KR0162038B1 - Control device and its control method for a loading position of a loading equipment for green tires - Google Patents

Abstract

The present invention relates to a stacking position adjusting method and a stacking position adjusting device of the green tire stacking device, and when the automatic switch is turned on, the first step; The drive motor is activated, and in the second step; When the operation of the driving motor has elapsed for a certain time, the front position sensing photo switch determines whether the front end of the loading section 4 is detected. If the front end of the loading section 4 is not detected, the operation of the driving motor is turned off. When the front end of the loading unit 4 is detected, the third and fourth steps are sequentially executed. Each of the steps includes: a third step; Moving the loading part 4 by the target moving distance input from the digital switch; Calculating an error of the loading position by the vision system to adjust the loading position of the loading unit 4, and a fifth step; The green tire 1 is sequentially loaded in the room of the stacking unit 4 so that the stacking unit 4 is returned to the first step when the stacking unit 4 is finished loading. The method and the apparatus according to the loading, the labor load of the worker is reduced, the productivity is improved.

Description

Loading position adjusting method and loading position adjusting device of green tire loading device

1 is a schematic configuration diagram of a stacking position adjusting apparatus according to the present invention.

2 is a processing flowchart of the stacking position adjusting method according to the present invention.

3 is an operating state of the stacking position adjusting apparatus according to the present invention.

4 is a prior art, corresponding to FIG.

* Explanation of symbols for main parts of the drawings

1: Green Tire 2: Conveyor

3: guide roll 4: loading part

5: Initial position sensing photo switch 6: Loading sensing photo switch

7: camera

The present invention relates to a stacking position adjusting method and a stacking position adjusting device of the green tire stacking apparatus, by applying a vision system to accurately load the green tires to reduce the labor load of the worker and improve productivity It relates to a stacking position adjusting method and a stacking position adjusting device of the green tire stacking device to be built.

As is well known, the green tires that are transported to the conveyor after being squeezed in the molding machine are transported to the condenser. Since the green tires need to be lifted and loaded, there is a problem that the labor load is increased and the productivity is greatly reduced.

Accordingly, a green tire loading apparatus capable of automatically loading green tires has been invented so as to solve the above problem. As shown in FIG. 4, a conventional green loading apparatus is provided with a lex gear and has a green tire 11. ) Is installed in the loading section 12, the driving motor (not shown) to move the loading section 12 in engagement with the rack gear of the loading section 12, the guide roll 14 and the green tire ( 11) a stacking sensing photo switch (not shown) for detecting the stacking of the stack, a moving distance sensing photo switch 16a, 16b, 16c, 16d, 16e for sensing the moving distance when the stacking unit 12 is moved, the stacking sensing photo PLC (Program Logic Controller) controller (not shown) connected to the switch and the moving distance sensing photo switch 16a, 16b, 16c, 16d, and 16e to control the driving of the driving motor, and the driving motor and the load sensing photo Switch, travel distance detection port switch (16a, 16b, 16c, 16d, 16e) and an automatic switch (not shown) connected to a PLC controller to operate the respective devices.

Therefore, when the automatic switch is ON, the drive motor is driven by the PLC controller, and the loading portion 15 engaged with the pinion of the drive motor is driven to the position of the movement distance detection port switch 16a, and the conveyor 12 The green tire 11 carried on the sheet is dropped downward by its own weight along the free roll 13 connected to the distal end of the conveyor 12 to be loaded on the loading unit 15, and the green tire 11 is loaded. Loading of the green tire is detected by the load sensing photo switch installed on the guide roll 14 installed to prevent the departure of the green tire 11 during the fall of the green tire (A) of the green tire (A) 11) When the stacking is completed, the driving motor is driven by a PLC controller connected to the stacking sensing photo switch, and is driven to the position of the second moving distance position sensing photo switch 16b, so that each of the stacking units 15 Room (A, B, C, D, E) The loading is completed.

As described above, when the loading of the green tire 11 is completed in the stacking unit 15, the stacking of the plurality of stacking units 15 sequentially connected to the stacking unit 15 by a PLC controller is automatically repeated sequentially. When the loading of the green tire 911 is completed, the loading unit 15 is completed by the operator to remove the connection portion of the loading unit 15 to manually transport to the vulcanizer.

In the case of using a loading apparatus for automatically loading the conventional green tire 11 as described above, the driving motors are controlled by a PLC controller connected to the moving distance sensing photo switches 16a, 16b, 16c, 16d, and 16e, respectively. The travel distance sensing photo switches 16a, 16b, 16c, 16d, and 16e are stopped at the tip of the loading section 15, and the rooms A, B, C, D, and E of the loading section 15 The center of the interval between the prill roll 13 and the guide roll 13 is made to match.

However, the method of adjusting the loading position of the green tire 11 by using the moving distance sensing photo switches 16a, 16b, 16c, 16d, and 16e is applied from the outside to the moving distance sensing photo switches 16a, When the angles of the 16b, 16c, 16d, and 16e are misaligned or malfunction occurs, the loading state of the green tire 11 dropped to the loading unit 15 becomes inaccurate, and the worker manually removes the green tire 11. The hassle to adjust the position is generated, and in severe cases the green tire 11 is separated to the outside of the loading portion 14, thereby increasing the labor load of the worker, there was a problem that the productivity is lowered.

The present invention has been invented to solve the problems according to the prior art as described above, by applying a vision system (Vision system) to ensure that the loading of the green tire is made accurately so that the labor load of the worker is reduced and productivity is improved. It is an object of the present invention to provide a loading position adjusting method and a loading position adjusting device of the green tire loading device.

The present invention for achieving the above object, when the automatic switch is ON, the first step: the drive motor is activated, the second step: the initial position detection photo switch when the operation of the drive motor has elapsed for a certain time If the front end of the loading section is not detected and the front end of the loading section is not detected, the operation of the driving motor is turned off, and if the front end of the loading section is detected, steps 3, 4 and 5 are sequentially executed. Each of the above steps, the third step: moving the loading unit by the target moving distance input from the digital switch, the fourth step: calculating the error of the loading position by the vision system to adjust the loading position of the loading unit, the fifth step The green tires are sequentially loaded in the room of the loading section to return to the first step when the loading of the loading section is completed. There is a way to ensure the correct loading in the loading area.

In addition, the stacking position adjusting apparatus according to the above method comprises a vision system (Ps) comprising a camera for sensing an image, a personal computer (P / C) for receiving an image from the camera and calculating an error in the stacking position, and a target. Digital switch for inputting travel distance to PLC controller, initial position sensing photo switch for detecting initial position of loading part, loading sensing photo switch for detecting loading of green tire, driving motor for driving loading part, each switch and PLC (Program Logic Controller) controller connected to the vision system and the driving motor for automatic control, inverter and encoder connected to the PLC controller and the drive motor to precisely control the drive motor, and the encoder.

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

1 is a schematic configuration of a stacking position adjusting apparatus according to the present invention, the stacking position adjusting apparatus according to the present invention is installed on the top of the guide roll (3; see FIG. 3) to detect an image ( 7) and the center of the space between the guide roll 3 and the room A, B, C, D, E of the loading part 4 (refer also to FIG. 3) to receive an image from this camera 7 The vision system is composed of P / C (Personal Computer) which calculates the error of loading position by calculating the error of the loading position.This vision system and the digital switch and loading unit which inputs the target movement distance to the PLC controller 4) is installed on the initial position detection photo switch 5, the guide roll (3) for detecting the initial position of the load detection photo switch (6), the loading unit 4 to detect the loading of the green tire (1) Drive motor, which is connected to each switch, vision system and drive motor, and automatically The PLC (Program Logic Controler) controller to the control, coupled to the drive motor and the PLC controller consists of the inverter and the encoder to ensure that accurate control of the drive motor.

In addition, FIG. 2 is a flow chart of the stacking position adjusting method according to the present invention. The stacking position adjusting method according to the present invention is divided into five stages, and each step is repeatedly processed according to the processing conditions. (See Fig. 3), the stacking position is repeatedly adjusted during the stacking process.

First, when the automatic switch of the control panel is turned on in the preparation step, the first step; The drive motor is activated, and in the second step; When the operation of the drive motor is elapsed for a predetermined time, the front end of the loading unit 4 is not detected by determining whether the front end of the loading unit 4 is detected by the initial position sensing photo switch 5, and the operation of the driving motor is Re-determine whether a certain time has elapsed and if the day and day time has not elapsed, go to the first step; When the fixed time has been confused, the loading unit 4 is not connected to the driving motor, and thus the operation of the driving motor is turned off to terminate the operation. When the front end of the loading unit 4 is detected, Steps 3, 4, and 5 are executed sequentially.

If the tip of the loading part 4 is detected by the initial position sensing photo switch 5 within a predetermined time period during which the drive motor is operated, a third step is performed; The target travel distance is input from the digital switch, and the drive motor is controlled and operated by the inverter from the PLC controller. The drive motor is inputted from the PLC controller through the encoder to measure the travel distance. If the target movement distance and the movement distance do not match, the process after the driving motor is repeatedly performed is repeated, and if the target movement distance and the movement distance match, the fourth step is executed. do.

If the third step is executed, the fourth step is executed. The control signal is output from the P / C according to the control signal of the PLC controller, and the camera 7 operates according to the control signal of the P / C to detect an image. It is determined whether the centers of the intervals between the rooms A, B, C, D, E of (4) and the guide rolls 3 are matched, and the load position error is calculated and outputted to the PLC controller. Drive motor is controlled and operated by inverter, and the operation of this drive motor is inputted from PLC controller through encoder to measure the movement distance, and then the moving distance and the correction movement distance are compared and judged. If the distances do not match, the process after the driving motor is operated is repeatedly performed. If the correction movement distance and the movement distance match, the fifth step is executed.

If the fourth step is executed, the fifth step is executed, the fifth step; The green tire 1 is loaded in the room A of the loading part 4, and the loading is detected from the loading detection photo switch 6, and this loading detection is input to the PLC controller to It is determined whether the loading of the green tire is completed in the room A, and if the loading is not completed, the process after the loading of the green tire 1 is repeated, and if the loading is completed, the initial position detection photo switch (5) re-determining the detection state and if the detection is maintained, the process returns to the third step and repeats the subsequent process, and if the detection is changed, returns to the first step and repeats the subsequent process. It is to be performed.

On the other hand, Figure 3 is an automatic state diagram of the loading position adjusting device according to the present invention, the digital switch is operated to input the target movement distance to the PLC controller, and the rack gear of the loading section 4 is engaged with the pinion of the driving motor. When the automatic switch is turned on, the green tires are sequentially loaded in the rooms A, B, C, D, and E of the stacking unit 4, and the stacking unit 4 is loaded by the stacking position adjusting device. It can be seen that the centers of the gaps between the rooms A, B, C, D, E and the guide rolls 3 exactly coincide.

According to the stacking position adjusting method and stacking position adjusting device of the green tire stacking device as described above, a vision system which receives the center of the gap between the room of the stacking section and the guide roll as an image and calculates the error of the stacking position is applied. Therefore, since the loading position is accurately adjusted, the labor load of the worker is reduced and productivity is improved.

Claims (2)

When the auto switch is turned ON, go to the first step; The drive motor is activated, and in the second step; When the operation of the driving motor is over one day, it is determined whether the front end of the loading part 4 is detected by the initial position detecting photo switch. If the tip of the loading part 4 is not detected, the operation of the driving motor is turned off. When the front end of the loading unit 4 is detected, the third and fourth steps are sequentially executed. Each of the steps includes: a third step; Moving the loading part 4 by the target moving distance input from the digital switch, and a fourth step; Calculating an error of the loading position by the vision system to adjust the loading position of the loading unit 4, and a fifth step; The green tire 1 is sequentially loaded in the room of the stacking unit 4 so that the stacking unit 4 is returned to the first step when the stacking unit 4 is finished loading. How to adjust the stacking position of the green tire stacking device to be loaded. Vision system consisting of a camera 7 which detects an image, a P / C (Personal Computer) which receives an image from the camera 7 and calculates an error of a loading position, and transmits a target movement distance to a PLC controller. The digital switch to be input, the initial position detection photo switch 5 for detecting the initial position of the loading unit 4, the load detection photo switch 6 for detecting the loading of the green tire 1, and the loading unit 4 Drive motor to drive, PLC (Program Logic Controller) controller connected to each switch and vision system and drive motor for automatic control, inverter connected to this PLC controller and the drive motor to control drive motor accurately And, the stacking position adjusting device of the green tire stacking device consisting of an encoder.