한정되지 않고, 철골(SF)을 만들 수 있으며 철골(SF)에 필요한 가공이라면 주지의 어떠한 가공이라도 가능하다. 또한, 도1과 도2 및 도14에 도시된 바와 같이 2개의 보강부재 가공기(310)가 구비되어 서로 다른 길이의 보강부재(ST)가 각각 가공되도록 할 수 있다. 그리고, 하나의 보강부재 가공기(310)에서 보강부재(ST)에 대한 가공이 모두 이루어지지 않고, 서로 다른 가공을 하는 복수개의 보강부재 가공기(310) 각각을 보강부재(ST)가 이동하면서 가공이 이루어질 수도 있다. 예컨대, 각각 드릴링, 커팅, 베벨링을 하는 3개의 보강부재 가공기(310) 각각을 보강부재(ST)가 이동하면서 가공이 이루어질 수도 있다.However, processing of the reinforcing member (ST) performed in the reinforcing member processing machine 310 is not particularly limited, and the steel frame (SF) can be made, and any known processing is possible as long as it is required for the steel frame (SF). In addition, as shown in FIGS. 1, 2, and 14, two reinforcing member processing machines 310 are provided so that reinforcing members ST having different lengths can be respectively processed. In addition, the processing of the reinforcing member (ST) is not all performed in one reinforcing member processing machine 310, and the reinforcing member (ST) moves through each of the plurality of reinforcing member processing machines 310 that perform different processing. may be done For example, machining may be performed while the reinforcing member ST moves through each of the three reinforcing member processors 310 that perform drilling, cutting, and beveling.
한편, 보강부재 가공기(310)에서는, 가공된 보강부재(ST)에, 가공된 보강부재(ST)에 대한 정보나, 가공된 보강부재(ST)에 의해서 만들어질 철골(SF) 등에 대한 정보가 정보마킹기(도시되지 않음)에 의해서 마킹될 수도 있다. 정보마킹기는 특별히 한정되지 않고, 보강부재 가공기(310)에 구비되어, 가공된 보강부재(ST)에, 가공된 보강부재(ST)에 대한 정보나, 가공된 보강부재(ST)에 의해서 만들어질 철골(SF) 등에 대한 정보를 마킹할 수 있는 것이라면, 주지의 어떠한 것이라도 가능하다.On the other hand, in the reinforcing member processing machine 310, information on the processed reinforcing member (ST) or information on the steel frame (SF) to be made by the processed reinforcing member (ST) is stored in the processed reinforcing member (ST). It may be marked by an information marking machine (not shown). The information marking machine is not particularly limited, and is provided in the reinforcing member processing machine 310 and can be made by the processed reinforcing member ST, information on the processed reinforcing member ST, or the processed reinforcing member ST. As long as it can mark information on the steel frame (SF) or the like, any well-known ones are possible.
보강부재 가공공급부(300)에서는 전술한 바와 같이 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접부(400)에 공급할 수 있다.In the reinforcing member processing and supply unit 300 , as described above, the reinforcing member ST processed in the reinforcing member processing machine 310 may be supplied to the welding part 400 .
보강부재 가공공급부(300)는 도1과 도2 및 도14에 도시된 바와 같이, 제1보강부재저장부(320), 제2보강부재저장부(330) 및 보강부재 공급기(340)를 더 포함할 수 있다.As shown in FIGS. 1, 2 and 14, the reinforcing member processing and supply unit 300 further includes a first reinforcing member storage unit 320, a second reinforcing member storage unit 330 and a reinforcing member supplier 340. can include
제1보강부재저장부(320)에는, 도1, 도2, 도14 및 도15에 도시된 바와 같이, 가공 전의 보강부재(ST)가 이동되어 대기할 수 있다. 예컨대, 지게차 등에 의해서 가공 전의 보강부재(ST)가 제1보강부재저장부(320)로 이동되어 제1보강부재저장부(320)에 놓여질 수 있다. 이로써, 가공 전의 보강부재(ST)가 제1보강부재저장부(320)로 이동되어 제1보강부재저장부(320)에서 대기할 수 있다.In the first reinforcing member storage unit 320, as shown in FIGS. 1, 2, 14 and 15, the reinforcing member ST before processing may be moved and stand by. For example, the reinforcing member ST before processing may be moved to the first reinforcing member storage unit 320 by a forklift or the like and placed in the first reinforcing member storage unit 320 . Accordingly, the reinforcing member ST before processing may be moved to the first reinforcing member storage unit 320 and stand by in the first reinforcing member storage unit 320 .
그리고, 제1보강부재저장부(320)에는 제어부(500)에 연결되는 물체감지센서가 구비되어, 제1보강부재저장부(320)에서 대기하는 보강부재(ST)를 감지할 수 있다. 이에 따라, 제어부(500)는 제1보강부재저장부(320)에 보강부재(ST)가 이동되어 대기하는 것을 물체감지센서를 통해서 알 수 있다. 제1보강부재저장부(320)에 구비되는 물체감지센서는 특별히 한정되지 않고, 제어부(500)에 연결되도록 제1보강부재저장부(320)에 구비되어 보강부재(ST)가 제1보강부재저장부(320)에 이동되어 대기하는 것을 감지하고 이를 제어부(500)에 전달할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.In addition, an object detection sensor connected to the control unit 500 is provided in the first reinforcing member storage unit 320 to detect the reinforcing member ST waiting in the first reinforcing member storage unit 320 . Accordingly, the control unit 500 can know that the reinforcing member ST is moved to the first reinforcing member storage unit 320 and waits through the object detection sensor. The object detection sensor provided in the first reinforcing member storage unit 320 is not particularly limited, and is provided in the first reinforcing member storage unit 320 to be connected to the control unit 500 so that the reinforcing member ST is the first reinforcing member. Any known material may be used as long as it can sense that it is moved to the storage unit 320 and wait, and transmit it to the control unit 500 .
제1보강부재저장부(320)에서 대기하는 보강부재(ST)는, 예컨대 후술하고 도1, 도2, 도14 및 도15에 도시된 바와 같은, 제1보강부재이동기(350) 등에 의해서 보강부재 가공기(310)로 이동할 수 있다. 한편, 가공 전의 보강부재(ST)는 제1보강부재저장부(320)에 두께별로 분류되어 대기할 수 있다. 그러나, 제1보강부재저장부(320)에 가공 전의 보강부재(ST)가 분류되어 대기하는 방법은 특별히 한정되지 않고, 어떠한 방법이라도 가능하다.The reinforcing member ST waiting in the first reinforcing member storage unit 320 is reinforced by the first reinforcing member mover 350 or the like, as described later and shown in FIGS. 1, 2, 14 and 15, for example. It can be moved to the member processing machine 310. Meanwhile, the reinforcing member ST before processing may be classified by thickness in the first reinforcing member storage unit 320 and stand by. However, the method of waiting for the reinforcing member ST before processing in the first reinforcing member storage unit 320 is not particularly limited, and any method is possible.
제2보강부재저장부(330)에는, 도1, 도2, 도14 및 도17에 도시된 바와 같이, 보강부재 가공기(310)에서 가공된 보강부재(ST)가 이동되고 형상 별로 구분되어 보관될 수 있다. 보강부재 가공기(310)에서 가공된 보강부재(ST)는, 예컨대 후술할 제2보강부재이동기(360)와 제3보강부재이동기(370) 등에 의해서 보강부재 가공기(310)에서 제2보강부재저장부(330)로 이동되어 제2보강부재저장부(330)에 놓여질 수 있다. 이로써, 가동된 보강부재(ST)는 제2보강부재저장부(330)로 이동되어 제2보강부재저장부(330)에 보관될 수 있다. 이 경우, 가공된 보강부재(ST)는 후술할 바와 같이 보강부재 선별기(SL)와 분류핸들링로봇(RS)에 의해서 형상 별로 구분되어 제2보강부재저장부(330), 예컨대 제2보강부재저장부(330)의 후술할 가공 보강부재 보관기(331)에 보관될 수 있다.In the second reinforcing member storage unit 330, as shown in FIGS. 1, 2, 14 and 17, the reinforcing member ST processed in the reinforcing member processing machine 310 is moved and stored separately for each shape. It can be. The reinforcing member ST processed in the reinforcing member processing machine 310 is stored as the second reinforcing member in the reinforcing member processing machine 310 by, for example, the second reinforcing member mover 360 and the third reinforcing member mover 370 to be described later. It can be moved to the unit 330 and placed in the second reinforcing member storage unit 330 . Thus, the activated reinforcing member ST may be moved to the second reinforcing member storage unit 330 and stored in the second reinforcing member storage unit 330 . In this case, the processed reinforcing member ST is classified according to shape by the reinforcing member sorter SL and the sorting handling robot RS, as will be described later, and the second reinforcing member storage unit 330, for example, the second reinforcing member storage. It may be stored in a processed reinforcing member storage unit 331 of the unit 330, which will be described later.
제2보강부재저장부(330)에는 제어부(500)에 연결되는 물체감지센서가 구비되어, 제2보강부재저장부(330)에 보관되는, 가공된 보강부재(ST)를 감지할 수 있다. 이에 따라, 제어부(500)는 제2보강부재저장부(330)에 보강부재 가공기(310)에서 가공된 보강부재(ST)가 이동되어 보관되는 것을 물체감지센서를 통해서 알 수 있다. 제2보강부재저장부(330)에 구비되는 물체감지센서는 특별히 한정되지 않고, 제어부(500)에 연결되도록 제2보강부재저장부(330)에 구비되어, 가공된 보강부재(ST)가 제2보강부재저장부(330)에 이동되어 보관되는 것을 감지하고 이를 제어부(500)에 전달할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.An object detection sensor connected to the controller 500 is provided in the second reinforcing member storage unit 330 to sense the processed reinforcing member ST stored in the second reinforcing member storage unit 330 . Accordingly, the control unit 500 can know that the reinforcing member ST processed in the reinforcing member processing machine 310 is moved and stored in the second reinforcing member storage unit 330 through the object detection sensor. The object detection sensor provided in the second reinforcing member storage unit 330 is not particularly limited, and is provided in the second reinforcing member storage unit 330 to be connected to the control unit 500, and the processed reinforcing member ST is 2 Any well-known material is possible as long as it can sense that it is moved and stored in the reinforcing member storage unit 330 and transmit it to the controller 500.
제2보강부재저장부(330)에서 대기하는, 보강부재 가공기(310)에서 가공된 보강부재(ST)는, 예컨대 후술하고 도1, 도2, 도14 및 도20에 도시된 바와 같은 보강부재 공급기(340) 등에 의해서 용접부(400)로 공급될 수 있다.The reinforcing member ST processed in the reinforcing member processing machine 310, waiting in the second reinforcing member storage unit 330, is, for example, a reinforcing member as described later and shown in FIGS. 1, 2, 14, and 20 It may be supplied to the welding part 400 by a supplyer 340 or the like.
보강부재 공급기(340)는 제2보강부재저장부(330)에 보관되는, 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접부(400)로 공급할 수 있다. 보강부재 공급기(340)는, 예컨대 도14와 도20에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 보강부재 공급기(340)는 특별히 한정되지 않고, 제2보강부재저장부(330)에 보관되는, 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접부(400)로 공급할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The reinforcing member supplier 340 may supply the reinforcing member ST stored in the second reinforcing member storage unit 330 and processed in the reinforcing member processing machine 310 to the welding part 400 . The reinforcing member supplier 340 may be, for example, a conveyor as shown in FIGS. 14 and 20 . However, the reinforcing member supplier 340 is not particularly limited, and can supply the reinforcing member ST stored in the second reinforcing member storage unit 330 and processed in the reinforcing member processor 310 to the welding part 400. Anything well-known is possible.
보강부재 가공공급부(300)는, 도1과 도2 및 도14에 도시된 바와 같이, 제1보강부재이동기(350), 제2보강부재이동기(360) 및 제3보강부재이동기(370)를 더 포함할 수 있다.As shown in FIGS. 1, 2 and 14, the reinforcing member processing and supply unit 300 includes a first reinforcing member mover 350, a second reinforcing member mover 360 and a third reinforcing member mover 370. can include more.
제1보강부재이동기(350)는 가공 전의 보강부재(ST)를 제1보강부재저장부(320)에서 보강부재 가공기(310)로 이동시킬 수 있다. 제1보강부재이동기(350)는, 예컨대 도14와 도15에 도시된 바와 같은 통상의 갠트리크레인이나, 전술한 갠트리크레인로봇일 수 있다. 그러나, 제1보강부재이동기(350)는 특별히 한정되지 않고, 가공 전의 보강부재(ST)를 제1보강부재저장부(320)에서 보강부재 가공기(310)로 이동시킬 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The first reinforcing member mover 350 may move the reinforcing member ST before processing from the first reinforcing member storage unit 320 to the reinforcing member processing machine 310 . The first reinforcing member mover 350 may be, for example, a conventional gantry crane as shown in FIGS. 14 and 15 or a gantry crane robot described above. However, the first reinforcing member mover 350 is not particularly limited, and is any known one as long as it can move the reinforcing member ST before processing from the first reinforcing member storage unit 320 to the reinforcing member processing machine 310. It is also possible.
제2보강부재이동기(360)는 보강부재 가공기(310)에서 가공된 보강부재(ST)를 보강부재 가공기(310)로부터 이동시킬 수 있다. 제2보강부재이동기(360)는 보강부재 가공기(310)에서 가공된 보강부재(ST)를 제3보강부재이동기(370)로 이동시킬 수 있다. 제2보강부재이동기(360)는, 예컨대 도14에 도시된 바와 같은 통상의 갠트리크레인이나, 전술한 갠트리크레인로봇일 수 있다. 그러나, 제2보강부재이동기(360)는 특별히 한정되지 않고, 보강부재 가공기(310)에서 가공된 보강부재(ST)를 보강부재 가공기(310)로부터 이동시킬 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The second reinforcing member mover 360 may move the reinforcing member ST processed in the reinforcing member processing machine 310 from the reinforcing member processing machine 310 . The second reinforcing member mover 360 may move the reinforcing member ST processed in the reinforcing member processing machine 310 to the third reinforcing member mover 370 . The second reinforcing member mover 360 may be, for example, a conventional gantry crane as shown in FIG. 14 or the aforementioned gantry crane robot. However, the second reinforcing member mover 360 is not particularly limited, and any known one can be used as long as it can move the reinforcing member ST processed in the reinforcing member processing machine 310 from the reinforcing member processing machine 310. .
제3보강부재이동기(370)는 제2보강부재이동기(360)로부터 이동된, 가공된 보강부재(ST)를 제2보강부재저장부(330)로 이동시킬 수 있다. 제3보강부재이동기(370)는, 예컨대 도14와 도19에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 제3보강부재이동기(370)는 특별히 한정되지 않고, 제2보강부재이동기(360)로부터 이동된, 가공된 보강부재(ST)를 제2보강부재저장부(330)로 이동시킬 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The third reinforcing member mover 370 may move the processed reinforcing member ST moved from the second reinforcing member mover 360 to the second reinforcing member storage unit 330 . The third reinforcing member mover 370 may be, for example, a conveyor as shown in FIGS. 14 and 19 . However, the third reinforcing member mover 370 is not particularly limited, and can move the processed reinforcing member ST moved from the second reinforcing member mover 360 to the second reinforcing member storage unit 330. Anything well-known is possible.
제3보강부재이동기(370)에는 도1과 도2 및 도14에 도시된 바와 같이 블라스터(BL)가 구비될 수 있다. 보강부재 가공기(310)에서 가공된 보강부재(ST)가 제3보강부재이동기(370)에서 이동될 때, 가공된 보강부재(ST)는 블라스터(BL)에 의해서 블라스팅될 수 있다. 블라스터(BL)의 구성은 특별히 한정되지 않고, 보강부재 가공기(310)에서 가공된 보강부재(ST)를 블라스팅할 수 있는 것이라면 주지의 어떠한 구성이라도 가능하다.As shown in FIGS. 1, 2, and 14, the third reinforcing member mover 370 may include a blaster BL. When the reinforcing member ST processed in the reinforcing member processor 310 is moved in the third reinforcing member mover 370, the processed reinforcing member ST may be blasted by the blaster BL. The configuration of the blaster BL is not particularly limited, and any well-known configuration is possible as long as it can blast the reinforcing member ST processed in the reinforcing member processing machine 310.
도1과 도2 및 도14에 도시된 바와 같이 보강부재(ST)의 이동방향으로 블라스터(BL) 다음의 제3보강부재이동기(370)의 부분에는 보강부재 선별기(SL)가 구비될 수 있다. 보강부재 가공기(310)에서 가공된 보강부재(ST)가 제3보강부재이동기(370)에서 이동될 때, 보강부재 선별기(SL)에서는, 가공된 보강부재(ST)의 형상을 인식할 수 있다. 예컨대, 보강부재 선별기(SL)에는 비젼센서나 레이저 스캐너 등의 형상인식센서(도시되지 않음)가 구비되어, 가공된 보강부재(ST)의 형상을 인식할 수 있다. 그러나, 보강부재 선별기(SL)에서, 가공된 보강부재(ST)의 형상을 인식할 수 있는 구성은 특별히 한정되지 않고, 가공된 보강부재(ST)의 형상을 인식할 수 있는 구성이라면 주지의 어떠한 구성이라도 가능하다.As shown in FIGS. 1, 2, and 14, a reinforcing member selector SL may be provided in the third reinforcing member mover 370 next to the blaster BL in the moving direction of the reinforcing member ST. . When the reinforcing member ST processed in the reinforcing member processor 310 is moved in the third reinforcing member mover 370, the reinforcing member selector SL can recognize the shape of the processed reinforcing member ST. . For example, the reinforcing member selector SL is provided with a shape recognition sensor (not shown) such as a vision sensor or a laser scanner, and can recognize the shape of the processed reinforcing member ST. However, in the reinforcing member selector SL, the configuration capable of recognizing the shape of the processed reinforcing member ST is not particularly limited, and any well-known configuration capable of recognizing the shape of the processed reinforcing member ST configuration is also possible.
이와 같이, 가공된 보강부재(ST)의 형상의 인식이 이루어지면, 보강부재 선별기(SL)는 제어부(500)와 연계하여, 철골(SF)의 설계정보와 매칭시킨 후, 가공된 보강부재(ST)가 보관될 제2보강부재저장부(330)의 보관장소, 예컨대 가공 보강부재 보관기(331)의 후술할 보관서랍을 지정할 수 있다.In this way, when the recognition of the shape of the processed reinforcing member ST is made, the reinforcing member selector SL connects with the control unit 500 to match the design information of the steel frame SF, and then the processed reinforcing member ( A storage place of the second reinforcing member storage unit 330 in which ST) is to be stored, for example, a storage drawer to be described later of the processed reinforcing member storage unit 331 may be designated.
한편, 보강부재 가공기(310)에서, 가공된 보강부재(ST)에 대한 정보나 가공된 보강부재(ST)에 의해서 만들어질 철골(SF) 등에 대한 정보가, 가공된 보강부재(ST)에 마킹되지 않을 수 있다. 이 경우에는, 가공된 보강부재(ST)에 대한 정보나 가공된 보강부재(ST)에 의해서 만들어질 철골(SF) 등에 대한 정보가, 보강부재 선별기(SL)에서, 보강부재 선별기(SL)에 구비된 정보마킹기에 의해서, 가공된 보강부재(ST)에 마킹될 수 있다.On the other hand, in the reinforcing member processing machine 310, information on the processed reinforcing member (ST) or information on the steel frame (SF) to be made by the processed reinforcing member (ST) is marked on the processed reinforcing member (ST). It may not be. In this case, information on the processed reinforcing member ST or information on the steel frame SF to be made by the processed reinforcing member ST is transmitted from the reinforcing member selector SL to the reinforcing member selector SL. By the provided information marking machine, it can be marked on the processed reinforcing member (ST).
보강부재 가공기(310)에서 가공된 보강부재(ST)는, 후술할 바와 같이 용접부(400)에서, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)에 용접될 수 있다. 그러나, 보강부재 가공기(310)에서 가공된 보강부재(ST) 중 일부는, 용접부(400)에서, 철골모재 가공기(210)에서 가공된 철골 모재(PS)에 용접되어 연결되지 않고, 볼트 등에 의해서 연결될 수도 있다.The reinforcing member ST processed in the reinforcing member processing machine 310 is welded to the steel base material PS processed in the steel base material processing machine 210 of the steel base material processing and supply unit 200 at the welding part 400, as will be described later. It can be. However, some of the reinforcing members ST processed in the reinforcing member processing machine 310 are not welded and connected to the steel base material PS processed in the steel base material processing machine 210 at the welding portion 400, but by bolts or the like. may be connected.
제3보강부재이동기(370)의 제2보강부재저장부(330) 측 단부에는 도1, 도2, 도14, 도17에 도시된 바와 같이, 도18에 도시된 분류핸들링로봇(RS)이 구비될 수 있다. 분류핸들링로봇(RS)은 전술한 바와 같이 보강부재 선별기(SL)에서 지정된, 제2보강부재저장부(330)의 보관장소로, 가공된 보강부재(ST)를 이동시킬 수 있다. 이에 따라, 가공된 보강부재(ST)가 형상 별로 분류되어 제2보강부재저장부(330)에, 예컨대 가공 보강부재 보관기(331)에 보관될 수 있다. 이를 위해서, 분류핸들링로봇(RS)에는 비젼센서나 레이저 스캐너 등의 형상인식센서가 구비되어, 가공된 보강부재(ST)의 형상을 인식할 수 있다.At the end of the third reinforcing member mover 370 on the side of the second reinforcing member storage unit 330, as shown in FIGS. 1, 2, 14, and 17, the sorting handling robot RS shown in FIG. may be provided. As described above, the sorting handling robot RS may move the processed reinforcing member ST to the designated storage location of the second reinforcing member storage unit 330 in the reinforcing member sorter SL. Accordingly, the processed reinforcing member ST may be classified according to shape and stored in the second reinforcing member storage unit 330, for example, the processed reinforcing member storage unit 331. To this end, the sorting handling robot RS is provided with a shape recognition sensor such as a vision sensor or a laser scanner to recognize the shape of the processed reinforcing member ST.
한편, 분류핸들링로봇(RS)은, 용접부(400)로 이동되지 않아도 되는, 보강부재 가공기(310)에서 가공된 보강부재(ST)를, 용접부(400)로 이동되는 가공된 보강부재(ST)로부터 분류할 수도 있다.On the other hand, the sorting handling robot RS, which does not have to be moved to the welding part 400, the reinforcing member ST processed in the reinforcing member processing machine 310, the processed reinforcing member ST moved to the welding part 400 can also be classified from
제2보강부재저장부(330)는, 도2, 도14 및 도17에 도시된 바와 같이 복수개의 보관서랍이 구비되는 서랍장 형태의 가공 보강부재 보관기(331)를 포함할 수 있다. 그리고, 전술한 바와 같이, 형상 별로 분류된 가공된 보강부재(ST)는, 분류핸들링로봇(RS)에 의해서, 서랍장 형태의 가공 보강부재 보관기(331)의 해당 보관서랍으로 이동되어 보관될 수 있다. 그러나, 가공 보강부재 보관기(331)의 구성은 특별히 한정되지 않고, 가공된 보강부재(ST)가, 형상 별로 분류되어 보관될 수 있는 것이라면 어떠한 구성이라도 가능하다.As shown in FIGS. 2, 14 and 17, the second reinforcing member storage unit 330 may include a processed reinforcing member storage device 331 in the form of a drawer having a plurality of storage drawers. And, as described above, the processed reinforcing members (ST) classified by shape can be moved and stored in the corresponding storage drawer of the processed reinforcing member storage device 331 in the form of a drawer by the sorting handling robot (RS). there is. However, the configuration of the processed reinforcing member storage device 331 is not particularly limited, and any configuration is possible as long as the processed reinforcing member ST is classified according to shape and stored.
제2보강부재저장부(330)는, 도1, 도2, 도14 및 도17에 도시된 바와 같이 용접 보강부재 이동기(MW)를 포함할 수 있다. 용접 보강부재 이동기(MW)는 가공 보강부재 보관기(331)와 보강부재 공급기(340) 사이에 구비될 수 있다. 그리고, 가공 보강부재 이동기(MW)는 가공 보강부재 보관기(331)에 보관되는, 가공된 보강부재(ST)를 보강부재 공급기(340)로 이동시켜서, 가공된 보강부재(ST)가 용접부(400)로 이동되도록 할 수 있다. 용접 보강부재 이동기(MW)는, 예컨대 전술한 갠트리크레인로봇일 수 있다. 그러나, 용접 보강부재 이동기(MW)는 특별히 한정되지 않고, 가공 보강부재 보관기(331)와 보강부재 공급기(340) 사이에 구비되어, 가공 보강부재 보관기(331)에 보관되는, 가공된 보강부재(ST)를 보강부재 공급기(340)로 이동시켜서, 가공된 보강부재(ST)가 용접부(400)로 이동되도록 할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The second reinforcing member storage unit 330 may include a welded reinforcing member mover MW as shown in FIGS. 1, 2, 14 and 17 . The welding reinforcing member mover (MW) may be provided between the processed reinforcing member storage device 331 and the reinforcing member supplier 340 . Then, the processed reinforcing member mover (MW) moves the processed reinforcing member (ST) stored in the processed reinforcing member storage device 331 to the reinforcing member supplier 340, so that the processed reinforcing member (ST) is welded ( 400). The welding reinforcing member mover MW may be, for example, the gantry crane robot described above. However, the welded reinforcing member mover (MW) is not particularly limited, and is provided between the processed reinforcing member storage device 331 and the reinforcing member supplier 340 and stored in the processed reinforcement member storage device 331. As long as the member ST is moved to the reinforcing member supplier 340 so that the processed reinforcing member ST can be moved to the welding part 400, any known material is possible.
이러한 보강부재 가공공급부(300)에서의 일련의 과정은 보강부재 가공공급부(300)에 포함되는 각 구성요소에 연결된 제어부(500)에 의해서 제어되어 이루어질 수 있다.A series of processes in the reinforcing member processing and supply unit 300 may be controlled by the control unit 500 connected to each component included in the reinforcing member processing and supply unit 300 .
용접부(400)는, 도1과 도2 및 도21에 도시된 바와 같이, 용접로봇(410), 포지셔너(420,430) 및 용접핸들링로봇(440)을 포함할 수 있다.As shown in FIGS. 1, 2, and 21 , the welding unit 400 may include a welding robot 410, positioners 420 and 430, and a welding handling robot 440.
용접로봇(410)은 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)에, 보강부재 가공공급부(300)의 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접하여 철골(SF)을 만들 수 있다. 용접로봇(410)은 특별히 한정되지 않고, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)에, 보강부재 가공공급부(300)의 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접하여 철골(SF)을 만들 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.The welding robot 410 is the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing supply unit 200, the reinforcing member processed in the reinforcing member processing machine 310 of the reinforcing member processing supply unit 300 ( ST) can be welded to make steel frame (SF). The welding robot 410 is not particularly limited, and the steel base material PS processed in the steel base material processing machine 210 of the steel base material processing and supplying unit 200, in the reinforcing member processing machine 310 of the reinforcing member processing and supplying unit 300 As long as the steel frame SF can be made by welding the processed reinforcing member ST, any well-known one is possible.
용접로봇(410)에는 비젼센서나 레이저 스캐너 등의 위치보정센서(도시되지 않음)가 구비되어, 가공된 철골 모재(PS)에 용접될, 가공된 보강부재(ST)의 위치를 파악하여, 가공된 보강부재(ST)의 가공된 철골 모재(PS)에의 용접위치를 설계위치에 맞게 보정하도록 할 수 있다.The welding robot 410 is provided with a position correction sensor (not shown) such as a vision sensor or a laser scanner to grasp the position of the processed reinforcing member (ST) to be welded to the processed steel base material (PS), The welding position of the reinforced member (ST) to the processed steel frame base material (PS) can be corrected to match the design position.
예컨대, 용접로봇(410)의 위치보정센서는 용접핸들링로봇(440)이 파지하고 있는, 가공된 보강부재(ST)가, 포지셔너(420,430)가 파지하고 있는 가공된 철골 모재(PS)의 보강부재 부착부에 올바르게 위치하고 있는지 파악하여, 가공된 보강부재(ST)의 가공된 철골 모재(PS)에의 용접위치를 설계위치에 맞게 보정하도록 할 수 있다.For example, the position correction sensor of the welding robot 410 is a reinforcing member of the processed reinforcing member ST held by the welding handling robot 440 and the processed steel base material PS held by the positioners 420 and 430. It is possible to correct the welding position of the processed reinforcing member (ST) to the processed steel frame base material (PS) according to the design position by determining whether the attachment unit is correctly positioned.
포지셔너(420,430)는 가공된 철골 모재(PS)를 용접시 파지할 수 있다. 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)는, 철골모재 가공공급부(200)의 철골모재공급기(240)에 의해서, 철골모재 가공공급부(200)의 제2철골모재대기부(230)에서 포지셔너(420,430)로 공급될 수 있다. 이에 의해서, 포지셔너(420,430)가 가공된 철골 모재(PS)를 용접시 파지할 수 있다.The positioners 420 and 430 may hold the processed steel base material PS during welding. The steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing and supplying unit 200 is processed by the steel base material processing and supplying unit 200 by the steel base material supplying machine 240 of the steel base material processing and supplying unit 200. 2 It may be supplied to the positioners 420 and 430 from the steel frame base material standby unit 230. Accordingly, the positioners 420 and 430 can hold the processed steel base material PS during welding.
전술한 바와 같이, 철골모재 가공공급부(200)의 철골모재공급기(240)는, 가공된 철골 모재(PS)를 파지하며 서로 소정 간격 이격되는 복수개의 그리퍼(GP)를 포함하고, 그리퍼(GP)가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성되는 갠트리크레인로봇일 수 있다.As described above, the steel frame base material feeder 240 of the steel base material processing and supply unit 200 includes a plurality of grippers GP holding the processed steel base material PS and spaced apart from each other by a predetermined distance, and the gripper GP may be a gantry crane robot configured to move at least in the front and rear directions, left and right directions, and up and down directions.
이에 의해서, 제어부(500)와 철골모재공급기(240)에 의한, 가공된 철골 모재(PS)의 정밀하고 정확한 위치제어가 가능하여, 가공된 철골 모재(PS)의 포지셔너(420,430)에의 파지시, 철골 모재(PS)의 기준점이 포지셔너(420,430)의 기준점과 일치되도록 할 수 있다.As a result, precise and accurate position control of the processed steel frame base material (PS) by the control unit 500 and the steel frame base material feeder 240 is possible, so that the positioners 420 and 430 grip the processed steel base material (PS), The reference point of the steel frame base material (PS) may be matched with the reference point of the positioners 420 and 430 .
이에 따라, 제어부(500)에 저장되어 있는, 가공된 철골 모재(PS)의 크기와 두께 및 형상에 대한 정보, 예컨대 가공된 철골 모재(PS)의 3D 정보와, 용접부(400)의 포지셔너(420,430)에 파지된, 가공된 실제 철골 모재(PS)가 일치되도록 할 수 있다.Accordingly, information about the size, thickness, and shape of the processed steel frame base material (PS) stored in the control unit 500, for example, 3D information of the processed steel frame base material (PS), and the positioners 420 and 430 of the welded portion 400 ), the processed actual steel base material (PS) can be matched.
그러므로, 사용자에 의한 별도의 티칭없이, 제어부(500)에 저장되어 있는, 가공된 철골 모재(PS)의 크기와 두께 및 형상에 대한 정보를 사용하여, 용접부(400)의 용접로봇(410)이, 용접부(400)의 포지셔너(420,430)에 파지된, 가공된 철골 모재(PS)에, 가공된 보강부재(ST)를 용접할 수 있다. 이에 의해서, 가공된 철골 모재(PS)에의 가공된 보강부재(ST)의 용접이 자동으로 이루어질 수 있어서, 철골(SF)의 제조에 사용자의 개입이 최소화 될 수 있거나, 사용자 없이도 철골(SF)의 제조가 이루어질 수 있도록 할 수 있으며, 철골(SF) 제조에 소요되는 시간이 단축될 수 있다.Therefore, the welding robot 410 of the welding part 400 uses the information about the size, thickness and shape of the processed steel base material PS stored in the control unit 500 without separate teaching by the user. , The processed reinforcing member ST may be welded to the processed steel frame base material PS held by the positioners 420 and 430 of the welding portion 400 . Thereby, welding of the processed reinforcing member (ST) to the processed steel frame base material (PS) can be automatically performed, so that the user's intervention in manufacturing the steel frame (SF) can be minimized, or the steel frame (SF) can be manufactured without the user. Manufacturing can be made, and the time required to manufacture the steel frame (SF) can be shortened.
포지셔너(420,430)는 용접로봇(410)이 항상 특정한 용접자세, 예컨대 아래보기 용접자세로, 가공된 철골 모재(PS)에, 가공된 보강부재(ST)를 용접할 수 있도록 철골 모재(PS)를 파지할 수 있다. 예컨대, 포지셔너(420,430)는 철골 모재(PS)가 회전 가능하도록 파지하여, 용접로봇(410)이, 예컨대 항상 아래보기 용접자세로, 가공된 철골 모재(PS)에 가공된 보강부재(ST)를 용접할 수 있도록 철골 모재(PS)를 지지하고 회전할 수 있다. 이에 따라, 용접로봇(410)에 의한, 가공된 철골 모재(PS)에의 가공된 보강부재(ST)의 용접이 용이하게 이루어질 수 있다.The positioners 420 and 430 set the steel frame base material PS so that the welding robot 410 can always weld the processed reinforcing member ST to the processed steel frame base material PS in a specific welding posture, for example, a downward welding posture. can grip For example, the positioners 420 and 430 grip the steel frame base material PS so as to be rotatable, so that the welding robot 410, for example, is always in a downward facing welding posture, and the reinforcing member ST processed on the steel base material PS. It can support and rotate the steel base material (PS) so that it can be welded. Accordingly, welding of the processed reinforcing member ST to the processed steel frame base material PS by the welding robot 410 can be easily performed.
포지셔너(420,430)는 도23에 도시된 바와 같은 제1포지셔너(420)와, 도24에 도시된 바와 같은 제2포지셔너(430)를 포함할 수 있다. 제1포지셔너(420)는 소정의 제1범위의 길이를 가지는, 예컨대 1m 내지 4m 범위의 길이를 가지는 철골 모재(PS)를 용접시 지지할 수 있다. 이에 따라, 철골모재 가공공급부(200)의 제2철골모재대기부(230)에서 대기하는 철골 모재(PS)가 소정의 제1범위의 길이를 가지면, 철골모재 가공공급부(200)의 철골모재공급기(240)는 철골 모재(PS)를 제1포지셔너(420)로 공급할 수 있다. 제2포지셔너(430)는 제1범위보다 긴 소정의 제2범위의 길이를 가지는, 예컨대 4m 내지 16m 범위의 길이를 가지는 철골 모재(PS)를 지지할 수 있다. 이에 따라, 철골모재 가공공급부(200)의 제2철골모재대기부(230)에서 대기하는 철골 모재(PS)가 소정의 제2범위의 길이를 가지면, 철골모재 가공공급부(200)의 철골모재공급기(240)는 철골 모재(PS)를 제2포지셔너(430)로 공급할 수 있다.The positioners 420 and 430 may include a first positioner 420 as shown in FIG. 23 and a second positioner 430 as shown in FIG. 24 . The first positioner 420 may support the steel base material PS having a length in a first predetermined range, for example, in a range of 1m to 4m during welding. Accordingly, when the steel base material PS waiting in the second steel base material standby unit 230 of the steel base material processing and supply unit 200 has a length within the first predetermined range, the steel base material supply unit of the steel base material processing and supply unit 200 240 may supply the steel frame base material PS to the first positioner 420 . The second positioner 430 may support a steel frame base material PS having a length of a predetermined second range longer than the first range, for example, a length ranging from 4m to 16m. Accordingly, when the steel base material (PS) waiting in the second steel base material standby unit 230 of the steel base material processing and supply unit 200 has a length within the predetermined second range, the steel frame base material supply unit of the steel base material processing and supply unit 200 240 may supply the steel frame base material PS to the second positioner 430 .
용접핸들링로봇(440)은 보강부재(ST)를 파지할 수 있다. 용접핸들링로봇(440)은, 보강부재 가공공급부(300)의 보강부재 공급기(340)를 통해 공급되는, 보강부재 가공공급부(300)의 보강부재 가공기(310)에서 가공된 보강부재(ST)를 파지할 수 있다. 용접핸들링로봇(440)에는 비젼센서나 레이저 스캐너 등의 부재위치확인센서(도시되지 않음)가 구비될 수 있다. 이에 의해서, 보강부재 가공공급부(300)의 보강부재 공급기(340)를 통해 공급되는, 가공된 보강부재(ST)를 용접핸들링로봇(440)이 올바른 위치로 파지할 수 있도록 할 수 있다. 이에 따라, 용접로봇(410)에 의한, 가공된 철골 모재(PS)에의 가공된 보강부재(ST)의 용접이 보다 용이하게 이루어질 수 있다.The welding handling robot 440 may grip the reinforcing member ST. The welding handling robot 440 processes the reinforcing member ST, which is supplied through the reinforcing member supplier 340 of the reinforcing member processing and supplying unit 300, and processed in the reinforcing member processing machine 310 of the reinforcing member processing and supplying unit 300. can grip The welding handling robot 440 may be equipped with a member positioning sensor (not shown) such as a vision sensor or a laser scanner. Accordingly, the welding handling robot 440 can hold the processed reinforcing member ST supplied through the reinforcing member supplier 340 of the reinforcing member processing and supplying unit 300 in a correct position. Accordingly, welding of the processed reinforcing member (ST) to the processed steel frame base material (PS) by the welding robot 410 can be made more easily.
이와 같이, 가공된 보강부재(ST)를 파지한 상태에서, 용접핸들링로봇(440)은 가공된 보강부재(ST)를 용접로봇(410)과 포지셔너(420,430)가 있는 곳으로 이동시킬 수 있다. 용접핸들링로봇(440)은 특별히 한정되지 않고, 보강부재(ST)를 파지할 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.In this way, in a state of holding the processed reinforcing member ST, the welding handling robot 440 may move the processed reinforcing member ST to a place where the welding robot 410 and the positioners 420 and 430 are located. The welding handling robot 440 is not particularly limited, and any well-known one can be used as long as it can grip the reinforcing member ST.
용접부(400)에서는, 용접핸들링로봇(440)이, 가공된 보강부재(ST)를 파지하여, 가공된 철골 모재(PS)의 보강부재 부착부에 위치시킨 상태에서, 용접로봇(410)이, 가공된 보강부재(ST)를 가공된 철골 모재(PS)의 보강부재 부착부에 가용접할 수 있다.In the welding part 400, in a state where the welding handling robot 440 grips the processed reinforcing member ST and places it in the reinforcing member attachment part of the processed steel frame base material PS, the welding robot 410, The processed reinforcing member ST may be tack welded to the reinforcing member attachment portion of the processed steel frame base material PS.
이 경우, 용접로봇(410)에는, 전술한 바와 같이, 비젼센서나 레이저 스캐너 등의 위치보정센서가 구비되어, 가공된 철골 모재(PS)에 용접될, 가공된 보강부재(ST)의 위치를 파악하여, 가공된 보강부재(ST)의 가공된 철골 모재(PS)에의 용접위치를 설계위치에 맞게 보정하도록 할 수 있다.In this case, as described above, the welding robot 410 is provided with a position correction sensor such as a vision sensor or a laser scanner to determine the position of the processed reinforcing member ST to be welded to the processed steel base material PS. By grasping, it is possible to correct the welding position of the processed reinforcing member (ST) to the processed steel base material (PS) according to the design position.
예컨대, 용접로봇(410)의 위치보정센서는, 용접핸들링로봇(440)이 파지하고 있는 가공된 보강부재(ST)가, 포지셔너(420,430)가 파지하고 있는 가공된 철골 모재(PS)의 보강부재 부착부에 올바르게 위치하고 있는지 파악하여, 가공된 보강부재(ST)의 가공된 철골 모재(PS)에의 용접위치를 설계위치에 맞게 보정하도록 할 수 있다.For example, the position correction sensor of the welding robot 410 is the processing reinforcing member ST held by the welding handling robot 440 and the reinforcing member of the processed steel base material PS held by the positioners 420 and 430. It is possible to correct the welding position of the processed reinforcing member (ST) to the processed steel frame base material (PS) according to the design position by determining whether the attachment unit is correctly positioned.
이러한 가용접후, 용접부(400)에서는, 용접로봇(410)에 의해서, 가공된 철골 모재(PS)에 가공된 보강부재(ST)를 본용접할 수 있다. 가공된 철골 모재(PS)에 가공된 보강부재(ST)가 가용접되어 있기 때문에, 본용접시에는 용접핸들링로봇(440)이 가공된 보강부재(ST)를 파지하지 않아도 될 수 있다.After this tack welding, in the welding part 400, the welding robot 410 can perform main welding of the processed reinforcing member ST to the processed steel frame base material PS. Since the processed reinforcing member ST is tack-welded to the processed steel frame base material PS, the welding handling robot 440 may not need to hold the processed reinforcing member ST during main welding.
이와 같이 가용접 후 본용접하기 때문에, 제어부(500)의 용접부(400)의 제어에 의한, 필렛 용접이나, 부분용입용접(PJP, Partial Joint Penetration) 또는 완전용입용접(CJP, Complete Joint Penetration)이 이루어지도록 할 수 있다.Since the main welding is performed after the tack welding in this way, fillet welding, partial joint penetration (PJP) or complete joint penetration (CJP) welding by the control of the welding part 400 of the control unit 500 is performed. can make it happen.
이를 위해서, 전술한 바와 같이, 용접핸들링로봇(440)이 포지셔너(420,430)와 연동하여, 가공된 철골 모재(PS)에 가공된 보강부재(ST)의 용접이 이루어지도록 할 수 있다. 그리고, 용접로봇(410)은, 가공된 철골모재(PS)와 가공된 보강부재(ST) 사이의 용접부의 형태에 따라, 예컨대 필렛 용접이나 부분용입용접 또는 완전용입용접 등의 용접부의 형태에 따라, 제어부(500)에서 프로그래밍된 순서에 의해서, 예컨대 비교적 용접의 신뢰성이 높은 위보기 자세로 용접을 수행할 수 있다.To this end, as described above, the welding handling robot 440 may work in conjunction with the positioners 420 and 430 to weld the reinforced member ST processed to the processed steel frame base material PS. And, the welding robot 410 depends on the shape of the weld between the processed steel base material (PS) and the processed reinforcing member (ST), for example, according to the shape of the weld such as fillet welding, partial penetration welding, or full penetration welding. , According to the sequence programmed by the control unit 500, welding can be performed, for example, in an upward posture with relatively high welding reliability.
한편, 용접부(400)에서는 본용접시 백킹재(도시되지 않음)가 필요한 경우에는, 백킹재가 필요한, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 부분을 먼저 용접한 후 다른 부분을 용접할 수 있다.On the other hand, in the welding portion 400, when a backing material (not shown) is required during main welding, the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), which requires the backing material, You can weld the other parts after welding them first.
예컨대, 도26의 (a)에 도시된 바와 같은, H빔인 가공된 철골 모재(PS)의 단부에, 엔드 플레이트인 가공된 보강부재(ST)를 용접하는 경우에는, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 부분의 일부를 통해 용융물이 흘러내릴 수 있다. 이에 따라, 용융물이 흘러내릴 수 있는, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 부분의 일부를 백킹재를 통해 막아 주어야만 한다. 이러한 경우에는, 포지셔너(420,430) 등을 통해, 도26의 (b)에 도시된 바와 같이, 백킹재가 필요한, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 부분, 예컨대 용접개선부 반대측 부분이 위를 향하도록 할 수 있다. 그리고, 도26의 (b)에 도시된 바와 같이, 백킹재가 필요한, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 부분을 먼저 용접할 수 있다. 이후, 포지셔너(420,430) 등을 통해, 도26의 (c)에 도시된 바와 같이, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 다른 부분, 예컨대 용접개선부가 위를 향하도록 할 수 있다. 그리고, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이의 다른 부분을 용접할 수 있다.For example, as shown in (a) of FIG. 26, in the case of welding the processed reinforcing member ST, which is an end plate, to the end of the processed steel base material PS, which is an H beam, the processed reinforcing member ST The melt may flow down through a portion of the portion between the reinforcement member attachment portion of the processed steel frame base material (PS). Accordingly, a part of the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), where the melt can flow down, must be blocked through the backing material. In this case, through the positioners 420 and 430, etc., as shown in (b) of FIG. 26, the backing material is required between the processed reinforcing member ST and the reinforcing member attachment portion of the processed steel base material PS. The part, for example, the part on the opposite side of the weld improvement may face upward. And, as shown in (b) of FIG. 26, the portion between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS), which requires a backing material, can be welded first. Then, through the positioners 420 and 430, etc., as shown in (c) of FIG. 26, other parts between the processed reinforcing member ST and the reinforcing member attachment portion of the processed steel frame base material PS, for example, welding improvement The part can be pointed upwards. And, it is possible to weld another part between the processed reinforcing member (ST) and the reinforcing member attachment portion of the processed steel frame base material (PS).
이에 의해서, 본용접시 백킹재가 필요한 경우에도, 백킹재 없이, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 보강부재 부착부 사이를 용접할 수 있다. 이에 따라, 본용접시 백킹재가 필요한 경우에도, 백킹재를 설치할 필요 없이, 제어부(500)와 용접로봇(410)에 의한, 가공된 보강부재(ST)와 가공된 철골 모재(PS)의 자동용접이 이루어질 수 있다.Accordingly, even when a backing material is required during main welding, it is possible to weld between the processed reinforcing member ST and the reinforcing member attachment portion of the processed steel frame base material PS without the backing material. Accordingly, even if a backing material is required during main welding, automatic welding of the processed reinforcing member (ST) and the processed steel frame base material (PS) by the control unit 500 and the welding robot 410 without the need to install the backing material. this can be done
도1과 도2 및 도21에 도시된 바와 같이, 2개의 제1포지셔너(420)의 양측 각각에 2개의 용접로봇(410)과 2개의 용접핸들링로봇(440)이 각각 구비될 수 있다. 2개의 용접로봇(410)과 2개의 용접핸들링로봇(440)은 안전 및 충돌 위험성이 없는 한 각각 동시에 작업할 수 있다. 또한, 도1, 도2, 도21 및 도22에 도시된 바와 같이, 1개의 제2포지셔너(430)의 양측에 2개의 용접로봇(410)과 2개의 용접핸들링로봇(440)이 구비될 수 있다. 그리고, 이러한 구성이 2개 더 구비될 수 있다. 이 경우에도, 2개의 용접로봇(410)과 2개의 용접핸들링로봇(440)은 안전 및 충돌 위험성이 없는 한, 각각 동시에 작업할 수 있다.As shown in FIGS. 1, 2, and 21, two welding robots 410 and two welding handling robots 440 may be provided on each side of the two first positioners 420, respectively. The two welding robots 410 and the two welding handling robots 440 can work simultaneously as long as there is no risk of safety and collision. In addition, as shown in FIGS. 1, 2, 21 and 22, two welding robots 410 and two welding handling robots 440 may be provided on both sides of one second positioner 430. there is. And, two more of these configurations may be provided. Even in this case, the two welding robots 410 and the two welding handling robots 440 can work simultaneously, as long as there is no safety or risk of collision.
그러나, 용접부(400)의 구성은 특별히 한정되지 않고, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)에, 보강부재 가공공급부(300)의 보강부재 가공기(310)에서 가공된 보강부재(ST)를 용접에 의해서 연결시킬 수 있는 구성이라면, 어떠한 구성이라도 가능하다.However, the configuration of the welding portion 400 is not particularly limited, and the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing and supplying unit 200 is placed in the reinforcing member processing machine of the reinforcing member processing and supplying unit 300 ( Any configuration may be used as long as the reinforcing members ST processed in 310) can be connected by welding.
용접부(400)에서 만들어진 철골(SF)은 도1과 도2에 도시된 바와 같은 철골이동기(MF)에 의해서 도25에 도시된 바와 같은 철골대기부(WF)로 이동되어 대기할 수 있다. 철골이동기(MF)는, 전술한 철골모재 가공공급부(200)의 철골모재공급기(240)와 같이, 철골 모재(PS)를 파지하며 서로 소정 간격 이격되는 복수개의 그리퍼(GP)를 포함하고, 그리퍼(GP)가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성되는 갠트리크레인로봇일 수 있다. 그러나, 철골이동기(MF)는 특별히 한정되지 않고, 용접부(400)에서 만들어진 철골(SF)을 철골대기부(WF)로 이동시킬 수 있는 것이라면 주지의 어떠한 구성이라도 가능하다.The steel frame SF made at the welded portion 400 may be moved to the steel frame waiting unit WF as shown in FIG. 25 by the steel frame mover MF as shown in FIGS. 1 and 2 and wait. Like the steel base material feeder 240 of the steel base material processing and supply unit 200 described above, the steel frame mover MF includes a plurality of grippers GP gripping the steel base material PS and spaced apart from each other by a predetermined distance. (GP) may be a gantry crane robot configured to move in at least forward and backward directions, left and right directions, and up and down directions. However, the steel frame mover (MF) is not particularly limited, and any well-known configuration is possible as long as it can move the steel frame (SF) made in the welded portion 400 to the steel frame base portion (WF).
한편, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS) 중 일부는 용접부(400)에서 용접되지 않을 수 있다. 그리고, 도1과 도2에 도시된 바와 같이, 비용접 철골 모재 이동기(MN)가 철골모재 가공공급부(200)의 제2철골모재대기부(230)로부터 용접부(400)를 관통하여 철골대기부(WF)로 연장되어 위치할 수 있다. 그리고, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS) 중 용접부(400)에서 용접되지 않는, 가공된 철골 모재(PS)는 철골모재 가공공급부(200)의 철골모재공급기(240)에 의해서 제2철골모재대기부(230)로부터 비용접 철골 모재 이동기(MN)로 이동될 수 있다. 이와 같이, 비용접 철골 모재 이동기(MN)로 이동된, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)는 비용접 철골 모재 이동기(MN)를 통해 철골대기부(WF) 측으로 이동될 수 있다. 철골대기부(WF) 측으로 이동된, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)는 철골이동기(MF)에 의해서 철골대기부(WF)로 이동되어 대기할 수 있다. 비용접 철골 모재 이동기(MN)는, 예컨대 도1과 도2에 도시된 바와 같이 컨베이어일 수 있다. 그러나, 비용접 철골 모재 이동기(MN)는 특별히 한정되지 않고, 용접부(400)에서 용접되지 않는, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)를, 철골모재 가공공급부(200)의 제2철골모재대기부(230)로부터 용접부(400)를 관통하여 철골대기부(WF) 측으로 이동시킬 수 있는 것이라면 주지의 어떠한 것이라도 가능하다.Meanwhile, some of the steel base materials PS processed in the steel base material processing machine 210 of the steel base material processing and supply unit 200 may not be welded at the welding part 400 . And, as shown in FIGS. 1 and 2, the non-welded steel frame base material mover (MN) passes through the welding part 400 from the second steel frame base material waiting part 230 of the steel frame base material processing and supply unit 200 to the steel frame waiting part. (WF) may be located. In addition, among the steel base materials (PS) processed in the steel base material processing machine 210 of the steel base material processing and supply unit 200, the processed steel base material (PS) that is not welded in the welding part 400 is the steel base material processing and supply unit 200 It can be moved from the second steel-frame base material waiting unit 230 to the non-welded steel base material mover (MN) by the steel-frame base material feeder 240. In this way, the steel frame base material PS processed by the steel base material processing machine 210 of the steel base material processing and supply unit 200, which has been moved to the non-welded steel frame base material mover (MN), passes through the non-welded steel frame base material mover (MN) to the steel frame. It can be moved to the base (WF) side. The steel base material PS processed by the steel base material processing machine 210 of the steel base material processing and supply unit 200, which has been moved to the steel frame base material processing unit WF, is moved to the steel frame base material WF by the steel frame mover MF and is waiting can do. The non-welded steel frame base material mover MN may be a conveyor as shown in FIGS. 1 and 2, for example. However, the non-welded steel frame base material mover (MN) is not particularly limited, and the steel base material (PS) processed in the steel base material processing machine 210 of the steel base material processing supply unit 200, which is not welded at the welding part 400, is transferred to the steel frame base material PS. As long as it can be moved from the second steel frame base material standby unit 230 of the base material processing and supply unit 200 to the steel frame standby unit WF side through the welding part 400, any well-known material is possible.
이러한 용접부(400)에서의 일련의 과정은 용접부(400)에 포함되는 각 구성요소에 연결된 제어부(500)에 의해서 제어되어 이루어질 수 있다.A series of processes in the welding part 400 may be controlled by the controller 500 connected to each component included in the welding part 400 .
제어부(500)는 원하는 형태와 크기의 철골(SF)을 제조하도록 철골모재 가공공급부(200), 보강부재 가공공급부(300) 및 용접부(400)를 제어할 수 있다.The control unit 500 may control the steel frame base material processing and supply unit 200, the reinforcing member processing and supply unit 300, and the welding unit 400 to manufacture the steel frame SF having a desired shape and size.
제어부(500)는 도27에 도시된 바와 같이, 제조정보 생성부(510), 제조관리부(520) 및 제조운영부(530)를 포함할 수 있다.As shown in FIG. 27 , the control unit 500 may include a manufacturing information generation unit 510, a manufacturing management unit 520, and a manufacturing operation unit 530.
제조정보 생성부(510)에서는, 예컨대 3D 모델로부터 추출된, 제조될 철골(SF)에 대한 정보를 전달받아 제조순서와 로봇모션을 포함하는 제조정보를 자동으로 생성할 수 있다. 이와 같이 생성된 제조정보는, 원하는 형태와 크기의 철골(SF)을 제작하기 위해서, 후술할 바와 같이, 제조관리부(520)와 제조운영부(530)에서 활용될 수 있다. 이에 따라, 다양한 형태와 크기를 가지는 철골(SF)을 자동으로 제조할 수 있다.The manufacturing information generating unit 510 may receive, for example, information about the steel frame (SF) to be manufactured, which is extracted from a 3D model, and automatically generate manufacturing information including a manufacturing sequence and robot motion. The manufacturing information generated in this way may be utilized by the manufacturing management unit 520 and the manufacturing operation unit 530 to manufacture the steel frame SF of a desired shape and size, as will be described later. Accordingly, it is possible to automatically manufacture steel frames (SF) having various shapes and sizes.
이를 위해서, 제조정보 생성부(510)는 도27에 도시된 바와 같이, 소재분석부(511), 스케쥴링부(512) 및 로봇모션 생성부(513)를 포함할 수 있다.To this end, the manufacturing information generation unit 510 may include a material analysis unit 511, a scheduling unit 512, and a robot motion generation unit 513, as shown in FIG.
소재분석부(511)에서는, 제조될 철골(SF)에 대한 정보를 전달받아 분석하고 철골(SF)의 제조를 위해서 필요한 정보를 추출할 수 있다.The material analysis unit 511 may receive and analyze information on the steel frame SF to be manufactured, and extract information necessary for manufacturing the steel frame SF.
이 경우, 소재분석부(511)에서는, 철골 설계 컴퓨터 프로그램을 통해 사용자가 설계한, 제조될 철골(SF)에 대한 정보를 컴퓨터 파일로 전달받아 분석하여, 제조될 철골(SF)을 이루는 철골 모재(PS)나 보강부재(ST)의 형상이나 두께 또는 크기나 수량 또는 중량에 대한 정보를 추출하고 컴퓨터 파일로 만들 수 있다.In this case, the material analysis unit 511 receives and analyzes the information on the steel frame to be manufactured, which is designed by the user through the steel frame design computer program, as a computer file, and analyzes the base material constituting the steel frame to be manufactured. Information on the shape, thickness, size, quantity, or weight of (PS) or reinforcing member (ST) can be extracted and made into a computer file.
예컨대, 사용자는, TEKLA 등의 철골 설계를 위한 상용 프로그램을 통해, 제조될 철골(SF)을 설계할 수 있다. 또한, 소재분석부(511)는, TEKLA 등의 상용 프로그램을 통해 설계된, 제조될 철골(SF)에 대한 정보를 TEKLA 등의 상용 프로그램에서 생성되는 파일로 전달받을 수 있다. 예컨대, TEKLA 등의 상용 프로그램을 통해 설계되어 생성되는, 예컨대 확장자가 .tekla인 컴퓨터 파일을 TEKLA 등의 상용 프로그램에서 확장자가 .ifc인 컴퓨터 파일로 변경할 수 있다. 그리고, 확장자가 .ifc인 컴퓨터 파일로 만들어진 제조될 철골(SF)에 대한 정보를, 소재분석부(511)에, 유선이나 무선 또는 휴대용 컴퓨터 파일 저장매체 등을 통해 전달할 수 있다. 그러나, 소재분석부(511)에서, 제조될 철골(SF)에 대한 정보를 전달받는 방법은 특별히 한정되지 않고, 주지의 어떠한 방법이라도 가능하다.For example, a user may design a steel frame (SF) to be manufactured through a commercial program for designing a steel frame such as TEKLA. In addition, the material analysis unit 511 may receive information on the steel frame (SF) to be manufactured, designed through a commercial program such as TEKLA, as a file generated by a commercial program such as TEKLA. For example, a computer file with an extension of .tekla, which is designed and created through a commercial program such as TEKLA, can be changed into a computer file with an extension of .ifc in a commercial program such as TEKLA. In addition, information on the steel frame (SF) to be manufactured, which is made of a computer file having an extension of .ifc, may be transmitted to the material analysis unit 511 through a wired, wireless, or portable computer file storage medium. However, a method of receiving information on the steel frame SF to be manufactured in the material analysis unit 511 is not particularly limited, and any well-known method is possible.
이와 같이, 제조될 철골(SF)에 대한 정보를 전달받으면, 소재분석부(511)에서는, 전달받은 제조될 철골(SF)에 대한 정보를 분석하여 철골(SF)의 제조를 위해서 필요한 정보, 예컨대 제조될 철골(SF)을 이루는 철골 모재(PS)나 보강부재(ST)의 형상이나 두께 또는 크기나 수량 또는 중량 등의 정보를 추출할 수 있다. 이러한 소재분석부(511)에서의 제조될 철골(SF)에 대한 정보의 분석과 철골(SF)의 제조를 위해서 필요한 정보의 추출은, 이를 위해서 만들어진 컴퓨터 프로그램에 의해서 이루어져서 컴퓨터 파일로 생성될 수 있다.In this way, when information on the steel frame (SF) to be manufactured is received, the material analysis unit 511 analyzes the received information on the steel frame (SF) to be manufactured to obtain information necessary for manufacturing the steel frame (SF), for example, Information such as the shape, thickness, size, quantity, or weight of the steel base material (PS) or reinforcing member (ST) constituting the steel frame (SF) to be manufactured may be extracted. The analysis of information on the steel frame (SF) to be manufactured in the material analysis unit 511 and the extraction of information necessary for manufacturing the steel frame (SF) are performed by a computer program created for this purpose and can be generated as a computer file. .
스케쥴링부(512)에서는, 소재분석부(511)에서 추출한 정보를 토대로 제조순서를 생성할 수 있다. 이러한 스케쥴링부(512)에서의 소재분석부(511)에서 추출한 정보를 토대로 한 제조순서의 생성은, 이를 위해서 만들어진 컴퓨터 프로그램에 의해서 이루어져서 컴퓨터 파일로 생성될 수 있다.The scheduling unit 512 may generate a manufacturing order based on the information extracted by the material analysis unit 511 . Creation of the manufacturing order based on the information extracted by the material analysis unit 511 in the scheduling unit 512 may be performed by a computer program created for this purpose and may be generated as a computer file.
예컨대, 스케쥴링부(512)에서는, 철골 모재(PS)와 보강부재(ST)의 용접을 위해서, 철골 모재(PS)의 길이와 크기에 따라, 용접부(400)의 제1포지셔너(420)나 제2포지셔너(430)를 선정할 수 있다. 또한, 스케쥴링부(512)에서는, 용접로봇(410), 제1,2포지셔너(420,430) 및 용접핸들링로봇(440) 등의 용접부(400)에 포함되는 구성들과, 철골모재 가공공급부(200)와 보강부재 가공공급부(300) 각각에 포함되는 구성들의 작업에 필요한 정보들이 일련의 제조순서대로 나열되는 컴퓨터 파일을 생성할 수 있다.For example, in the scheduling unit 512, in order to weld the steel frame base material (PS) and the reinforcing member (ST), according to the length and size of the steel frame base material (PS), the first positioner 420 or the second positioner 420 of the welding portion 400 Two positioners 430 may be selected. In addition, in the scheduling unit 512, components included in the welding unit 400, such as the welding robot 410, the first and second positioners 420 and 430, and the welding handling robot 440, and the steel base material processing supply unit 200 And information necessary for the operation of the components included in each of the reinforcing member processing and supply unit 300 may generate a computer file in which a series of manufacturing sequences are listed.
로봇모션 생성부(513)에서는, 소재분석부(511)에서 추출한 정보와 스케쥴링부(512)에서 생성된 제조순서를 토대로, 작업시 로봇(410,440) 간의 간섭 여부를 검토하고 로봇모션을 생성할 수 있다. 예컨대, 철골 모재(PS)나 보강부재(ST)의 두께나 크기 또는 형상에 대한 정보를 바탕으로, 보강부재(ST)가 철골 모재(PS)에 연결되기 위해서, 로봇(410,440)이 이동해야 할 거리나 각도 또는 방향 그리고 순서를 계산할 수 있다. 이러한 로봇모션 생성부(513)에서의, 소재분석부(511)에서 추출한 정보와 스케쥴링부(512)에서 생성된 제조순서를 토대로 한 로봇모션의 생성은, 이를 위해서 만들어진 컴퓨터 프로그램에 의해서 이루어져서 컴퓨터 파일로 생성될 수 있다.In the robot motion generation unit 513, based on the information extracted from the material analysis unit 511 and the manufacturing order generated by the scheduling unit 512, interference between the robots 410 and 440 during work can be reviewed and robot motion can be generated. there is. For example, based on information about the thickness, size, or shape of the steel base material PS or the reinforcing member ST, the robots 410 and 440 need to move in order to connect the reinforcing member ST to the steel base material PS. You can calculate distances or angles or directions and sequences. In this robot motion generation unit 513, the generation of robot motion based on the information extracted from the material analysis unit 511 and the manufacturing order generated by the scheduling unit 512 is performed by a computer program created for this purpose, and thus a computer file can be created with
제조관리부(520)는 사용자와 정보를 주고받으며, 제조정보 생성부(510)에서 생성된 제조정보를 저장하고 전달할 수 있다. 이를 위해서, 제조관리부(520)는 도27에 도시된 바와 같이 사용자 인터페이스부(521), 제1정보저장부(522) 및 제2정보저장부(523)를 포함할 수 있다.The manufacturing management unit 520 may exchange information with a user, store and transmit manufacturing information generated by the manufacturing information generating unit 510 . To this end, the manufacturing management unit 520 may include a user interface unit 521, a first information storage unit 522, and a second information storage unit 523 as shown in FIG.
사용자 인터페이스부(521)는 사용자와 정보를 주고받을 수 있다. 예컨대, 사용자 인터페이스부(521)는 KIOSK나 PDA를 포함하거나 이들에 유무선으로 연결되어, 사용자에게 제조대상이나, 일정 또는, 제조현황 등의 생산관리에 필요한 정보를 제공할 수 있다. 또한, 사용자 인터페이스부(521)는, 사용자로부터, 철골모재 가공공급부(200)의 철골모재 가공기(210)나, 보강부재 가공공급부(300)의 보강부재 가공기(310)에 공급되는, 철골 모재(PS)나 보강부재(ST)의 규격이나 수량 등과 같은 수동작업 결과를 입력받을 수 있다.The user interface unit 521 may exchange information with a user. For example, the user interface unit 521 includes a KIOSK or a PDA or is connected to them by wire or wireless, and can provide the user with information necessary for production management, such as a manufacturing object, schedule, or manufacturing status. In addition, the user interface unit 521, the steel base material supplied from the user to the steel base material processing machine 210 of the steel base material processing and supply unit 200 or the reinforcing member processing machine 310 of the reinforcing member processing and supply unit 300, the steel base material ( PS) or the result of manual work such as the standard or quantity of the reinforcing member (ST) can be input.
제1정보저장부(522)는 제조정보 생성부(510)에서 만들어진 제조정보를 저장할 수 있다. 예컨대, 제1정보저장부(522)는 제조정보 생성부(510)에서 생성된 제조정보에 대한 컴퓨터 파일을 저장할 수 있다. 또한, 제1정보저장부(522)는 전술한 보강부재 가공공급부(300)의 보강부재 선별기(SL)의 형상인식센서나, 분류핸들링로봇(RS)의 형상인식센서, 용접부(400)의 용접로봇(410)의 위치보정센서, 용접핸들링로봇(440)의 부재위치확인센서 등이 이루는 부재센싱시스템(SS)에서 요구되는, 철골(SF)의 형상 정보 등을 제공할 수 있다.The first information storage unit 522 may store manufacturing information generated by the manufacturing information generating unit 510 . For example, the first information storage unit 522 may store a computer file for manufacturing information generated by the manufacturing information generating unit 510 . In addition, the first information storage unit 522 is a shape recognition sensor of the reinforcing member sorter SL of the above-described reinforcing member processing supply unit 300, a shape recognition sensor of the sorting handling robot RS, or welding of the welding part 400. The position correction sensor of the robot 410 and the member position confirmation sensor of the welding handling robot 440 may provide information on the shape of the steel frame SF required by the member sensing system SS.
제2정보저장부(523)는 제1정보저장부(522)에 저장된 제조정보 중 주요정보를 추출하고 원하는 정보형태로 가공하여 저장할 수 있다. 예컨대, 제2정보저장부(523)는 제1정보저장부(522)에 저장된 제조정보 중 사용자에게 제공되는 정보인 철골 모재(PS)나 보강부재(ST)의 형상이나 두께 또는 크기나 수량 또는 중량 등을 추출하고 원하는 정보형태로 가공하여 저장할 수 있다.The second information storage unit 523 may extract main information from among the manufacturing information stored in the first information storage unit 522, process it into a desired information format, and store it. For example, the second information storage unit 523 stores the shape, thickness, size, quantity, or shape of the steel base material (PS) or reinforcing member (ST), which is information provided to the user among the manufacturing information stored in the first information storage unit 522. Weight, etc. can be extracted, processed into desired information types, and stored.
제조운영부(530)는, 제조관리부(520)로부터 전달받은 제조정보에 따라, 원하는 형태와 크기의 철골(SF)을 제조하도록, 철골모재 가공공급부(200), 보강부재 가공공급부(300) 및 용접부(400)를 동작시킬 수 있다. 이를 위해서, 제조운영부(530)는 도27에 도시된 바와 같이, 철골모재 가공공급 제어부(531), 보강부재 가공 제어부(532), 가공 보강부재 공급 제어부(533) 및 매스터 PLC(534)를 포함할 수 있다.The manufacturing operation unit 530, according to the manufacturing information received from the manufacturing management unit 520, the steel base material processing and supplying unit 200, the reinforcing member processing and supplying unit 300, and the welding unit to manufacture the steel frame (SF) of a desired shape and size. 400 can be operated. To this end, the manufacturing operation unit 530 includes a steel frame base material processing and supply control unit 531, a reinforcing member processing control unit 532, a processing reinforcing member supply control unit 533 and a master PLC 534, as shown in FIG. can do.
철골모재 가공공급 제어부(531)는 철골모재 가공공급부(200)를 제어할 수 있다. 철골모재 가공공급 제어부(531)는 철골모재 가공공급부(200)의 철골모재 가공기(210), 철골모재공급기(240), 제1철골모재이동기(250), 제2철골모재이동기(260) 및 제3철골모재이동기(270)에 연결될 수 있다. 그리고, 철골모재 가공공급 제어부(531)는, 제조관리부(520)로부터 전달받은 제조정보에 따라 철골모재 가공공급부(200)에서 철골 모재(PS)가 가공되고 공급되도록 할 수 있다.The steel frame base material processing and supply controller 531 may control the steel frame base material processing and supply unit 200 . The steel base material processing and supply control unit 531 includes the steel base material processing machine 210, the steel base material supplying machine 240, the first steel base material moving machine 250, the second steel base material moving machine 260, and the 3 It can be connected to the steel frame base material mover 270. In addition, the steel base material processing and supply control unit 531 may allow the steel base material PS to be processed and supplied in the steel base material processing and supply unit 200 according to the manufacturing information received from the manufacturing management unit 520 .
예컨대, 철골모재 가공공급 제어부(531)는 제1철골모재대기부(220)에 대기하는 철골 모재(PS)가 철골모재 가공공급부(200)의 철골모재 가공기(210)로 이동되어 가공되도록 할 수 있다. 또한, 철골모재 가공공급 제어부(531)는, 가공된 철골 모재(PS)가 철골모재 가공공급부(200)의 제2철골모재대기부(230)로 이동되어 대기하도록 할 수 있다. 그리고, 철골모재 가공공급 제어부(531)는 철골모재 가공공급부(200)의 제2철골모재대기부(230)에 대기하는, 가공된 철골 모재(PS)가 철골모재 가공공급부(200)의 철골모재공급기(240)에 의해서 용접부(400)의 포지셔너(420,430)에 공급되도록 할 수 있다.For example, the steel base material processing and supply control unit 531 may cause the steel base material PS waiting in the first steel base material waiting unit 220 to be moved to the steel base material processing machine 210 of the steel base material processing and supply unit 200 and processed. there is. In addition, the steel frame base material processing and supply control unit 531 may allow the processed steel frame base material PS to be moved to the second steel base material waiting unit 230 of the steel base material processing and supply unit 200 to stand by. In addition, the steel base material processing and supply control unit 531 stores the processed steel base material (PS) waiting in the second steel base material waiting unit 230 of the steel base material processing and supply unit 200. It can be supplied to the positioners 420 and 430 of the welding part 400 by the supply 240 .
보강부재 가공 제어부(532)는 보강부재 가공공급부(300)에서의 보강부재(ST)의 가공을 제어할 수 있다. 보강부재 가공 제어부(532)는 보강부재 가공공급부(300)의 보강부재 가공기(310), 제1보강부재이동기(350), 제2보강부재이동기(360) 및 제3보강부재이동기(370)에 연결될 수 있다. 또한, 보강부재 가공 제어부(532)는 보강부재 가공공급부(300)의 보강부재 선별기(SL)와 분류핸들링로봇(RS)에 연결될 수 있다.The reinforcing member processing controller 532 may control the processing of the reinforcing member ST in the reinforcing member processing supply unit 300 . The reinforcing member processing control unit 532 is connected to the reinforcing member processing machine 310, the first reinforcing member moving machine 350, the second reinforcing member moving machine 360 and the third reinforcing member moving machine 370 of the reinforcing member processing supply unit 300. can be connected In addition, the reinforcing member processing control unit 532 may be connected to the reinforcing member sorter SL and the sorting handling robot RS of the reinforcing member processing supply unit 300 .
그리고, 보강부재 가공공급 제어부(532)는, 제조관리부(520)로부터 전달받은 제조정보에 따라 보강부재 가공공급부(300)에서 보강부재(ST)가 가공되도록 할 수 있다.In addition, the reinforcing member processing and supplying control unit 532 may allow the reinforcing member ST to be processed in the reinforcing member processing and supplying unit 300 according to the manufacturing information received from the manufacturing management unit 520 .
예컨대, 보강부재 가공 제어부(532)는 보강부재 가공공급부(300)의 제1보강부재저장부(320)에 대기하는 보강부재(ST)가 보강부재 가공공급부(300)의 보강부재 가공기(310)로 이동되고 가공되도록 할 수 있다. 또한, 보강부재 가공공급 제어부(532)는, 가공된 보강부재(ST)가 보강부재 가공공급부(300)의 제2보강부재저장부(330)로 이동되어서 형상별로 구분되어 보관되도록 할 수 있다.For example, the reinforcing member processing control unit 532 stores the reinforcing member (ST) waiting in the first reinforcing member storage unit 320 of the reinforcing member processing and supplying unit 300 in the reinforcing member processing machine 310 of the reinforcing member processing and supplying unit 300. It can be moved to and processed. In addition, the reinforcing member processing and supply control unit 532 may move the processed reinforcing member ST to the second reinforcing member storage unit 330 of the reinforcing member processing and supply unit 300, and store the processed reinforcing member ST separately by shape.
가공 보강부재 공급 제어부(533)는 보강부재 가공공급부(300)에서 가공된 보강부재(ST)의 공급을 제어할 수 있다. 가공 보강부재 공급 제어부(533)는 보강부재 가공공급부(300)의 제2보강부재저장부(330)의 용접 보강부재 이동기(MW) 및 보강부재 공급기(340)에 연결될 수 있다. 그리고, 가공 보강부재 공급 제어부(533)는, 제조관리부(520)로부터 전달받은 제조정보에 따라, 보강부재 가공공급부(300)의 제2보강부재저장부(330)에 보관되는, 예컨대 제2보강부재저장부(330)의 가공 보강부재 보관기(331)에 보관되는, 가공된 보강부재(ST) 중 철골(SF) 제작에 필요한, 가공된 보강부재(ST)를, 보강부재 가공공급부(300)의 보강부재공급기(340)에 의해서, 용접부(400)의 용접핸들링로봇(440)에 공급되도록 할 수 있다.The processing reinforcing member supply controller 533 may control the supply of the reinforcing member ST processed in the reinforcing member processing and supply unit 300 . The processing reinforcing member supply control unit 533 may be connected to the welding reinforcing member mover MW and the reinforcing member supplier 340 of the second reinforcing member storage unit 330 of the reinforcing member processing and supply unit 300 . In addition, the processing reinforcing member supply control unit 533 stores in the second reinforcing member storage unit 330 of the reinforcing member processing and supply unit 300, for example, the second reinforcement according to the manufacturing information received from the manufacturing management unit 520. Among the processed reinforcing members (ST) stored in the processed reinforcing member storage unit 331 of the member storage unit 330, the processed reinforcing members (ST) necessary for manufacturing the steel frame (SF) are stored in the reinforcing member processing supply unit (300). ) by the reinforcing member supplier 340, it can be supplied to the welding handling robot 440 of the welding part 400.
매스터 PLC(534)는 용접부(400)를 제어할 수 있다. 매스터 PLC(534)는 용접부(400)의 용접로봇(410), 포지셔너(420,430) 및 용접핸들링로봇(440)에 연결될 수 있다. 예컨대, 용접부(400)의 용접로봇(410), 포지셔너(420,430) 및 용접핸들링로봇(440)은 각각의 슬레이브 PLC(535)에 의해서 제어될 수 있다. 그리고, 매스터 PLC(534)는 용접부(400)의 용접로봇(410), 포지셔너(420,430) 및 용접핸들링로봇(440) 각각의 슬레이브 PLC(535)에 연결될 수 있다. 그러나, 매스터 PLC(534)가 용접부(400)의 용접로봇(410), 포지셔너(420,430) 및 용접핸들링로봇(440)에 연결되는 구성은 특별히 한정되지 않고, 주지의 어떠한 구성이라도 가능하다.The master PLC 534 may control the welding part 400 . The master PLC 534 may be connected to the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400. For example, the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400 may be controlled by each slave PLC 535. Also, the master PLC 534 may be connected to each slave PLC 535 of the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400. However, the configuration in which the master PLC 534 is connected to the welding robot 410, the positioners 420 and 430, and the welding handling robot 440 of the welding part 400 is not particularly limited, and any well-known configuration is possible.
매스터 PLC(534)는, 제조관리부(520)로부터 전달받은 제조정보에 따라, 용접부(400)에서, 가공된 철골 모재(PS)와 가공된 보강부재(ST)의 용접이 이루어지도록 함으로써, 철골(SF)이 제조되도록 할 수 있다.The master PLC 534, according to the manufacturing information transmitted from the manufacturing management unit 520, welds the processed steel frame base material PS and the processed reinforcing member ST in the welding part 400, so that the steel frame ( SF) can be prepared.
예컨대, 매스터 PLC(534)는, 용접부(400)의 포지셔너(420,430)에, 가공된 철골 모재(PS)가 공급되어 포지셔너(420,430)가 가공된 철골 모재(PS)를 파지하고, 용접부(400)의 용접핸들링로봇(440)에 가공된 보강부재(ST)가 공급되어 용접핸들링로봇(440)이 가공된 보강부재(ST)를 파지하도록 할 수 있다. 또한, 매스터 PLC(534)는, 용접부(400)의 포지셔너(420,430)가 가공된 철골 모재(PS)를 파지하고, 용접부(400)의 용접핸들링로봇(440)이 가공된 보강부재(ST)를 파지하도록 한 상태에서, 용접부(400)의 용접로봇(410)에 의해서, 가공된 철골 모재(PS)에 가공된 보강부재(ST)가 용접되어 철골(SF)이 제조되도록 할 수 있다.For example, the master PLC 534 supplies the processed steel frame base material PS to the positioners 420 and 430 of the welded portion 400 so that the positioners 420 and 430 grip the processed steel frame base material PS, and the welded portion 400 The processed reinforcing member ST is supplied to the welding handling robot 440 of the welding handling robot 440 to grip the processed reinforcing member ST. In addition, the master PLC 534 grips the steel base material PS processed by the positioners 420 and 430 of the welded portion 400, and the welding handling robot 440 of the welded portion 400 handles the processed reinforcing member ST. In the gripped state, the reinforcing member ST processed to the processed steel frame base material PS is welded by the welding robot 410 of the welding part 400 so that the steel frame SF can be manufactured.
또한, 매스터 PLC(534)는 철골이동기(MF)에 연결되어, 예컨대 철골이동기(MF)를 제어하는 슬레이브 PLC(353)에 연결되어, 철골(SF)이 철골대기부(WF)로 이동되고 철골대기부(WF)에 대기하도록 할 수 있다.In addition, the master PLC (534) is connected to the steel frame mover (MF), for example, connected to the slave PLC (353) that controls the steel frame mover (MF), so that the steel frame (SF) is moved to the steel frame stand-by part (WF) and the steel frame It can be made to stand by the waiting unit (WF).
그리고, 매스터 PLC(534)는 비용접 철골 모재 이동기(MN)에 연결되어, 예컨대 비용접 철골 모재 이동기(MN)를 제어하는 슬레이브 PLC(353)에 연결되어, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)가, 비용접 철골 모재 이동기(MN)를 통해, 철골대기부(WF) 측으로 이동되도록 할 수 있다. 이와 같이, 철골대기부(WF) 측으로 이동된, 철골모재 가공공급부(200)의 철골모재 가공기(210)에서 가공된 철골 모재(PS)는 매스터 PLC(534)에 의한 철골이동기(MF)의 제어에 의해서 철골대기부(WF)로 이동되어 대기할 수 있다.In addition, the master PLC 534 is connected to the non-welded steel frame base material mover (MN), for example, to the slave PLC 353 that controls the non-welded steel frame base material mover (MN), so that the steel frame of the steel base material processing and supply unit 200 The steel frame base material (PS) processed in the base material processing machine 210 may be moved to the side of the steel frame base material (WF) through the non-welded steel frame base material mover (MN). In this way, the steel base material PS processed by the steel base material processing machine 210 of the steel base material processing and supply unit 200, moved to the side of the steel frame waiting unit WF, is controlled by the master PLC 534 of the steel frame mover MF. It can be moved to the steel frame standby unit (WF) and stand by.
한편, 매스터 PLC(534)는, 전술한 보강부재 가공공급부(300)의 보강부재 선별기(SL)의 형상인식센서나, 분류핸들링로봇(RS)의 형상인식센서, 용접부(400)의 용접로봇(410)의 위치보정센서, 용접핸들링로봇(440)의 부재위치확인센서 등이 이루는 부재센싱시스템(SS)에 연결되어, 가공된 보강부재(ST)가 맞는 보강부재(ST)인지, 제조관리부(520)의 제1정보저장부(522)로부터 정보를 제공받아 확인할 수 있다.On the other hand, the master PLC 534 is a shape recognition sensor of the reinforcing member sorter SL of the aforementioned reinforcing member processing supply unit 300, a shape recognition sensor of the sorting handling robot RS, and a welding robot of the welding part 400 ( 410) is connected to the member sensing system (SS) formed by the position correction sensor and the member position confirmation sensor of the welding handling robot 440, and determines whether the processed reinforcing member (ST) is a suitable reinforcing member (ST), manufacturing management unit ( Information may be received from the first information storage unit 522 of 520 and checked.
본 발명에 따른 철골 자동제조 시스템을 사용하면, 다양한 형태와 크기를 가지는 철골을 자동으로 제조할 수 있으며, 철골의 제조에 사용자의 개입이 최소화 되도록 할 수 있거나, 사용자 없이도 철골의 제조가 이루어지도록 할 수 있다.If the automatic steel frame manufacturing system according to the present invention is used, steel frames having various shapes and sizes can be automatically manufactured, and the user's intervention in manufacturing the steel frame can be minimized, or the steel frame can be manufactured without the user. can
전술된 철골 자동제조 시스템은 상기 설명된 실시예의 구성이 한정되게 적용될 수 있는 것이 아니라, 상기 실시예들은 다양한 변형이 이루어질 수 있도록 각 실시예들의 전부 또는 일부가 선택적으로 조합되어 구성될 수도 있다.The above-described automatic steel frame manufacturing system is not limited to the configuration of the above-described embodiment, but the above embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made.
이상과 같이, 본 발명은 예를 들어 플랜트 및 건축물 등을 위한 철골의 제조에 유용한 기술이다.As described above, the present invention is a useful technique for manufacturing steel frames for, for example, plants and buildings.

Claims (14)

  1. 철골 모재를 가공하는 철골모재 가공기를 포함하여 가공된 철골 모재를 공급하는 철골모재 가공공급부;A steel base material processing supply unit for supplying the processed steel base material including a steel base material processing machine for processing the steel base material;
    보강부재를 가공하는 보강부재 가공기를 포함하여 가공된 보강부재를 공급하는 보강부재 가공공급부;A reinforcing member processing supply unit for supplying the processed reinforcing member including a reinforcing member processing machine for processing the reinforcing member;
    가공된 상기 철골 모재에, 가공된 상기 보강부재를 용접하여 철골을 만드는 용접로봇, 가공된 상기 철골 모재를 용접시 파지하는 포지셔너, 및 상기 보강부재를 파지하는 용접핸들링로봇을 포함하는 용접부; 및A welding unit including a welding robot that makes a steel frame by welding the processed reinforcing member to the processed steel frame base material, a positioner that grips the processed steel frame base material when welding, and a welding handling robot that grips the reinforcing member; and
    원하는 형태와 크기의 상기 철골을 제조하도록 상기 철골모재 가공공급부, 상기 보강부재 가공공급부 및 상기 용접부를 제어하는 제어부Control unit for controlling the steel frame base material processing and supply unit, the reinforcing member processing and supply unit, and the welding unit to manufacture the steel frame in a desired shape and size.
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
  2. 제1항에 있어서,According to claim 1,
    상기 포지셔너는, The positioner,
    소정의 제1범위의 길이를 가지는 상기 철골 모재를 지지하는 제1포지셔너와,A first positioner for supporting the steel base material having a length of a predetermined first range;
    상기 제1범위보다 긴 소정의 제2범위의 길이를 가지는 상기 철골 모재를 지지하는 제2포지셔너A second positioner for supporting the steel frame base material having a length of a predetermined second range longer than the first range
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
  3. 제1항에 있어서,According to claim 1,
    상기 철골모재 가공공급부는, The steel base material processing supply unit,
    가공 전의 상기 철골 모재가 이동되어 대기하는 제1철골모재대기부, A first steel frame base material standby unit in which the steel frame base material before processing is moved and standby;
    가공된 상기 철골 모재가 이동되어 대기하는 제2철골모재대기부, 및 A second steel frame base material waiting unit in which the processed steel frame base material is moved and waits, and
    가공된 상기 철골 모재를 상기 제2철골모재대기부에서 상기 용접부로 공급하는 철골모재공급기Steel frame base material supplyer for supplying the processed steel base material from the second steel base material standby unit to the welding part
    를 더 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system further comprising a.
  4. 제3항에 있어서,According to claim 3,
    상기 철골모재 가공공급부는, The steel base material processing supply unit,
    가공 전의 상기 철골 모재를 상기 제1철골모재대기부로부터 이동시키는 제1철골모재이동기; a first steel-frame base material mover for moving the steel-frame base material before processing from the first steel-frame base material waiting unit;
    상기 철골모재 가공기의 일측에 구비되어, 상기 제1철골모재이동기로부터 이동된, 가공 전의 상기 철골 모재가 상기 철골모재 가공기로 이동하도록 하는 제2철골모재이동기; 및a second steel-frame base material mover provided on one side of the steel-frame base material processing machine to move the steel base material before processing, moved from the first steel-frame base material mover, to the steel base material processing machine; and
    상기 철골모재 가공기의 타측에 구비되어, 가공된 상기 철골 모재가 상기 철골모재 가공기로부터 상기 제2철골모재대기부로 이동하도록 하는 제3철골모재이동기A third steel base material mover provided on the other side of the steel base material processing machine to move the processed steel base material from the steel base material processing machine to the second steel base material waiting unit.
    를 더 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system further comprising a.
  5. 제3항에 있어서,According to claim 3,
    상기 철골모재공급기는, 가공된 상기 철골 모재를 파지하며 서로 소정 간격 이격되는 복수개의 그리퍼를 포함하고 복수개의 상기 그리퍼가 적어도 전후방향과 좌우방향 및 상하방향으로 이동하도록 구성되는 갠트리크레인로봇이며,The steel frame base material feeder includes a plurality of grippers that hold the processed steel base material and are spaced apart from each other by a predetermined distance, and the plurality of grippers are configured to move at least in the front and rear directions, left and right directions, and up and down directions. It is a gantry crane robot,
    상기 철골모재공급기는, 가공된 상기 철골 모재를 상기 포지셔너로 이동시켜서 상기 포지셔너가 가공된 상기 철골 모재를 파지하도록 하고 가공된 상기 철골 모재의 기준점이 상기 포지셔너의 기준점과 일치되도록 하는 철골 자동제조 시스템.The steel frame base material feeder moves the processed steel frame base material to the positioner so that the positioner grips the processed steel frame base material and the reference point of the processed steel frame base material coincides with the reference point of the positioner. Steel automatic manufacturing system.
  6. 제1항에 있어서,According to claim 1,
    상기 보강부재 가공공급부는, The reinforcing member processing supply unit,
    가공 전의 상기 보강부재가 이동되어 대기하는 제1보강부재저장부, A first reinforcing member storage unit in which the reinforcing member before processing is moved and standby;
    가공된 상기 보강부재가 이동되고 형상 별로 구분되어 보관되는 제2보강부재저장부, 및 A second reinforcing member storage unit in which the processed reinforcing member is moved and stored separately by shape, and
    가공된 상기 보강부재를 상기 제2보강부재저장부에서 상기 용접부로 공급하는 보강부재 공급기A reinforcing member supplier supplying the processed reinforcing member from the second reinforcing member storage unit to the welding part.
    를 더 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system further comprising a.
  7. 제6항에 있어서,According to claim 6,
    상기 보강부재 가공공급부는, The reinforcing member processing supply unit,
    가공 전의 상기 보강부재를 상기 제1보강부재저장부에서 상기 보강부재 가공기로 이동시키는 제1보강부재이동기, A first reinforcing member mover for moving the reinforcing member before processing from the first reinforcing member storage unit to the reinforcing member processing machine;
    가공된 상기 보강부재를 상기 보강부재 가공기로부터 이동시키는 제2보강부재이동기, 및 A second reinforcing member mover for moving the processed reinforcing member from the reinforcing member processing machine, and
    상기 제2보강부재이동기로부터 이동된, 가공된 상기 보강부재를 상기 제2보강부재저장부로 이동시키는 제3보강부재이동기A third reinforcing member mover for moving the processed reinforcing member moved from the second reinforcing member mover to the second reinforcing member storage unit.
    를 더 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system further comprising a.
  8. 제1항에 있어서,According to claim 1,
    상기 용접핸들링로봇이 가공된 상기 보강부재를 파지하여 가공된 상기 철골 모재의 보강부재 부착부에 위치시킨 상태에서, 상기 용접로봇은, 가공된 상기 보강부재를 가공된 상기 철골 모재의 보강부재 부착부에 가용접한 후, 가공된 상기 보강부재를 가공된 상기 철골 모재의 보강부재 부착부에 본용접하는 철골 자동제조 시스템.In a state in which the welding handling robot grips the processed reinforcing member and places it on the reinforcing member attachment portion of the processed steel frame base material, the welding robot moves the processed reinforcing member to the processed reinforcing member attachment portion of the steel frame base material. After tack welding, the automatic steel frame manufacturing system for permanently welding the processed reinforcing member to the reinforcing member attachment portion of the processed steel frame base material.
  9. 제8항에 있어서,According to claim 8,
    상기 용접부는, 상기 본용접시 백킹재가 필요한 경우에, 백킹재가 필요한, 가공된 상기 보강부재와 가공된 상기 철골 모재의 보강부재 부착부 사이의 부분을 먼저 용접한 후 다른 부분을 용접하는 철골 자동제조 시스템.The welding part, when a backing material is needed during the main welding, first welds a part between the processed reinforcing member and the processed reinforcing member attachment part of the steel frame base material, which requires a backing material, and then welds another part. system.
  10. 제1항에 있어서,According to claim 1,
    상기 제어부는, The control unit,
    제조될 상기 철골에 대한 정보를 전달받아 제조순서와 로봇모션을 포함하는 제조정보를 자동으로 생성하는 제조정보 생성부, A manufacturing information generation unit that receives information about the steel frame to be manufactured and automatically generates manufacturing information including a manufacturing order and robot motion;
    사용자와 정보를 주고받으며 상기 제조정보 생성부에서 생성된 제조정보를 저장하고 전달하는 제조관리부, 및 A manufacturing management unit that exchanges information with the user and stores and transmits the manufacturing information generated by the manufacturing information generating unit, and
    상기 제조관리부로부터 전달받은 제조정보에 따라 원하는 형태와 크기의 상기 철골을 제조하도록 상기 철골모재 가공공급부, 상기 보강부재 가공공급부 및 상기 용접부를 동작시키는 제조운영부A manufacturing operating unit that operates the steel frame base material processing and supplying unit, the reinforcing member processing and supplying unit, and the welding unit to manufacture the steel frame in a desired shape and size according to the manufacturing information received from the manufacturing management unit.
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
  11. 제10항에 있어서,According to claim 10,
    상기 제조정보 생성부는, The manufacturing information generating unit,
    제조될 상기 철골에 대한 정보를 전달받아 분석하고 상기 철골의 제조를 위해서 필요한 정보를 추출하는 소재분석부, A material analysis unit that receives and analyzes information about the steel frame to be manufactured and extracts information necessary for manufacturing the steel frame;
    상기 소재분석부에서 추출한 정보를 토대로 제조순서를 생성하는 스케쥴링부, 및A scheduling unit for generating a manufacturing order based on the information extracted from the material analysis unit; and
    상기 소재분석부에서 추출한 정보와 상기 스케쥴링부에서 생성된 제조순서를 토대로, 작업시 로봇 간의 간섭 여부를 검토하고 로봇모션을 생성하는 로봇모션 생성부Based on the information extracted from the material analysis unit and the manufacturing order generated from the scheduling unit, a robot motion generation unit that reviews interference between robots during work and creates robot motions
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
  12. 제11항에 있어서,According to claim 11,
    상기 소재분석부는. 철골 설계 컴퓨터 프로그램을 통해 사용자가 설계한, 제조될 철골에 대한 정보를 컴퓨터 파일로 전달받아 분석하여, 제조될 철골을 이루는 철골 모재나 보강부재의 형상이나 두께 또는 크기나 수량 또는 중량에 대한 정보를 추출하고 컴퓨터 파일로 만드는 철골 자동제조 시스템.The material analysis unit. Through the steel frame design computer program, information on the steel frame to be manufactured, which is designed by the user, is received and analyzed as a computer file, and information on the shape, thickness, size, quantity, or weight of the steel base material or reinforcing member constituting the steel frame to be manufactured is obtained. Steel structure automatic manufacturing system that extracts and creates computer files.
  13. 제10항에 있어서,According to claim 10,
    상기 제조관리부는, The manufacturing management department,
    사용자와 정보를 주고받는 사용자 인터페이스부, A user interface unit for exchanging information with a user;
    상기 제조정보 생성부에서 만들어진 제조정보를 저장하는 제1정보저장부, 및A first information storage unit for storing the manufacturing information generated by the manufacturing information generating unit, and
    상기 제1정보저장부에 저장된 제조정보 중 주요정보를 추출하고 원하는 정보형태로 가공하여 저장하는 제2정보저장부A second information storage unit for extracting main information from among the manufacturing information stored in the first information storage unit, processing it into a desired information format, and storing the same
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
  14. 제10항에 있어서,According to claim 10,
    상기 제조운영부는, The manufacturing operation department,
    상기 철골모재 가공공급부를 제어하는 철골모재 가공공급 제어부, A steel base material processing and supplying control unit for controlling the steel base material processing and supplying unit,
    상기 보강부재 가공공급부에서의 상기 보강부재의 가공을 제어하는 보강부재 가공 제어부,A reinforcing member processing control unit for controlling the processing of the reinforcing member in the reinforcing member processing supply unit;
    상기 보강부재 가공공급부에서 가공된 상기 보강부재의 공급을 제어하는 가공 보강부재 공급 제어부, 및 A processing reinforcing member supply control unit for controlling the supply of the reinforcing member processed in the reinforcing member processing supply unit, and
    상기 용접부를 제어하는 매스터 PLCMaster PLC controlling the welding part
    를 포함하는 철골 자동제조 시스템.Steel automatic manufacturing system comprising a.
PCT/KR2022/009052 2021-06-30 2022-06-24 System for automatically manufacturing steel frame WO2023277463A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20210085877 2021-06-30
KR10-2021-0085877 2021-06-30
KR1020220048007A KR20230004234A (en) 2021-06-30 2022-04-19 Steel frame auto manufacturing system
KR10-2022-0048007 2022-04-19

Publications (1)

Publication Number Publication Date
WO2023277463A1 true WO2023277463A1 (en) 2023-01-05

Family

ID=84691941

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2022/009052 WO2023277463A1 (en) 2021-06-30 2022-06-24 System for automatically manufacturing steel frame

Country Status (1)

Country Link
WO (1) WO2023277463A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090062727A (en) * 2007-12-13 2009-06-17 대우조선해양 주식회사 One-sided welding method of butt welding joint
JP2018043276A (en) * 2016-09-15 2018-03-22 松山鋼材株式会社 Steel frame material welding system and steel frame material welding method
KR101882376B1 (en) * 2018-01-15 2018-07-26 에이제이동양메닉스 주식회사 System for manufacturing steel structure and its method
CN208773164U (en) * 2018-08-09 2019-04-23 苏州创思特自动化设备有限公司 Chassis welding production line
KR102115581B1 (en) * 2019-12-09 2020-06-05 황호열 Automation device for manufacturing steel structures

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090062727A (en) * 2007-12-13 2009-06-17 대우조선해양 주식회사 One-sided welding method of butt welding joint
JP2018043276A (en) * 2016-09-15 2018-03-22 松山鋼材株式会社 Steel frame material welding system and steel frame material welding method
KR101882376B1 (en) * 2018-01-15 2018-07-26 에이제이동양메닉스 주식회사 System for manufacturing steel structure and its method
CN208773164U (en) * 2018-08-09 2019-04-23 苏州创思特自动化设备有限公司 Chassis welding production line
KR102115581B1 (en) * 2019-12-09 2020-06-05 황호열 Automation device for manufacturing steel structures

Similar Documents

Publication Publication Date Title
KR101982433B1 (en) Robot welding system and its welding method
WO2016060420A1 (en) Orbital cutting apparatus capable of freely and selectively controlling plurality of cutting tools within rotating body by using rotational speed ratio
WO2017146345A1 (en) Cable having versatile space portion
EP1123769A2 (en) Robot welding
WO2017052350A2 (en) Robot control method and device
JP6222241B2 (en) Robot system and method of manufacturing processed product
WO2023277463A1 (en) System for automatically manufacturing steel frame
WO2011136494A2 (en) Tig welding machine
WO2021177619A1 (en) Tool magazine of machine tool and method for operating same
WO2017047899A1 (en) Welding device
WO2018163242A1 (en) Data structure for creating image-processing data and method for creating image-processing data
WO2018226061A1 (en) Automatic attachment changer and boring machine having same
WO2020105985A1 (en) Method for processing cfrp by using processing path and processing order in view of jig arrangement and processing equipment having flexible jig deformation preventing structure applied thereto
JPH0623684A (en) Work transfer robot with visual processing function
WO2022191502A1 (en) Machine tool cable protection device
WO2015005588A1 (en) Dovetail processing apparatus and processing method for horizontally loading wood plate
WO2010067966A2 (en) Line-heating method reflecting forced deformation, and system thereof
WO2017047898A1 (en) Mig welding system
CN110039161B (en) Automatic welding unit, equipment and method for shear nails with porcelain rings
KR20230004234A (en) Steel frame auto manufacturing system
WO2022025301A1 (en) System for automatic production of shipbuilding material
WO2022196948A1 (en) Exact position setting device and setting method for stored item storage device of machine tool
KR101130634B1 (en) Apparatus for controlling section shape steel cutting and its controlling method
KR101160059B1 (en) Method and Device for cutting gap maintain of Plasma cutter
WO2022050610A1 (en) Mobile robot and semiconductor magazine operation system using mobile robot

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22833519

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE