KR100349854B1 - An automatic panel loading system and the method - Google Patents

Abstract

The present invention is to be able to automatically load the vehicle panel transported along the conveyor by the robot to make the panel loading operation efficiently and to improve the safety of the work,

A conveyor device installed on one side of the press device to transfer the panel of the press device in the working direction; Pallets provided on both sides of the conveyor device for loading the panel transported through the conveyor device; Panel surveillance cameras installed on both sides of the conveyor apparatus to monitor the conveying state of the panel on the conveyor apparatus; A pallet monitoring camera mounted on one side of the pallet to monitor the loading state of the pallet; And a multi-joint robot for palletizing the panel on the conveyor device according to the teaching data corrected according to the panel data and the pallet data transmitted from the panel surveillance camera and the pallet surveillance camera. to provide.

Description

Panel automatic loading system and its method {AN AUTOMATIC PANEL LOADING SYSTEM AND THE METHOD}

The present invention relates to an automatic panel loading system and a method thereof, and more particularly, a panel loading operation can be efficiently performed by a robot to automatically load a vehicle panel that is transported along a conveyor and improve the safety of the operation. The present invention relates to a panel automatic loading system and a method thereof.

For example, in a factory that performs a production operation in accordance with a continuous conveyor flow, such as a body press factory, loading a heavy object such as a panel has been generally performed by a manual operation of an operator.

Referring to FIG. 4 and FIG. 5, the loading operation of the panel by manual operation, the loader 114 mounted on the press machine 112 adsorbs the panel P on which the press work is completed, so that the conveyor 116 may be moved. After moving to the front end, the absorbed panel P is dropped on the conveyor 116, and the panel P flows through the conveyor 116 to the rear end, and then two workers 118 at the rear end of the conveyor 116. ) Lifts the panel P and loads it onto the pallet 120.

When the panel P is filled on the pallet 120 by such a loading operation, the pallet P, which is full of the panel P, is transported to an automated warehouse or the like by using a forklift truck 122 or the like. 120) is made to wait again at the loading site. At this time, the support member 124 supporting the conveyor 116 is adjusted manually by the operator manually according to the working conditions of the operator and the press die. In addition, the operator 118 controls the left and right widths of the conveyor 116 by operating the operation panel 126 provided in the vicinity so that the panel P is seated on the conveyor 116 in the correct position.

However, the manual panel loading work as described above is purely manual, so the quality of the product is poor, such as scratches on the product, and the worker has a tendency to avoid the input work because there is a high possibility of industrial accidents due to heavy work. .

In addition, the pallet must be directly replaced by using a forklift, and the operator needs to manually adjust the center of the conveyor, thus requiring a large number of workers, and there is a problem in that the loading operation is not smoothly performed and delayed.

Therefore, the present invention is to solve the above problems, an object of the present invention, it is possible to automatically load the panel for the vehicle transported along the conveyor by a robot so that the panel loading operation is made efficiently and the safety of the operation The present invention provides a panel automatic loading system and method for improving the same.

1 is a front view of a panel automatic loading system according to the present invention;

2 is a plan view of the automatic panel loading system according to the present invention,

3 is an operation flowchart of the automatic panel loading system according to the present invention;

4 is a front view of a panel stacking device according to the prior art,

5 is a plan view of a panel stacking apparatus according to the prior art.

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

12: press device 14: loader

16: conveyor device 18: pallet

20: panel surveillance camera 22: pallet surveillance camera

24: articulated robot 26: vacuum cup

W: Panel

In order to achieve the above object, a panel loading system according to one aspect of the present invention, a conveyor device for transporting the panel discharged from the press device installed in the discharge unit of the press device, the panel conveyed through the conveyor device In a panel loading system comprising a plurality of pallets installed on both sides of the conveying device in the panel conveying direction for loading, the conveying devices are installed on both sides of the conveying device in the panel conveying direction to detect a panel state including the position of the panel on the conveying device. A panel surveillance camera, a pallet surveillance camera mounted on one side of each pallet so as to detect a loading state for each of the plurality of pallets, an articulated robot that absorbs a panel on the conveyor device and loads it onto the pallet, and a panel delivered from the panel surveillance camera. Status data, above A robot controller for controlling the operation of the articulated robot according to the teaching program corrected with reference to the pallet loading state data transmitted from the pallet monitoring camera and the panel feeding speed of the conveyor device, and loading the panel on the pallet, and the panel monitoring. And a main control unit connected to the camera, the pallet monitoring camera, the robot controller, and the conveyor device to control the overall operation of the system.

(A) when the operator inputs the panel specification, the main controller automatically sets the front, rear height, left and right widths of the conveyor apparatus in consideration of the width of the panel; (b) When the setting operation of the conveyor device is completed in step (a), the conveyor device is driven, and the operation of the articulated robot and the operation of the panel surveillance camera and the pallet surveillance camera are turned on and the operator inputs the panel specification. Automatically setting an irradiation angle of the panel surveillance camera; (c) when the setting operation is completed in the step (b), the loader adsorbs the panel from the press apparatus, loads the panel onto the conveyor apparatus, and transfers the panel along the conveyor apparatus; (d) detecting the panel transported along the conveyor apparatus in the step (c) by the panel surveillance camera, sensing the transport status of the panel to obtain position data about the panel, and controlling the position data to control the articulated robot; Transmitting to a robot controller; (e) reading the feed speed of the panel from the encoder to synchronize the speed of the articulated robot with the speed of the conveyor apparatus. (F) allowing the articulated robot to suck the panel into the vacuum cup after step (e); (g) After the step (f), the articulated robot performs a step of loading a panel for one pallet and the other pallet.

Hereinafter, with reference to the accompanying drawings an embodiment of the present invention that can specifically realize the above object will be described.

1 to 3 show a preferred embodiment according to the present invention, wherein reference numeral 12 of FIG. 1 denotes a press apparatus.

The press apparatus is a device corresponding to the previous step of the automatic panel loading system according to the present invention. After pressing the panel W in the press apparatus 12, the press apparatus is sucked by the loader 14, By moving to the panel automatic loading system.

The panel automatic loading system of the present invention includes a conveyor device (16) provided at the discharge part of the press device (12), a plurality of pallets (18) provided at both sides of the conveying direction of the conveyor device (16), and a conveyor. Panel monitoring camera 20 for monitoring the conveyance state including the position of the panel W on the device 16, pallet monitoring camera 22 for monitoring the loading state of the pallet 18, and both sides of the conveyor apparatus Operation of the articulated robot according to the teaching program corrected with reference to the articulated robot (24), the panel state data transmitted from the panel surveillance camera, the pallet loading state data transmitted from the pallet surveillance camera, and the panel feed speed of the conveyor apparatus. It includes a robot controller (not shown) to control and load the panel on the pallet.

The conveyor device 16 serves to transfer the panel W processed by the press device 12 to the pallet 18, and the upper surface is composed of two links A and B. The width of the two links (A, B) is adjusted automatically. And the pallet 18 is formed in a height and a width to fully load the panel (W), a total of four are installed to load the panel (W) transferred to the conveyor device 16, the pallet automatic transfer mechanism ( Not shown) is automatically replaced with the empty pallet when the pallet 18 is finished loading.

On the other hand, the conveyance state of the panel (W) on the conveyor device 16 is grasped by the panel monitoring cameras 20 installed on both sides of the panel inlet side of the conveyor device 16, it is determined whether the pallet 18 is finished loading Each pallet 18 is grasped | ascertained by the pallet monitoring camera 22 attached to one side. Reflecting mirrors (not shown) may be mounted on opposite surfaces of the panel monitoring camera 20 and the pallet monitoring camera 22 to further improve the object detection performance of the camera.

The teaching program of the articulated robot 24 is modified according to the state of the panel transmitted from the panel monitoring camera 20. The panel loading operation of the articulated robot 24 is modified according to the modified teaching program. This is controlled.

The articulated robot (24) is a 6-axis articulated robot used for industrial purposes, and a pair of articulated robots (24) are installed with a conveyor device (16) interposed therebetween, and the articulated robot (24) The operation is controlled in accordance with the teaching program input to the controlling robot controller (not shown), and at one end thereof, the vacuum cup 26 is attached as an attachment to suck the panel W into a vacuum and transfer it to the pallet 18. Is attached.

Referring to Figure 3 the panel loading method of the automatic panel loading system according to the present invention made as described above are as follows.

The panel automatic loading system according to the present invention is controlled entirely by the main control unit. First, when the operator inputs the panel specification, the main control unit automatically sets the front, rear height, left and right widths of the conveyor apparatus 16 in consideration of the width of the panel and the like. (S1, S2, S3)

When the setting operation of the conveyor device 16 is completed, the conveyor device 16 is driven, and the start of the articulated robot 24 and the panel surveillance camera 20 and the pallet surveillance camera 22 are also turned on. do. Here, if there is a lighting device for the panel monitoring camera 20 and the pallet monitoring camera 22, such lighting device is also turned on. At this time, the irradiation angle of the panel monitoring camera 20 is automatically set according to the panel specification input by the operator. (S4, S5, S6, S7)

When the setting operation as described above is completed, the loader 14 sucks the panel W from the press device 12 to load the panel W on the conveyor device 16, and the panel W is a conveyor device ( Conveyed along 16). At this time, if the adsorption of the panel W is not performed properly by the loader 14, it is corrected by the panel press process again. (S8, S9, S10, S11, S20)

The panel monitoring camera 20 detects the panel transported along the conveyor device 16 in the above, and detects the transport state of the panel to obtain position data about the panel, and the position data is used for the articulated robot 24. Transfer to the controlling robot controller. If the panel is not detected, it is bypassed and the operator manually loads the panel (S12, S13, S14, S21, S22).

According to the position data transmitted above, the robot controller modifies the teaching program of the articulated robot 24, and the main controller reads the feed speed of the panel W from the encoder to determine the speed of the articulated robot 24. The speed of the conveyor device 16 is synchronized. (S15, S23)

When the articulated robot 24 and the conveyor apparatus 24 are synchronized with each other, the articulated robot 24 is able to suck the panel W by the vacuum cup 26. In this case, if the panel W is not adsorbed, the panel is not properly sensed, and the operator must manually load the panel by bypassing the steps as described above (S16, S21, and S22).

After the articulated robot 24 sucks the panel W, it is loaded on the pallet 18. In this case, two pallets 18 are loaded first according to the panel loading by two articulated robots 24, and when the loading is completed, the robot performs loading on the remaining pallets 18 ', and the main The controller will insert a new pallet (S17, S24).

At this time, the new pallet is input by the pallet detection camera 22, and the pallet detection camera 22 senses the location data of the pallet together and transmits it to the main control unit. In the main control unit, when the pallet position is wrong, Will be re-adjusted (S25, S26, S27).

On the other hand, when the stacking operation is completed for the remaining pallets, when the pressing operation of the panel W is completed in the press apparatus 12, the panel stacking operation according to the present invention is completed, and the panel is continuously pressing. If it is, the operation of loading the panel (W) by the articulated robot 24 is continued. (S18, S19)

According to the work process as described above, the entire panel stacking is controlled in the main controller in sequence, and accordingly, all panel stacking operations are automatically performed by the articulated robot except in a special case such as when a panel is not detected on the conveyor device. In addition, the width adjustment of the conveyor apparatus and the replacement of the pallet is also made automatically.

The panel automatic loading system and the method of the present invention made as described above can detect the transport status of the panel by the panel surveillance camera so that the robot can automatically load the panel onto the pallet by reflecting it in the teaching program of the robot. can do.

In addition, when the pallet is full of panels by the pallet monitoring camera, it is possible to automatically replace the pallet does not need to replace the pallet manually by a forklift.

As a result, the panel loading operation can be automated, thereby increasing the efficiency of the loading operation and improving the safety of the operation.

Claims (5)

A conveyor device which is installed in the discharge part of the press device and transfers the panel discharged from the press device, and a plurality of pallets which are installed at both sides of the panel conveying direction of the conveyor device for loading the panel transported through the conveyor device. In panel loading system, A panel surveillance camera installed on both sides of the conveyance direction of the conveyor apparatus to detect a panel state including the position of the panel on the conveyor apparatus; A pallet surveillance camera mounted on one side of each pallet so as to detect a loading state for each of the plurality of pallets, A multi-joint robot for absorbing the panel on the conveyor device and loading it on the pallet, The panel is controlled by controlling the operation of the articulated robot according to the teaching program corrected with reference to the panel state data transmitted from the panel surveillance camera, the pallet loading state data transmitted from the pallet surveillance camera, and the panel transfer speed of the conveyor apparatus. A robot controller loaded on the pallet, and The main control unit connected to the panel surveillance camera, the pallet surveillance camera, the robot controller, and the conveyor device to control the overall operation of the system. Including, The main control unit (a) When the operator inputs the panel specification, the main control unit automatically sets the front, rear height, left and right widths of the conveyor device in consideration of the panel width, etc., (b) When the setting operation of the conveyor device is completed in step (a), the conveyor device is driven, and the operation of the articulated robot and the operation of the panel surveillance camera and the pallet surveillance camera are turned on and the operator inputs the panel specification. Automatically setting the irradiation angle of the panel surveillance camera according to (c) when the setting operation is completed in the step (b), the loader absorbs the panel from the press apparatus to load the panel on the conveyor apparatus, and transfers the panel along the conveyor apparatus, (d) detecting the panel transported along the conveyor apparatus in the step (c) by the panel surveillance camera, sensing the transport status of the panel to obtain position data about the panel, and controlling the position data to control the articulated robot; Transmitting to the robot controller, and (e) reading the feed speed of the panel from the encoder to synchronize the speed of the articulated robot with the speed of the conveyor device; Doing The robot controller (f) allowing the articulated robot to adsorb the panel to the vacuum cup after step (e), and (g) after the step (f), the articulated robot loads the panel for one pallet and the other pallet Panel loading system to carry out. The method according to claim 1, Attachment mounted to the articulated robot is a panel loading system, characterized in that the vacuum cup (VACUUM CUP) for adsorbing the panel by the vacuum method. (a) when the operator inputs the panel specification, the main control unit automatically sets the front, rear height, left and right widths of the conveyor device in consideration of the width of the panel and the like (S1, S2, S3); (b) When the setting operation of the conveyor device is completed in step (a), the conveyor device is driven, and the operation of the articulated robot and the operation of the panel surveillance camera and the pallet surveillance camera are turned on and the operator inputs the panel specification. Automatically setting an irradiation angle of the panel surveillance camera according to steps S4, S5, S6, and S7; (c) when the setting operation is completed in the step (b), the loader absorbs the panel from the press apparatus, loads the panel on the conveyor apparatus, and transfers the panel along the conveyor apparatus (S8, S9, S10, S11). Wow; (d) detecting the panel transported along the conveyor apparatus in the step (c) by the panel surveillance camera, sensing the transport status of the panel to obtain position data about the panel, and controlling the position data to control the articulated robot; Transmitting to the robot controller (S12, S13, S14); (e) reading the feed speed of the panel from the encoder to synchronize the speed of the articulated robot with the speed of the conveyor apparatus (S15, S23); (f) after the step (e), the articulated robot adsorbs the panel to the vacuum cup (S16); (g) after the step (f), the articulated robot loading the panel with respect to one pallet and the remaining pallet (S17, S18, S19); Panel loading method comprising a. The method according to claim 3, In the step (c), if the adsorption of the panel by the loader is not properly, the panel loading method characterized in that the modification process to the panel press process again. The method according to claim 3, If the panel is not detected in the step (d) or (f), the panel stacking method characterized in that the operator manually stacks the panel by bypassing it.