KR100252923B1 - Method to automatically generate palletizing pattern - Google Patents

Abstract

PURPOSE: An automatic generating method for unloading and loading patterns is provided to minimize the off-line teaching of a worker by automatically calculating all the unloading and loading positions and approach positions, to save work time and labor and to obtain convenience. CONSTITUTION: To perform unloading and loading works of a product by making up a program in accordance with a work order, a relative coordinate system on a pallet is obtained by receiving three positions on the pallet from a worker(802). Unloading and loading positions to the relative coordinate system are automatically calculated and stored in a memory by receiving the number of the products, the selection of unloading and loading works, the type of the unloading loading works, the order of the unloading and loading works and the height of a bed(803). A work program is made up according to the work order by using the position data(807). Then the unloading and loading works of the product are performed by executing the work program(808).

Description

How to Create Automatic Loading Pattern

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to production automation, and more particularly, to a method for generating automatic loading and loading patterns for automatically generating a loading and loading pattern required for loading and loading an object.

Robots play a huge role in production automation. In particular, the parts that load and load things often work with robots. Generally, when loading and unloading things, the standardized palette is used to load and load in a special pattern. At this time, the robot should be given information on the work order and location for the pattern to be transferred and loaded. In other words, the robot user must input the information necessary for the operation such as the dimensions of the object, the amount of work, the position of picking and placing each object, into the robot controller before the robot does the actual work. This information input operation requires a lot of time and manpower. In order to shorten working time and increase productivity, information input task should be automated.

As shown in FIG. 1, a general loading and unloading system includes a robot 4 for performing a loading and stacking operation, a robot controller 1 for controlling the robot 4, and an object for loading an object. It consists of a palette (5), and an object (6). There may also be a teach-pendant 2 for teaching, monitoring, and the like, and a computer 3 working through communication with the robot controller 1.

Here, the robot controller 1 has a memory 7 that can store data (system data, location data, etc.) therein, and the computer 3 also has such a memory 8.

As shown in FIG. 1, in order to load and load an object with a loading and loading system configured as described above, a worker first uses a teach pendant (2) to specify a position at which the object is picked up and a position at which the object is placed, and then teaches the robot to the robot. . The teachings store data for work in the memory 7 in the robot controller 1. The operator prepares a work program in accordance with the work order using the data and stores it in the controller internal memory 7. The robot performs work in accordance with a work program in the internal memory 7.

Teaching can also be done via the computer 3. This is because the computer 3 can transfer data to the robot controller 1 via communication.

If it is assumed that the object is loaded using a robot as shown in FIG. 2, the operation flowchart thereof is shown in FIG. 3. That is, the worker first directly teaches the picking position (a) and the dropping position (b) as shown in Fig. 4 (steps 301 and 302). And, if you load 12 things from ① to 에 in one stage, you can load 48 units. Therefore, the operator teaches the 48 release positions and stores them in the memory 7 of the controller 1. If the gap between objects is very small, pick them up and move them to the access position before loading. In this case, an additional 48 access points must be taught (step 303). Therefore, step 303 may not be present in some cases. In this way, the operator teaches the position and uses it to create a work program in accordance with the work order and store it again in the memory 7 in the controller 1 (step 304). Then, when the stored work program is executed (step 305), the robot performs a task of picking up and placing an object according to the created work program (step 306). In addition, the teaching and the preparation of a work program can also be made in the computer 3.

As such, the conventional method requires the operator to teach all positions to work (collecting position, placing position, access position, etc.). If it is loaded as shown in Figure 2, the house should teach one position, 48 positions. If approach motion is required, an additional 48 access points shall be taught. Therefore, this teaching work requires a lot of work time and manpower. In other words, the house required for the work of loading and unloading the goods has to teach the robot one by one, such as the position, the place of placement, and the proximity position, which wasted a lot of work time and manpower.

If the work order of FIG. 2 is changed as shown in FIG. 5, the positions to be placed in each stage should be re-teached according to the work order. In other words, changing the task sequence makes it difficult to change the task sequence because most of the teaching must be done again. Also, if the position of the palette changes, you must re-teach all the drop positions.

The present invention is to solve the problems as described above, the object of the present invention is to receive the information, such as the position of the load, the loading pattern, the work order, the approach method required to load and load the object, the work position of each object By automatically calculating the, to provide an automatic loading and loading pattern generation method that minimizes the user's input of information.

1 is a configuration diagram of a general two-loading system.

2 is a diagram showing an example of a work stacking procedure.

3 is a flowchart showing a conventional loading and stacking process.

4 is an explanatory diagram of the transfer operation.

5 is a diagram showing another example of the stacking and stacking work procedure.

6 is an explanatory diagram of data data for generating an automatic two-seam pattern according to the present invention.

7 is an explanatory diagram for setting a coordinate system for automatic two-load pattern generation according to the present invention.

8 is a flowchart for a method for automatically loading and stacking a pattern according to the present invention.

(A)-(c) of FIG. 9 show an example of an approach operation.

(A)-(c) of FIG. 10 show another example of an approach operation.

11 is a view showing various examples of the loading and unloading order of objects.

12 is a view showing several examples of different kinds of loading patterns of articles.

13A and 13B show a lamination process according to the type and order of patterns.

(A)-(c) of FIG. 14 is a figure which shows the other kind of the loading pattern of an article.

<Explanation of symbols for main parts of drawing>

1: Robot Controller 2: Teach Pendant

3: computer 4: robot body

5: Palette 6: Object

7: Controller internal memory 8: Computer internal memory

In order to achieve the above object, the automatic loading / loading pattern generating method according to the present invention includes three position data for a relative coordinate system, the number of objects (the number of pieces, the number of pieces, the number of pieces), the selection of the material loading work, It is to automatically calculate all the work position and approach position necessary for the work of loading and unloading by using one position data for the type of loading and unloading pattern, the order of loading and unloading, the height of the stage and the approach position.

Other features of the automatic loading and stacking pattern generation method according to the present invention include three position data for a relative coordinate system, the number of objects (horizontal number, vertical number, number of stages), and the interval between objects (horizontal interval, vertical interval, height interval). ), It automatically calculates all the work positions and approach positions required for the transfer operation by using one position data for the selection of the loading and unloading work, the type of the loading and unloading pattern, the order of loading and unloading, and the approach position.

Other objects, features and advantages of the present invention will become apparent from the following detailed description of embodiments taken in conjunction with the accompanying drawings.

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

The loading and unloading system according to the present invention is basically the same as that of FIG. 1, and FIG. 8 is a flowchart for the automatic loading and unloading pattern generating method according to the present invention.

If the object is to be loaded and loaded with the automatic loading and loading system according to the present invention, a relative coordinate system on the pallet is first defined. That is, the operator teaches three positions P1, P2, and P3 on the pallet to load and load the goods as shown in FIG. 6 (step 801), and automatically calculates the relative coordinate system on the pellet using this data ( Step 802). Then, by using the number of items (horizontal number, vertical number, number of pieces) to be input by the operator, the selection of the loading and stacking operation, the type of the loading and loading pattern, the loading and loading order, and the height of the steps (step 803), The position of the object to be loaded and loaded is automatically calculated with respect to the relative coordinate system (step 804). If an approach action is required, the operator further teaches one position (Pa) for the approach action (step 805), and automatically calculates the approach positions of all the loading and placing positions using this table (step 806). . Automatic calculations can be used to obtain all position data required for the job and to store it in the memory 7 of the controller 1. Then, the worker writes the work program in the work order (step 807). When the created work program is executed (step 808), the robot performs a task of picking up and placing an object according to the created work program (step 809). Here, the steps 805 and 806 for calculating the approach position may not be present. This automatic calculation and the creation of a work program can also be performed on a computer.

For example, assuming that an object is loaded as shown in FIG. 2, a method of automatically generating a loading pattern is as follows.

First, the automatic calculation of the relative coordinate system uses three positions P1, P2, and P3 input by the operator as shown in FIG. Where ψ ( P2P1P3) may not be a right angle. As shown in FIG. 7, the virtual {A} coordinate system is set using the positions P1, P2, and P3 with respect to the reference coordinate system {U} of the robot. This {A} coordinate system is the origin of P1, Is the X axis, Is a Cartesian coordinate system with Z as the axis. The {B} coordinate system is the origin of P1, X axis, Is a coordinate system in which the X axis and the Y axis may not be perpendicular to each other. The {B} coordinate system and the rectangular coordinate system {A} are obtained from the three input positions P1, P2, and P3. The position ^B P on the {B} coordinate system may be converted to the position ^U P of the {U} coordinate system by Equation 1 according to the coordinate system set as described above.

If each ψ ( Regardless of P2P1P3), if you want to use a relative coordinate system that is always perpendicular, you can use the rectangular coordinate system {A} as the relative coordinate system on the palette. In this case, Equation 1 is equal to Equation 2 below.

All positions indicated by the {B} coordinate system (or {A} coordinate system) by the above coordinate system setting and Equation 1 (or Equation 2) may be converted into positions with respect to the {U} coordinate system.

The automatic calculation of the loading position is performed by inputting the number of items to be worked by the worker (width, length, number of stages), selection of loading and placing work, type of loading and loading patterns, order of loading and loading, and height of the steps. Calculate using The number of objects to be worked on requires both horizontal, vertical and singular numbers. In the example of FIG. 2, the horizontal number #X is four, and the vertical number #Y is three. The number (#Z) is the number 4 to be loaded. The positional difference between the number of objects and the objects to be worked on from the height dZ of the stage is calculated as in Equation 3 below.

Next, the position is calculated according to the loading pattern and the loading order. As shown in Fig. 12, the type of the stacked and stacked patterns is selected from 17 types of "pattern 0" to "pattern 16". This stacking order is selected from 16 items from "Sequence 1" to "Sequence 16" as shown in FIG. In the example of FIG. 2, the type of pattern is "0" and the order is "1". Using the position difference values (dX, dY, dZ), two-loading pattern, and two-loading order of Equation 3, the working position of each object is calculated as in Equation 4 below.

Here, the type of pattern is '0' and the order is '1', so the starting position (first working position) is P1. The position P1 = (0, 0, 0) relative to the {B} coordinate system (or {A} coordinate system).

About the {B} coordinate system (or {A} coordinate system}

For example, the remaining {13,4} = 1 and the quotient {13,4} = 3.

Therefore, when all the work position is calculated using Equation 4

1st working position = (0,0,0)

2nd working position = (dX, 0,0)

3rd working position = (2 × dX, 0,0)

···

5th working position = (0, dY, 0)

···

13th working position = (0,0, dZ)

···

The 48th working position = (3xdX, 2xdY, 3xdZ).

If the distance between the objects is narrow and the approach operation is required, as shown in FIG. 6, when the access position Pa is taught to the P1 position, the access positions of all other work positions are calculated using this. The location of this approach depends on the order rather than on the type of pattern. As can be seen from (a) of FIG. 9 and (a) of FIG. 10, the patterns are the same and the order is different. The approach position at this time is different. 9 (b) and 10 (b), the access positions are the same in both cases. However, in FIG. 9C and FIG. 10C, the approach positions are different. This is because, in order, the locations of the previously worked objects are different. In the example of FIG. 2, the approach position may be calculated as follows.

The position difference of the approach position is calculated as in Equation 5 below.

Using the position difference between the approach position obtained in Equation 5 and the work position obtained in Equation 4, an approach position is obtained as in Equation 6 below.

About the {B} coordinate system (or {A} coordinate system)

The operator writes the work program according to the work order using the automatically calculated position as before. The robot picks up and puts things according to the written work program. Automatic calculations and work programs can also be created on the computer.

So far, the method of generating the automatic loading and stacking pattern has been described with respect to the example of FIG. 2. If you work with the example shown in Figure 5 Equations 4 and 6 is changed. Equation 4 and Equation 6 differ according to a combination of 17 patterns as shown in FIG. 12 and 16 different loading and stacking orders (16 x 17 = 272 types) as shown in FIG. In the present invention, all these cases can be calculated automatically.

In the case of four-stage operation of the pattern as shown in (a) and (b) of FIG. 13, the stacking operation starts from the first stage of the first stage and works up to 18 times of the fourth stage, but the transfer work is performed 18 times of the fourth stage. Work must be started in reverse order of loading. The present invention automatically calculates all working positions by distinguishing between the case of loading and the case of loading.

In the present invention, as described above, all work positions are automatically calculated according to the type of loading work, the order, the pattern, the presence or absence of an approach operation, and the like.

In the case of working as in the example of FIG. 2, the conventional method requires a worker to teach a total of 97 positions including one pick up position, 48 work positions, and 48 access positions, but the present invention picks up the position 1 Dog, 3 coordinate setting positions, 1 approach position A total of 4 positions and the number of objects (horizontal number, vertical number, number of stages), selection of two-loading operation, two-loading pattern type, two-loading order, height of column Only all work positions are automatically calculated. This greatly reduces the amount of time taught by the operator, minimizing time and manpower consumption, and makes it easy to modify all work positions automatically with one change of data.

On the other hand, the present invention receives all the work position necessary for the loading and loading operation by directly inputting the interval between the objects, that is, the horizontal interval (dX), vertical interval (dY), height interval (dZ) without calculating the equation (3) It can be calculated automatically.

When working in two or more steps, each step can be set in a different pattern and in a different order.

In addition, a special pattern can also be automatically calculated as shown in FIGS. 14A to 14C.

As described above, according to the method for generating automatic loading and stacking according to the present invention, three positions (eg, P1, P2, and P3) for a relative coordinate system, the number of objects to be worked on (horizontal, vertical, and singular), Automatically calculates the position to load and load, using the selection of the loading and unloading operation, the type of loading and unloading pattern, the order of loading and loading, and the height of the stages. By automatically calculating all the loading and closing positions using dogs (e.g., Pa) as data, it minimizes the operator's teaching quantity and also makes it possible to locate positions that fit various loading patterns, loading sequences, and approaches. Automatic calculations make it easy to make changes, saving you time and manpower and making your life easier.

Claims (15)

It consists of a robot that performs loading and unloading operations, a robot controller, and a pallet that loads objects, and teaches the robot by specifying where to pick and place objects. In the method of creating a program in accordance with the work order by using a work order, and carrying out the loading and loading of goods, the operator receives three positions (P1, P2, P3) on the pallet from which the goods are to be loaded and loaded. Steps to obtain the number of objects, selection of loading work, selection of loading and loading patterns, loading and loading order, height of the stage from the operator, automatically calculates the positions to be loaded and loaded with respect to the relative coordinate system. After creating the work program according to the work order using the step of storing and the position data automatically calculated in the step By this, the auto-loading pattern generating method, characterized by the order of yirueojim of performing loading operation of the goods rows. The method of claim 1, wherein the obtaining of the relative coordinate system comprises: a first step of obtaining a virtual coordinate system {A} and a relative coordinate system {B} using positions P1, P2, and P3 with respect to a reference coordinate system {U} of the robot; And a second step of converting a position ^B P on the {B} coordinate system into a position ^U P of the {U} coordinate system by the coordinate system obtained in the step. The method of claim 2, wherein the virtual coordinate system {A} of the first step is the origin of P1, Is the X axis, An automatic two-loading pattern generation method, characterized by a rectangular coordinate system having Z as the axis. The method of claim 2, wherein the relative coordinate system {B} of the first step is a reference point of P1, X axis, A method for generating automatic loading patterns, characterized in that the coordinate system has Y as the axis. The method of claim 2, wherein each ψ ( Regardless of P2P1P3), if you want to use a relative coordinate system that is always rectangular, the rectangular coordinate system {A} can be used as a relative coordinate system on a pallet. The method of claim 1, wherein the step of calculating the position of loading and stacking is performed by the number of objects to be worked from the worker (the number of the horizontal, the number of verticals, the number of sheets), the selection of the loading and loading work, the type of the loading and loading pattern, the loading and loading order, A first step of receiving a height, a second step of obtaining a position difference value (dX, dY, dZ) between objects to be worked on from the number of objects and the height of the stage received in the first step, and the first step And a third step of calculating all working positions of each object using the two-loading pattern and the two-loading order inputted in the step, and the position difference values dX, dY, and dZ of the second step. Automatic loading and stacking pattern generation method. The method of claim 6, wherein the position difference value calculation of the second step is obtained by applying the following equation. Where #X is the horizontal number, #Y is the vertical number, and #Z is the singular. The method of claim 6, wherein the third step is applied to the {B} coordinate system (or {A} coordinate system) by applying the following equation to calculate the automatic position loading pattern, characterized in that all the working position of each object Way. The method of claim 1, further comprising: instructing an approach position Pa to a P1 position from an operator when an approach operation is required, and calculating approach positions of all other work positions using the approach position Pa. Automatic loading pattern generation method characterized in that the included. The method of claim 9, wherein the calculating of the approach position comprises: a first step of obtaining a position difference between the approach positions by applying the following equation; And a second step of obtaining an approach position using the position difference between the approach positions obtained in the first step and the work position of each object. 12. The method of claim 10, wherein the second step is to obtain an optimum all approaching positions for the {B} coordinate system (or {A} coordinate system) by applying the following equation. The method according to claim 1, wherein all the work positions necessary for the work are automatically changed and calculated by changing only the position data, the kind of the loading and unloading pattern, the moving order and the loading order, the type of the loading and unloading work, and the number of objects. How to create a double stacking pattern. The method of claim 1, wherein a pattern or an order can be set differently for each stage in one operation. Position (P1, P2, P3) for relative coordinate system, number of objects (width, length, number), selection of loading work, type of loading pattern, loading order, height of step, approach position A method for generating automatic loading and stacking patterns, which automatically calculates all work positions and approaching positions required for a loading and stacking operation by receiving a position Pa. Position (P1, P2, P3) for relative coordinate system, number of objects (width, length, number), distance between objects (horizontal distance, vertical distance, height distance), selection of two-loading operation, two-loading pattern A method for generating automatic loading and loading patterns which automatically calculates all working positions and approaching positions required for a loading and placing operation by receiving a type, a loading order, and a position (Pa) for the approaching positions.