KR100871458B1 - System for destacking - Google Patents

Abstract

According to the present invention, there is provided a system for stacking a plate from a stack of plate stacked up and down, the system comprising: a support frame mounted on a predetermined robot and moved by a robot's position above the plate; It extends outward from the edge of the support frame to allow downward and opposite reciprocating hinge rotational operation perpendicular to the support frame surface, and makes contact with the edge surface of each plate loaded in the state perpendicular to the support frame surface by the rotational drive. At least one magnet separating the edges of each plate by magnetic force; A plurality of vacuum cups installed below the support frame and having an upper surface of the uppermost sheet of the sheet pile separated by a magnet; And a control unit for controlling the driving of the robot for moving the support frame, the reciprocating hinge rotational drive of the magnet, and the suction operation of the vacuum cup. According to the disclosed destacking system, by using the hinge drive of the magnet by the cylinder, it is easy to separate the plate, and the manufacturing cost can be reduced by using the small magnet and the cylinder, and the driving of the robot to move the support frame, It is possible to control the reciprocating hinge rotational drive of the magnet and the suction operation of the vacuum cup.

Destacking, Plate, Guide Plate, Vacuum Cup

Description

Destacking System {System for destacking}

1 is a conventional stacking configuration,

2 is a schematic perspective view of a stacking system according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view illustrating a destacking operation using FIG. 2;

4 is an exemplary view of a plate type to which the destacking system of FIG. 2 is applicable.

<Explanation of symbols for the main parts of the drawings>

10 ... plate 20 ... magnet plate

100 ... de-stacking system 110 ... support frame

120 ... Magnet 130 ... Vacuum Cup

140 Controller 150 Robot

160 ... Guide Plate 170 ... Cylinder

180 ... vision camera 190 ... combination unit

The present invention relates to a destacking system, and more particularly, to a destacking system for separating a plate from a stack of plates and transporting it to a loading place.

 In general, during various processes such as automobile parts assembly line, it is frequently required to separate various sheets of sheet by sheet and automatically transport them to a desired process or ship them to the outside.

The plate on the normal processing line is a metal plate, which is generally coated with oil to prevent corrosion, and according to such oil, the plate is pressed more tightly between the plate surfaces loaded in the form of plate piles. It may not be easy to separate (10).

In order to separate and transport each sheet forming the sheet pile as described above, the method as in FIG. 1 is conventionally applied.

That is, when the huge magnet plate 20 is installed on the outer edge of the sheet pile on which the plate 10 is loaded, the magnet plate 20 has magnetic force of a specific polarity of 'N' pole or 'S' pole. Each plate 10 has a polarity opposite to that of the magnet plate 20.

At this time, the plate 10 and the magnet plate 20 between the plate 10 and the top and bottom of each plate 10, while the attraction force acts as the pushing force is generated, the separation of the plate 10 is easy.

 Here, as a method of installing the magnet plate 20 on the edge of the sheet pile, there is a method of directly moving a plurality of parts, but there is a limit in reciprocating the high load of the magnet plate 20 by a manpower, and thus the work force Since time is wasted, the efficiency of the plate separating operation is reduced, as well as the risk of injury due to the strong magnetic force of the magnet plate 20, and the risk of damage to human and physical properties due to safety accidents during work. There is.

On the other hand, in order to solve this problem, there is a method of installing a giant air cylinder separately outside the magnet plate 20, by using this to pressurize the magnet plate 20 to the edge of the plate pile, in this case the large scale There is a problem that the manufacturing cost of the sheet separation system as well as the space constraints caused by the air cylinder of the increase.

The present invention has been made to solve the above problems, by providing a magnet for separating the plate to be rotated from the side of the plate to provide a detaching system that is easy to remove the plate and reduce the manufacturing cost thereof There is a purpose.

Other objects and advantages of the invention will be described below and will be appreciated by the embodiments of the invention. Furthermore, the objects and advantages of the present invention can be realized by means and combinations indicated in the claims.

The stacking system of the present invention for achieving the above object, in the system for stacking the plate material from the pile stacked up and down (Destacking), mounted on a predetermined robot by the drive of the robot above the plate A support frame which is moved in position; Each plate loaded in the state in which the reciprocating hinge rotation drive in the downward and opposite directions perpendicular to the support frame surface extending outward from the edge of the support frame, and perpendicular to the support frame surface by the rotation drive At least one magnet in contact with an edge of the plate to separate the edge of each plate by magnetic force; A plurality of vacuum cups installed below the support frame and having an upper surface of the uppermost plate of the sheet pile separated by the magnets; And a control unit for controlling the drive of the robot for moving the support frame, the reciprocating hinge rotation drive of the magnet and the suction operation of the vacuum cup.

In addition, the present invention may further include at least one guide plate is installed along the outer periphery of the support frame, the edge surface of each of the loaded plate contact guide when the support frame is lowered.

In addition, according to the present invention may further include at least one cylinder for driving the reciprocating hinge rotation of each magnet by pneumatic or hydraulic under the control of the controller.

In addition, the vacuum cup may be installed to be horizontally rotatable under the support frame.

On the other hand, the present invention further comprises a vision camera for acquiring the photographing information on the position and shape of the plate positioned below the support frame, the control unit, the photographing information acquired from the vision camera and pre-stored reference photographing information By matching the position correction value for the position distortion can be converted, and using the converted position correction value to control the driving of the robot.

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

Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. It should be interpreted as meanings and concepts corresponding to the technical idea of the present invention based on the principle of definition.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

2 is a schematic perspective view of a destacking system according to an exemplary embodiment of the present invention, FIG. 3 is a diagram illustrating a state of distaking using FIG. 2, and FIG. 4 is a diagram illustrating a plate form to which the stacking system of FIG. 2 is applicable.

The present invention relates to a system for stacking (destacking) the plate from a pile of plate loaded up and down. Here, the plate may generally mean a plate which is separated from the plate pile for the next operation or shipment on various processes such as an automobile parts assembly line, but the type of the plate is not necessarily limited to the above.

2 to 3, the stacking system 100 according to an embodiment of the present invention includes a support frame 110, a magnet 120, a vacuum cup 130, and a controller 140. do.

The support frame 110 is a portion mounted to the predetermined robot 150, and may be moved by the driving of the robot 150 above the plate 10.

The support frame 110 may be provided with a separate coupling portion 190 to be coupled to the robot 150, the configuration of the coupling portion 190 in various forms other than the flange shown in FIG. Of course, the change can be applied.

On the other hand, the magnet 120 is extended to the outside from the edge of the support frame 110, at least one or more as a portion capable of reciprocating hinge rotation in the downward and opposite directions perpendicular to the surface of the support frame 110 It may be provided.

The magnet 120 is in contact with the edge surface of the loaded plate 10 in a state perpendicular to the surface of the support frame 110 by the above-described rotation drive to the edge surface of each plate 10 to the magnetic force Can be separated by.

That is, when the magnet 120 having the magnetic force of a specific polarity of the 'N' pole or the 'S' pole is in contact with the edge surface of the plate 10 by the above-described rotation drive, the laminated plate ( 10 has a polarity opposite to the magnet 120.

At this time, the mutual attraction between each of the plate 10 and the magnet plate 20 acts, while the plate 10 is loaded up and down between each of the plate 10, the magnetic force is applied to the strongest plate 10 (10) Since the plate 10 is spaced up and down mainly on the edge surface of the), it is easy to separate each plate 10.

Here, the magnet 120 may be in the form of a permanent magnet or an electromagnet in which the magnetic force is electrically formed, but it should be understood that any means capable of forming the magnetic force may be substituted.

The vacuum cup 130 is provided in plurality in the lower portion of the support frame 110, the upper surface of the uppermost plate 10 of the plate pile separated by the magnet 120 is fixed to the adsorption.

That is, the magnet 120 is rotated in the direction of the arrow of FIG. 2 and contacted with the edge surface of the plate 10, the force between the plate 10 by each other by the magnetic force of the magnet 120 During this operation, the vacuum cup 130 adsorbs and fixes the upper surface of the uppermost plate 10 of the sheet pile.

The vacuum cup 130 may be driven by a vacuum pump (not shown) connected to a vacuum tube hose (not shown), that is, via the vacuum tube hose (not shown) by the operation of the vacuum pump (not shown). Thus, vacuum suction of the vacuum cup 130 may be performed.

For example, a through hole is formed in the support frame 110 so that a vacuum tube hose (not shown) connected to the vacuum cup 130 may be installed, and the vacuum tube hose (not shown) may be vacuum sucked and released. It may be connected to the vacuum pump (not shown) separately provided on the outside of the support frame 110 to enable the operation.

On the other hand, the vacuum cup 130 is preferably installed so as to be rotatable in the horizontal direction from the lower portion of the support frame 110, which is the stacking of the plate 10 of the various edge shapes as shown in FIG. In order to facilitate the application of the work and the rotation of the vacuum cup 130 may be performed by a manual operation by the operator to fit the shape of the plate 10, but is not necessarily limited to this and automatically using an external signal Of course, the change can be configured to enable the operation.

The control unit 140 controls the driving of the robot 150 to move the support frame 110, the reciprocating hinge rotational drive of the magnet 120 and the suction operation of the vacuum cup 130.

That is, the controller 140 may control the driving of the robot 150 by transmitting a control signal for controlling the movement position of the support frame 110 to the robot 150, and the support frame 110. When the lowering is located above the plate 10, the magnet 120 is hinged downward to generate a repulsive force between the plate 10 by the magnetic force, and then initiates the suction operation of the vacuum cup 130 to command the top layer. The entire plane of the plate 10 is controlled to drive so as to be stably adsorbed to the vacuum cup 130.

Here, after the plate 10 is completely adsorbed to the vacuum cup 130, the control unit 140 rotates the magnet 120 to the upper direction in the opposite direction as described above to return to the initial state. After inducing the magnetic force acting on each plate 10 through the original return, the robot 150 is driven to control the movement of the support frame 110 to the position where the plate 10 should be transferred. .

As described above, the control operation of the control unit 140 may be operated in real time by receiving each control operation signal from a predetermined input unit (not shown), or may be unmanned and automatically driven by a previously input control operation signal. Of course.

On the other hand, the present invention is installed along the outer periphery of the support frame 110, at least one guide plate 160 that the edge surface of each of the loaded plate 10 is guided when the support frame 110 is lowered It may further include.

According to the guide plate 160, as the edge surface of each plate 10 is contact guided, the uppermost plate 10 is completely adsorbed to the vacuum cup 130, whereby the position of the magnet 120 is upward. The uppermost plate 10 and its portion while returning to the original state while each plate 10 loses the magnetic force or thereafter moves the support frame 110 upward for external transfer of the uppermost plate 10. Position shift of the following board | plate materials can be prevented.

In addition, according to the present invention, the magnets 120 may further include at least one cylinder 170 which drives the respective magnets 120 in a reciprocating hinge-pneumatically or hydraulically manner under the control of the controller 140. It can automatically and smoothly perform the rotation drive and realize the quickness of the rotation operation.

Meanwhile, the present invention may further include a vision camera 180 for acquiring photographing information regarding the position and shape of the plate 10 positioned below the support frame 110.

That is, as shown in FIG. 2, the vision camera 180 is installed at one side of the support frame 110 so that the camera photographing direction is directed toward the upper surface of the plate 10 below the support frame 110.

In this case, the controller 140 converts the position correction value of the position distortion by matching the photographing information acquired from the vision camera 180 with pre-stored reference photographing information, and uses the converted position correction value. The position drive of 150 can be controlled.

That is, for example, the controller 140 may match the edge shape and the position value of the plate 10 acquired by the vision camera 180 with the reference photographing information, and the plate 10 may be referred to. When the position distortion is generated compared to the photographing information, the support frame 110 is the plate material (by adjusting the position correction value for the correction by adjusting the movement position of the robot 150 for moving the support frame 110). 10) to descend to the correct position. Accordingly, the plate 10 may be adsorbed at the correct position, and the plate 10 moved by the support frame 110 after the adsorption may be seated at the seating portion (not shown) in another process. Of course.

According to the present invention as described above, by using the hinge drive of the magnet 120, the separation process of the plate 10 is simple and the manufacturing cost can be reduced by using the small magnet 120 and the cylinder 170. .

Hereinafter, the stacking operation of the plate 10 by the stacking system 100 according to the present invention as described above will be described with reference to FIGS. 2 to 4.

First, the support frame 110 mounted on the robot 150 descends toward the stack of plates by driving the robot 150. Of course, at this time, by using the position correction of the control unit 140 using the vision camera 180, the support frame 110 can be lowered to the correct position above the plate 10 of the plate pile.

Next, after at least one magnet 120 extending outward from the edge of the support frame 110 is hinged downwardly perpendicular to the support frame 110, and then the surface of the support frame 110 and In contact with the edge surface of the stacked plate 10 in the vertical state to separate the edge surface of each plate 10 by magnetic force.

At this time, the upper surface of the uppermost plate 10 of the plate pile separated up and down by the magnet 120 is adsorbed and fixed by a plurality of vacuum cups 130 installed under the support frame 110.

Here, the magnetic force applied to each plate 10 as the magnet 120 is hinged in a direction opposite to the above-described driving for separating the plate 10 is released from the edge surface of each plate 10. In this case, the plate material below the uppermost layer remains as it is, but the positional shift that may occur in the process of losing the repulsive force between the plates due to the loss of magnetic force may be prevented by the guide plate 160.

Then, as the support frame 110 is raised by the driving of the robot 150, the uppermost plate 10 adsorbed and fixed by the vacuum cup 130 is lifted upward and moved outwards. The plate 10 is placed in a specific place by releasing the vacuum suction operation.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is described by the person of ordinary skill in the art to which the present invention pertains. Various modifications and variations are possible without departing from the scope of the appended claims.

According to the stacking system according to the present invention provides the following effects.

First, by using the hinge drive of the magnet by the cylinder, the separation of the plate is easy and the manufacturing cost can be reduced by using a small magnet and the cylinder.

Second, it is possible to drive the horizontal rotation of the vacuum cup can be applied to the destacking operation for various types of plate.

Third, it is possible to control the driving of the robot to move the support frame, the reciprocating hinge rotation drive of the magnet and the suction operation of the vacuum cup.

Fourth, as the position correction value of the positional distortion of the plate is converted through the vision camera during the stacking of the plate, the support frame can be lowered to the plate in the correct position, and later it can be settled in the correct position for other processes do.

Claims (5)

In the system of stacking (destacking) the plate from the pile stacked up and down, A support frame mounted to a predetermined robot and moved by the driving of the robot above the plate; Each plate loaded in the state in which the reciprocating hinge rotation drive in the downward and opposite directions perpendicular to the support frame surface extending outward from the edge of the support frame, and perpendicular to the support frame surface by the rotation drive At least one magnet in contact with an edge of the plate to separate the edge of each plate by magnetic force; A plurality of vacuum cups installed below the support frame, the upper surface of the uppermost plate of the plate pile separated by the magnet is fixed to the suction frame, and coupled to the bottom of the support frame to be horizontally rotated; And And a control unit for controlling the driving of the robot for moving the support frame, the reciprocating hinge rotational drive of the magnet, and the suction operation of the vacuum cup. The method of claim 1, The at least one guide plate is installed along the outer periphery of the support frame, and the edge surface of each of the stacked plates is guided when the support frame is lowered. The method of claim 1, And at least one cylinder configured to pneumatically or hydraulically reciprocate the hinge drive the magnets under the control of the controller. delete The method according to any one of claims 1 to 3, It further comprises a vision camera for acquiring photographing information about the position and shape of the plate positioned below the support frame, The control unit, The stacking of the position correction value of the position distortion by matching the photographing information acquired from the vision camera and the pre-stored reference photographing information, and controlling the driving of the robot using the converted position correction value system.

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