KR102605359B1 - Robot-based automated labeling system to overcome narrow field - Google Patents

Abstract

The present invention relates to an automated labeling robot device that overcomes narrow field conditions. More specifically, it relates to an automated labeling robot device that overcomes narrow spaces in the field and automatically attaches labels to both sides and the inner and outer diameters of the labeling target coil.
For this purpose, the present invention provides a label printer that outputs a label to be attached to the attachment position including the left side, right side, outer diameter, and inner diameter of the labeling target coil; A label separation device that separates the label from the label printer, withdraws the cylinder on which the label is mounted, and transports the label to a position where the collaborative robot can retrieve the label; A collaborative robot that is composed of multiple axes and multiple joints and is driven according to control signals from a PLC to adsorb labels from a label separator and transfer the adsorbed labels to the labeling target coil to perform the attachment task; A vision camera installed in a collaborative robot to acquire images of the label attachment position and size of the labeling target coil before the label is attached to the labeling target coil, and to acquire images of the labeling target coil as a whole after the label is attached; A PLC that controls the motion and path of the collaborative robot, receives image information captured from a vision camera, and controls the position of the collaborative robot to be corrected so that the collaborative robot can enter the corresponding location; It provides an automated labeling robot device that is physically connected to a collaborative robot and includes a robot transfer unit that is linked to the operation of the collaborative robot and transports it to the upper and lower floors according to the work situation of the collaborative robot.

Description

Robot-based automated labeling system to overcome narrow field}

The present invention relates to a robot-based automated labeling system that overcomes narrow field conditions. More specifically, it relates to a robot-based automated labeling system that overcomes narrow spaces in the field and automatically attaches labels to both sides and the inner and outer diameters of the labeling target coil.

In general, a label refers to an output printed on label paper by a label printer, and is used for the convenience of product management and processing by writing down classification numbers, handling precautions, and product specifications.

Meanwhile, in the packaging area, where products are wrapped or packaged, the process of attaching labels to each product is performed. In particular, in the process of attaching labels to coils, the process of attaching labels to coils is carried out at designated locations of the coil (left side, right side, inner diameter, A label with different printouts must be attached to the outer diameter area.

In the past, workers manually attached labels to each product, which often resulted in problems such as attaching the wrong label to a product or labeling not being firmly attached to the product, causing the label to come off.

As a technology designed to solve this problem, Republic of Korea Patent Publication No. 10-1179532 (announced on September 5, 2012) (hereinafter referred to as prior art document) is disclosed.

The prior art document relates to a label attachment device, which includes a label attachment unit having an axis rotation provider that rotates the object and a plurality of attachment pieces that ensure that the label is firmly attached to the entire outer surface of the object. This is a technology that allows labeling to be carried out for as long as possible.

However, the prior art literature uses a belt conveyor method, and the labeling process is performed while the object to be labeled moves in a certain direction on the belt conveyor, which is somewhat difficult in a limited space of a packaging facility.

Therefore, there is a need to develop an automated labeling device that can efficiently and quickly perform labeling in a small packaging space.

The present invention was developed to solve the problems described above, and is based on a robot that overcomes narrow field conditions and automatically attaches labels to both sides and the inner and outer diameters of the labeling target coil by overcoming the narrow space in the field. The purpose is to provide an automated labeling system.

The robot-based automated label attachment system designed to overcome narrow field conditions according to the present invention to achieve the above object is a label that outputs a label to be attached to the attachment position including the left side, right side, outer diameter, and inner diameter of the labeling target coil. printer; A label separation device that separates the label from the label printer, withdraws the cylinder on which the label is mounted, and transports the label to a position where the collaborative robot can retrieve the label; A collaborative robot that is composed of multiple axes and multiple joints and is driven according to control signals from a PLC to adsorb labels from a label separator and transfer the adsorbed labels to the labeling target coil to perform the attachment task; A vision camera installed in a collaborative robot to acquire images of the label attachment position and size of the labeling target coil before the label is attached to the labeling target coil, and to acquire images of the labeling target coil as a whole after the label is attached; A PLC that controls the motion and path of the collaborative robot, receives image information captured from a vision camera, and controls the position of the collaborative robot to be corrected so that the collaborative robot can enter the corresponding location; It is physically connected to the collaborative robot and includes a robot transfer unit that is linked to the motion of the collaborative robot and transports it to the upper and lower floors depending on the work situation of the collaborative robot.

In addition, the collaborative robot includes a robot label head unit equipped with a vacuum pad that adsorbs the label, and the robot label head unit rotates counterclockwise or clockwise to select the vacuum pad on which the label to be attached to the labeling target coil is adsorbed. It is positioned close to the coil, and when the vacuum pad is placed on the labeling target coil, the suction cylinder provided in the robot label head is pulled out and the label adsorbed on the vacuum pad is attached to the labeling target coil.

In addition, it is installed in a vertical structure separated into an upper and lower layer, the upper layer is equipped with a label printer and a label separation device, the lower layer is equipped with a labeling target coil, and the collaborative robot is a robot that moves between the space where the upper and lower layers are connected. It is characterized by moving up and down by the transfer unit, adsorbing the label output from the label printer, and attaching the adsorbed label to the labeling target coil.

According to the present invention, a space with a vertical structure separated into an upper layer and a lower layer is formed, and the collaborative robot extracts and adsorbs labels from the upper layer and then moves to the lower layer and attaches the label to the designated side of the labeling target coil, thereby eliminating constraints in the narrow space of the site. It is effective in helping you overcome.

In addition, according to the present invention, by providing an image processing unit, the position before attachment to the labeling target coil is recognized and the normal state of attachment is automatically determined after attachment, so that the manager or field worker does not have to manually determine whether or not it is attached and the attachment position. There is.

1 is a schematic diagram of a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention;
Figure 2 is a configuration diagram of a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention;
Figure 3 is a diagram showing a collaborative robot of a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention;
Figure 4 is a diagram showing the robot label head part of the narrow field overcome robot-based automated label attachment system according to a preferred embodiment of the present invention;
5 to 6 are photographs of a collaborative robot installed on-site in a narrow-site overcome robot-based automated labeling system according to a preferred embodiment of the present invention;
Figure 7 is a photograph of a scene in which a collaborative robot of a robot-based automated labeling system capable of overcoming narrow field conditions according to a preferred embodiment of the present invention performs a labeling operation on a labeling target coil;
Figure 8 is a photograph of a label printer and label separation device installed on site in a robot-based automated label attachment system that overcomes narrow field conditions according to a preferred embodiment of the present invention;
Figure 9 is a diagram showing a structure in which components are installed in a robot-based automated labeling system that can overcome narrow field conditions according to a preferred embodiment of the present invention;
Figure 10 is a photograph of the PLC control panel of the robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention;
Figure 11 is a photo of the user interface screen of the HIM control unit of the narrow field overcome robot-based automated label attachment system according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted. In addition, preferred embodiments of the present invention will be described below, but the technical idea of the present invention is not limited or restricted thereto, and of course, it can be modified and implemented in various ways by those skilled in the art.

Figure 1 is a schematic diagram of a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention, and Figure 2 is a configuration diagram of a robot-based automated label attaching system that overcomes narrow field conditions according to a preferred embodiment of the present invention. , Figure 3 is a diagram showing a collaborative robot of a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention, and Figure 4 shows a robot-based automated label that overcomes narrow field conditions according to a preferred embodiment of the present invention. It is a drawing showing the robot label head part of the attachment system, and Figures 5 and 6 are photographs of a collaborative robot installed in the field in a robot-based automated label attachment system that overcomes narrow field conditions according to a preferred embodiment of the present invention, and Figure 7 is a photograph of the collaborative robot installed in the field. A photograph is taken of a scene in which a collaborative robot of a robot-based automated labeling system capable of overcoming narrow field conditions according to a preferred embodiment of the present invention performs the labeling operation on a labeling target coil, and Figure 8 is a photo showing a narrow field-based robot-based automated labeling system according to a preferred embodiment of the present invention. This is a photo of the label printer and label separation device installed on site in the on-site overcoming robot-based automated labeling system, and Figure 9 shows the structure where the components are installed in the narrow on-site overcoming robot-based automated label attaching system according to a preferred embodiment of the present invention. It is a drawing showing, Figure 10 is a photograph of the PLC control panel of the narrow field overcome type robot-based automated label attachment system according to a preferred embodiment of the present invention, and Figure 11 is a narrow field overcome type according to a preferred embodiment of the present invention. This is a photo of the user interface screen of the HIM control unit of the robot-based automated labeling system.

The robot-based automated labeling system 1000 capable of overcoming narrow field conditions according to a preferred embodiment of the present invention is a device that automatically performs labeling work on labeling target coils using a collaborative robot.

In the existing labeling process, there are specified working conditions when attaching a label to a labeling target coil, so a specific label must be attached to a designated part of the coil. For example, there are mandatory labels attached to the left and right sides of the coil to be labeled and optional labels depending on the coil to be labeled, and the inspection sheet printed with a label printer must be attached to the inner diameter by placing it in a protective vinyl film. , In the case of surface strict stickers, they must be attached to three locations: the left side, right side, and outer diameter only for specific target products.

In the present invention, a collaborative robot is used to retrieve a label from a label separator and attach the retrieved label to a designated position on a labeling target coil according to predefined working conditions to be performed in an automated manner.

In addition, the robot-based automated labeling system 1000 capable of overcoming narrow field conditions according to a preferred embodiment of the present invention overcomes the narrow space of the field and enables automatically attaching labels to labeling target coils.

Referring to FIG. 1, the narrow field overcoming robot-based automated labeling system 1000 according to a preferred embodiment of the present invention is installed on a vertical structure divided into an upper layer (1) and a lower layer (2), and the upper layer ( 1) is equipped with a label printer (10) and a label separation device (20), the lower layer (2) is equipped with a labeling target coil (C), and the collaborative robot (30) has an upper layer (1) and a lower layer (2). It moves up and down between the connected spaces by a robot transfer unit (not shown), adsorbs the label output from the label printer (10), and attaches the adsorbed label to the labeling target coil (C).

In addition, the structure in which the narrow-site overcoming robot-based automated labeling system 1000 according to a preferred embodiment of the present invention is installed has one end in contact with the ground and the other end connected to the upper floor (1) so that the manager can access the upper floor. A connecting ladder (not shown) is provided to manage each device by going up and down (1) and the lower layer (2).

The collaborative robot 30 is transported through a robot transfer unit (not shown) when moving between the upper and lower floors, and the robot transfer unit (not shown) moves the collaborative robot 30 to the upper floor (1) according to a control signal from the PLC 40. ) and transferred to the lower layer (2).

Specifically, the collaborative robot 30 adsorbs the label from the label separator 20 provided in the upper layer 1 and then is transferred to the lower layer 2 through the space where the upper layer 1 and the lower layer 2 are connected, When it reaches the lower layer (2), it moves to the labeling target coil (C) and performs the task of attaching a label to the labeling target coil.

Afterwards, the collaborative robot 30 is transferred to the upper layer 1 through the connected space again, adsorbs the label from the label separator 20, and then moves downward again through the connection hole to the lower layer to collect another labeling target coil ( Perform the operation of attaching a label to C). The above process is repeated multiple times until labels are attached to all labeling target coils (C).

The technical feature unique to the present invention described above is that when two or more different tasks (label adsorption and label attachment tasks) are performed in a narrow work space, the collaborative robot moves up and down, takes out and adsorbs the label, and transfers the adsorbed label to the labeling object. It has the advantage of overcoming space constraints in narrow work sites by requiring only a minimum work space by performing the attaching work.

Hereinafter, the components of the narrow-site overcoming robot-based automated labeling system 1000 according to a preferred embodiment of the present invention will be described.

Referring to FIGS. 1 to 11, the narrow field-capable robot-based automated label attachment system 1000 according to a preferred embodiment of the present invention includes a label printer 10, a label separation device 20, a collaborative robot 30, Includes PLC (40), vision camera (50), image processing unit (60), HMI control unit (70), PLC control panel (80), robot transfer unit (not shown), CCTV camera (100), and database (110). It is composed by:

The label printer 10 outputs a label to be attached to the left side, right side, outer diameter, and inner diameter of the labeling target coil (C). Specifically, the label printer 10 outputs a label to be attached to the inner side of the labeling target coil (C) and a label to be attached to the outer side of the labeling target coil (C), and to the location and label attached to the labeling target coil. Labels are individually printed from each independent device according to the information being output.

One side of the label printer 10 is equipped with a label output detection sensor (not shown) that checks whether label output exists, and sensing data from the label output detection sensor (not shown) is transmitted to the HMI control unit 70 through wireless communication. .

One label output detection sensor (not shown) is mounted on each label printer (10).

The label output detection sensor (not shown) detects whether or not the label is output from the label printer 10, and when it is determined that the label has not been output, it transmits sensing data to the PLC 40, and the PLC 40 sends the sensing data to the PLC 40. It receives and transmits an abnormality signal to the HMI control unit 70.

The HMI control unit 70 receives an abnormality signal from the PLC 40 and generates information on the label printer 10 for which an abnormality has been detected on the screen, allowing the manager to check which label printer 10 the abnormal signal is from. Let it happen.

The label separator 20 is located in front of the label printer 10, separates one label from the bundle of labels output from the label printer 10, and transports it to a position where the collaborative robot 30 can retrieve the label. . Specifically, the label separator 20 is connected to a label separator plate that holds the labels separated from the label printer 10 and moves the label separator plate to a position where the collaborative robot 30 can retrieve the label. It is composed of a transfer cylinder that withdraws or retracts.

When a label is output from the label printer 10, the label separator 20 separates the label using a label separator, and the separated label is pulled forward by the transfer cylinder and the collaborative robot 30 takes out the label. transported to a location where it can be done.

The collaborative robot (30) is composed of multiple axes and multiple joints, and is driven according to control signals from the PLC (40) to adsorb labels from the label separator (20) and attach the adsorbed labels to the labeling target coil (C). Do the work.

Specifically, the collaborative robot 30 includes at least one joint, a robot arm that connects each joint, is connected to the robot label head 32, moves up and down and left and right, and rotates the robot label head 32; It is axially connected to the robot arm, is arranged in parallel in the circumferential direction, and includes a robot label head unit 32 equipped with a vacuum pad to adsorb labels.

The collaborative robot 30 is driven by receiving a control signal from the PLC 40, adsorbs labels from the label separator 20, and transfers and attaches the adsorbed labels to the labeling target coil (C). do.

The robot label head part 32 of the collaborative robot 30 is provided with a robot bracket 31a to connect the robot arm of the collaborative robot 30 and the robot label head part 32, and both ends of the robot bracket 31a. is provided with a cylinder bracket (31b) coupled in the vertical direction so that the robot label head portion (32) can be coupled to the cylinder bracket (31b).

Referring to FIGS. 4 to 6, the robot label head portion 32 of the collaborative robot 30 is rotated counterclockwise or clockwise while the vacuum pad 35 on which the label to be attached to the labeling target coil C is adsorbed. is placed close to the labeling target coil, and when the vacuum pad (35) is placed on the labeling target coil (C), the adsorption cylinder (34) of the robot label head part (32) is pulled out and the label is adsorbed on the vacuum pad (35). Attach to the labeling target coil (C). The suction cylinders 34 are coupled one by one to each vacuum pad 35 and individually pull out or retract each vacuum pad 35 according to a control signal from the PLC 40.

The vacuum pad 35 is formed in a size that is the same or similar to the standard of the label, and allows the same or similar labels to be adsorbed in response to the size of the vacuum pad 35.

When the vacuum pad 35 of the robot label head unit 32 performs adsorption according to the size of the label, the label information to be adsorbed for each pre-designated vacuum pad 35 is pre-programmed and used according to the programmed method. Each vacuum pad 35 is driven to perform label adsorption.

The robot label head part 32 of the collaborative robot 30 has a function of applying a certain amount of pressure to prevent the label from being separated from the labeling object coil (C) when each label is attached to the corresponding position of the labeling object coil (C). This is provided.

The collaborative robot 30 is equipped with a collision detection sensor (not shown), and when a collision with a specific obstacle is detected, it senses it and transmits the sensing data to the PLC 40.

An adsorption detection sensor (not shown) is provided on one side of the robot label head part 32 of the collaborative robot 30 to sense whether a label is adsorbed on the vacuum pad 35. Data sensed from the adsorption detection sensor (not shown) is transmitted to the PLC 40, and the PLC 40 transmits an adsorption completion signal to the HMI control unit 70.

The PLC (40) controls the operation and path of the collaborative robot (30) and the operations of multiple label output units (10) and label separators (20).

The PLC (40) corrects and controls the position of the collaborative robot (30) so that the collaborative robot (30) can enter the labeling position of the labeling target coil (C). Specifically, the PLC 40 receives image information captured from the vision camera 50 and analyzes the captured image information based on reference position information that serves as the standard for position correction for entering the labeling target coil C. Then, a value for correcting the position of the collaborative robot 30 is calculated by comparing the reference position information and the image information, and the collaborative robot 30 is controlled according to the calculated value.

When a labeling operation command for a labeling target coil is received from the HMI control unit 70, the PLC (40) analyzes the label information to be attached to the previously ordered labeling target coil, and operates the collaborative robot (30) based on the analyzed information. and control the path.

The vision camera 50 is installed on the inner diameter of the robot label head 32 and captures image information of the label attachment position and the size of the labeling target coil (C) before the label is attached to the labeling target coil (C). After the label is attached, image information is obtained by shooting the labeling target coil (C) as a whole.

The image information captured from the vision camera (50) on the label attachment position and the size of the labeling target coil (C) is captured to analyze whether the collaborative robot (30) can enter the labeling location of the labeling target coil (C). As image information, it is transmitted to the HMI control unit 70 and image processing and analysis is performed.

Meanwhile, when a label is attached to a labeling target coil (C) at a packaging site, the location to be attached is designated according to pre-designated inspection regulations, and after each label is attached, it is necessary to check whether it is properly attached to the corresponding location. do. For example, on the left side of the labeling target coil (C), the mandatory labels such as a handling caution sticker, product tag, and barcode and the optional labeling such as a strict surface material sticker, color stroke, and marking tag must be attached to the labeling target coil (C). An inspection label must be attached to the inner diameter of the device.

Accordingly, in the present invention, the vision camera 50 is installed in the collaborative robot 30, and the image information captured by the vision camera 50 is transmitted to the HMI control unit 80 to perform image reading to detect the labeling target coil (C). ) After the label is attached, read whether the label is accurately attached to the appropriate location.

The vision camera 50 determines the position and size of the entry part so that the collaborative robot 30 can enter the labeling target coil (C) before the collaborative robot 30 attaches the label to the designated location of the labeling target coil (C). is photographed, and the captured image information is transmitted to the PLC (40) for analysis.

This is performed only on the inner diameter of the labeling target coil (C), and is to determine whether it is appropriate for the robot arm 34 of the collaborative robot 30 to enter the inner diameter of the labeling target coil (C) and perform the attachment task. .

For example, before the label is attached to the inner diameter of the labeling target coil (C), the vision camera 50 photographs the position and size of the inner diameter of the labeling target coil (C) and sends the captured image information to the HMI control unit (70). ) and send it to

The image processing unit 60 is connected to the vision camera 50 in a wired or wireless manner and receives image information captured from the vision camera 50, analyzes and reads the image information.

The image processing unit 60 receives image information captured before label attachment from the vision camera 50, recognizes the location where the collaborative robot 30 will enter, and receives image information captured after label attachment from the vision camera 50. This checks whether the label is accurately attached to the designated location on the labeling target coil (C).

When all labels are attached to the designated positions of the labeling target coil (C) by the collaborative robot 30, the image processing unit 60 receives image information from the vision camera 50 to capture the entire labeling target coil (C) and displays the entire labeling target coil (C). Re-read whether the label is properly attached.

For this purpose, standard attachment image information when each normal label is attached to the outer diameter, inner diameter, left side, and right side of the labeling target coil (C) is stored in the database 100, and based on the standard attachment image information Determine the attachment position of the label.

Immediately after the label adsorbed on the vacuum pad 35 of the robot label head is attached to the inner diameter of the labeling target coil (C), the image processing unit 60 captures an image of the inner diameter to which the label is attached by the vision camera 50. A procedure is performed to receive information and read whether the label has been correctly attached to the inner cervix. Afterwards, if it is read that it is correctly attached, and the label is attached to all sides of the labeling target coil (C), the vision camera 50 receives image information showing the overall state of the labeling target coil (C) and displays the labeling target coil (C). ) Check whether the label is properly attached to all sides.

The image processing unit 60 determines normal attachment based on deep learning. The image processing unit 60 generates a learning model by learning image information of the normal attachment state and the poor attachment state, and determines whether the attachment is normal based on the generated learning model.

The HMI control unit 70 is connected through wireless communication with the PLC 40, which controls each component device including the label printer 10, the collaborative robot 30, and the vision camera 50, and receives data from the PLC 40. transmits and receives, remotely controls the PLC (40), and monitors the work status of each component device.

The HMI control unit 70 receives image information captured from the vision camera 50 and the CCTV camera 90, outputs the image information, and controls the direction, rotation, height, and focus of the vision camera 50 and the CCTV camera 90. , operation buttons that allow manual operation of zoom in and zoom out, etc., are implemented remotely, allowing the user to manually operate the camera.

The HMI control unit 70 is equipped with a function to store operation information arbitrarily set by the user and a function to set and perform the operation of the camera according to the set operation information.

When labeling target coil information (C) is input as an input value, the HMI control unit 70 outputs the work results of the corresponding labeling target coil.

Each coil information includes unique identification information for each labeling target coil, label information to be attached to each labeling target coil, and label attachment location information.

The HMI control unit 70 is wirelessly connected to the label printer 10, receives the label output signal output from the label printer 10, and displays an LED on the screen depending on whether the label output signal transmitted from each label printer is received. This allows the user to identify whether or not it has been received.

For example, when the HMI control unit 70 receives a label output signal from the label printer 10 that outputs a red label, an indicator light is displayed in the 'red label output' item on the screen.

The HMI control unit 70 is wirelessly connected to the label printer 10 to select the label printer 80 to output a specific label and control the operation of the label printer 10.

In addition, the HMI control unit 70 is implemented with an operation button that can operate and drive the collaborative robot 30 remotely, and when a control command signal is transmitted to the PLC 40 by clicking the operation button, the PLC 40 controls the The operation of the collaborative robot 30 is controlled by receiving command signals.

The HMI control unit 70 receives operation signals of the label printer 10 and the collaborative robot 30 from the PLC 40 and outputs them on the display. For example, the HMI control unit 70 receives an adsorption completion signal from the PLC 40 indicating that the label has been adsorbed, and displays it on the screen.

The adsorption completion signal is generated based on sensing data detected from an adsorption detection sensor (not shown) when label adsorption is performed on the vacuum pad of the robot label head of the collaborative robot 30.

For example, the HMI control unit 70 receives a caution label adsorption completion signal from the collaborative robot 30, and outputs an indicator light in the 'Handle label adsorption completion signal' item.

The HMI control unit 70 displays labels implemented in graphic form in an aligned manner, and when one or more of the displayed labels is selected, attachment image information indicating that the selected label is attached to the labeling target coil is output.

The HMI control unit 70 outputs coil information including the unique identification information of the labeling target coil (C), weight, inner diameter, outer diameter, width, thickness, and the number of attached sheets for each position.

The HMI control unit 70 outputs information on the labeling target coil on which work has been performed.

The PLC control panel 80 is installed in the lower part 2 of the structure and is equipped with a function to operate the operation of the collaborative robot 30 and the label printer 10. Specifically, the PLC control panel 80 is equipped with a touch panel that allows the user to control the operation of the device by touch, and a robot transfer unit operation button that transports the collaborative robot between the upper and lower floors. In addition, the PLC control panel 70 is equipped with an operation button and an operation stop button to operate one cycle from label adhesion to label attachment, a reset function when an error occurs, and a stop button to stop the operation of the device when an error occurs. A button is provided.

The robot transfer unit (not shown) is physically connected to the collaborative robot 30 and is linked to the operation of the collaborative robot 30 to transport the collaborative robot 30 to the upper or lower floors depending on the work situation.

When a signal indicating that the label adsorption operation has been completed is received from the collaborative robot 30, the robot transfer unit (not shown) transports the collaborative robot 30 to the lower level to perform the task of attaching a label to the labeling target coil (C). And, when a signal is received from the collaborative robot 30 that the labeling operation has been completed on the labeling target coil (C), it is transferred back to the upper level so that the collaborative robot 30 performs the label adsorption operation.

The CCTV camera 100 is installed in the upper and lower floors to photograph the operating status and on-site situation of each device, and transmits the captured video information to the HMI control unit 70 so that the manager can monitor it.

Specifically, the CCTV camera 100 is installed on the upper floor to photograph the work site where labels are output from the label printer 10, transmits the captured video information to the HMI control unit 70, and is installed on the lower floor to capture the collaborative robot ( 30) approaches the labeling target coil, photographs the work site where labeling is performed, and transmits the captured image information to the HMI control unit 70.

Image information captured from the CCTV camera 90 is stored in the database 110 at regular intervals.

Below, a method of operating a robot-based automated labeling system that overcomes narrow field conditions according to a preferred embodiment of the present invention will be described.

When the HMI control unit 70 specifies the information of the target labeling target coil (C) and transmits a control signal for operation to the PLC 40, a control signal is generated from the PLC 40 to operate the label printer 10. It operates to output label information to be attached to the labeling target coil. Next, the HMI control unit 70 and the PLC 40 generate control signals for driving the collaborative robot and move the collaborative robot 30 to the label separator 20 where label information is output. Next, when the collaborative robot 30 is moved to the label separator 20, the adsorption cylinder 34 of the robot label head 32 of the collaborative robot 30 is pulled out and adsorbs the label from the label separator 20. perform the task. When the label is adsorbed from the label separator 20, the collaborative robot 30 moves to the next label separator 20 and performs the label adsorption task.

The collaborative robot 30 moves to the plurality of label separation devices 20 and repeats the above process until all the designated labels are adsorbed on each vacuum pad 35 of the robot label head unit 32.

When the label is adsorbed on each side of the vacuum pad 35 of the robot label head 32 of the collaborative robot 30, a downward movement is performed while the collaborative robot 30 is coupled to the robot transfer unit (not shown). The collaborative robot (30) is transported to the lower level (2).

When the collaborative robot 30 is transferred to the lower layer 2, it moves to the point where the labeling target coil C is located. At this time, the robot label head unit 32 rotates counterclockwise or clockwise while the label is adsorbed and moves to the labeling target coil (C).

When the collaborative robot 30 is located on the labeling object coil (C), the suction cylinder 34 of the robot label head part 32 of the collaborative robot 30 pulls out the vacuum pad 35 and applies it to each side of the labeling object coil. Be sure to attach a label to it.

When attachment of the label to the relevant surface is completed, the vacuum pad 35 of the robot label head unit 32 moves away from the labeling target coil (C), and the robot label head unit 32 rotates counterclockwise or clockwise again. Adjust the position so that the vacuum pad 35 of the robot label head part 32 is located on the next side of the labeling target coil (C). Next, when the vacuum pad 35 is located at the designated position, the vacuum pad 35 is pulled out and a labeling operation is performed.

When label attachment work is completed on the labeling target coil (C), the attachment state is photographed by the vision camera 50, and the captured image information is transmitted to the image processing unit 60 to read the attachment state. The image processing module () analyzes the attachment state, and if it is judged to be in a normal attachment state, it stops operating the device or is transferred to the upper layer (1) to perform the task of extracting the label for the next labeling target coil (C).

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the attached drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. . The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10 - Label printer 20 - Label separation device
30 - Collaborative robot 40 - PLC
50 - Vision camera 60 - Image processing unit
70 - HMI control unit 80 - PLC control panel
100 - CCTV camera 110 - Database
1000 - Robot-based automated labeling system that overcomes narrow field conditions

Claims (3)

A label printer that outputs labels to be attached to attachment positions including the left side, right side, outer diameter, and inner diameter of the labeling target coil;
A label separation device that separates the label from the label printer, withdraws the cylinder on which the label is mounted, and transports the label to a position where the collaborative robot can retrieve the label;
A collaborative robot that is composed of multiple axes and multiple joints and is driven according to control signals from a PLC to adsorb labels from a label separator and transfer the adsorbed labels to the labeling target coil to perform the attachment task;
A vision camera installed in a collaborative robot to acquire images of the label attachment position and size of the labeling target coil before the label is attached to the labeling target coil, and to acquire images of the labeling target coil as a whole after the label is attached;
A PLC that controls the motion and path of the collaborative robot, receives image information captured from a vision camera, and controls the position of the collaborative robot to be corrected so that the collaborative robot can enter the corresponding location;
A robot transfer unit that is physically connected to the collaborative robot and is linked to the motion of the collaborative robot to transport the collaborative robot to the upper or lower floors according to the work situation of the collaborative robot;
Robot label head unit equipped with a vacuum pad to adsorb labels
Includes,
It is installed in a vertical structure separated into an upper and lower layer, the upper layer is equipped with a label printer and a label separation device, the lower layer is equipped with a labeling target coil, and the collaborative robot is a robot transfer unit between the spaces where the upper and lower layers are connected. It moves up and down to adsorb the label printed from the label printer and attaches the adsorbed label to the labeling target coil.
Including,
When the label is adsorbed on each vacuum pad surface of the robot label head of the collaborative robot, the collaborative robot performs a downward movement and is transported to the lower layer through the robot transfer unit.
When the collaborative robot is transported to the lower level, it rotates counterclockwise or clockwise and moves to the point where the labeling target coil is located.
When the collaborative robot is located on the labeling target coil, the adsorption cylinder of the robot label head of the collaborative robot pulls out the vacuum pad and attaches a label to each side of the labeling target coil.
When label attachment is completed, the vacuum pad of the robot label head moves away from the labeling target coil, and the robot label head rotates counterclockwise or clockwise again, positioning the vacuum pad of the robot label head to be located on the next side of the labeling target coil. After adjustment, when the vacuum pad is located at the designated position, the vacuum pad is pulled out and the label attachment process is performed.
When label attachment work is completed on the labeling target coil, the vision camera captures the attachment status, transmits the captured image information to the image processing unit to read the attachment status, and the image processing unit analyzes the attachment status and determines that the attachment status is normal. Stopping the operation of the device or transporting it to the upper layer to perform the task of extracting the label from the next labeling target coil.
Includes,
When the vacuum pad of the robot label head performs adsorption according to the size of the label, the label information to be adsorbed for each pre-designated vacuum pad is pre-programmed, and each vacuum pad is driven according to the programmed method to perform the label adsorption process. what is done
A robot-based automated labeling system that overcomes narrow field conditions including.





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