KR20040011737A - Truck loader system with robot and method thereof - Google Patents

Abstract

PURPOSE: A loader system for a truck by using a robot and a control method thereof are provided to increase the productivity, and to cut down expenses by efficiently loading the large amount of cargo such as cement or fertilizer on the truck for a short time. CONSTITUTION: A truck loader system comprises position sensors arranged in a line at a side guide to detect the stop position of a truck(30); a signal lamp(10) installed in front of the truck to guide the position of the truck by lighting according to detection signals from the position sensors; distance sensors installed in the side guide corresponding to both ends of a loading compartment of the truck to detect the distance between the truck and the side guide at a stop; and a robot(20) loading luggage from a conveyor to the loading compartment with moving on a rail(21) arranged in a line with the side guide by correcting the loading position of luggage according to the detection signals from the distance sensors.

Description

Truck loader system using robot and its control method {TRUCK LOADER SYSTEM WITH ROBOT AND METHOD THEREOF}

The present invention relates to a truck loader system using a robot and a control method thereof, and more particularly, to efficiently load a load such as cement or fertilizer bag on a truck so that a larger amount of load can be loaded at a precise position in a short time. A truck loader system using a robot and a control method thereof are provided.

In the conventional method of loading cement or fertilizer sacks on a truck, the loads of the seven to eight tiers are generally stacked in the same form. First, the truck is loaded at the correct position by the driver, and the truck is moved forward little by little. While loading, or while the truck is fixed, a person moves to load the load. As such, when loading loads such as cement or fertilizer sacks onto trucks, at least two people are required, and it is impossible to maintain the best working speed for a certain time due to the nature of work.

Therefore, recently, various loading systems using a robot (ROBOT) have been used to solve the above problems. Such a loading system is configured to load a load at that location while the robot moves on the rails without moving the truck.

However, such a conventional robot loading system has a large difference in its loading amount and loading time depending on the control method, and thus an efficient robot system and a control method capable of loading a larger amount of load at a precise position in a short time. The necessity of the situation is urgently required.

Therefore, the present invention is to solve the above-mentioned conventional problems, using a robot that can load a large amount of load in the correct position in a short time by efficiently loading the load such as cement or fertilizer bag on the truck. The object is to provide a truck loader system and a control method thereof.

1 is a front view of a truck loader system using a robot according to the present invention.

2 to 4 are views for explaining the truck position and position value correction process according to the present invention.

5 is a detailed plan view of a truck loader system using a robot according to the present invention.

6 is a side view of FIG. 5;

7 and 8 are a flow chart illustrating a control method of a truck loader system using a robot according to the present invention.

9 is a view showing a loading pattern method of the load according to the present invention.

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

10: traffic light 11, 12: position sensor

13: side guide 14: floor guideline

15, 16: Distance sensor 17, 18: A / D converter

20: robot 21: rail

22: servo motor 23: roller

30: truck 31: driver's seat

32: loading box 40: conveyor

Truck loader system using a robot according to the present invention for achieving the above object is a side sensor installed side by side at a predetermined interval corresponding to the side guide corresponding to the position of the driver's seat of the truck to detect the stop position of the truck; A signal lamp installed in front of the place where the truck is to be positioned, the lamp being turned on according to a detection signal of the position sensor to guide the stop position of the truck; A distance sensor installed at a side guide corresponding to where both ends of the truck loading box are located, and detecting a distance between the truck and the side guide when stopped; While moving on the rail installed side by side with the side guide to load the conveyed from the conveyor to the loading box, characterized in that consisting of a robot for correcting the loading position of the load according to the detection signal of the distance sensor.

Here, the position sensor is composed of two AND circuits and outputs the opposite operation signal, the first position sensor is on, if there is an object is off, the second position sensor is off when there is an object If not, it is on.

In addition, the analog signal sensed by the distance sensor is converted into a digital signal via an A / D converter and transmitted to the robot, the robot obtains the slope (θ) by the ATAN function by its own program, the product by the slope The teaching point of the robot is changed by converting the distance of each loading position of the robot (TAN function).

A control method of a truck loader system using a robot according to the present invention includes: when a truck enters through a floor guide line, stopping a truck at an accurate loading position by lighting a lamp of a traffic light by an output signal of each position sensor; The distances of both ends (starting and ending points for cement bags) and side guides of the truck stacker stopped in the above step are sensed by each distance sensor, and the signal of this distance sensor is corrected by using the TAN function. To load in the form of a parallel state; The robot moves step by step from the point P1 to the point P6 and loads the load according to the position corrected in the above step, and then moves the truck by lighting a lamp of a traffic light when the loading is completed. It is characterized by.

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

1 is a front view of a truck loader system using a robot according to the present invention, Figures 2 to 4 are views for explaining the truck position and position value correction process according to the present invention. 5 is a detailed plan view of a truck loader system using a robot according to the present invention, and FIG. 6 is a side view of FIG. 5.

As shown, the position sensor 11, 12 installed side by side at a predetermined interval to the side guide 13 corresponding to where the driver's seat 31 of the truck 30 is located to detect the stop position of the truck 30 ; A signal lamp 10 installed at the front of a place where the truck 30 is to be positioned, the lamp being turned on according to a detection signal of the position sensors 11 and 12 to guide the stop position of the truck; The distance sensor 15 is installed in the side guide 13 corresponding to the place where both ends of the truck 30, the loading box 32, and detects the distance between the truck 30 and the side guide 13 ( 16); While moving on the rail 21 installed in parallel with the side guide 13, the load transferred from the conveyor is loaded in the loading box 32, the loading position of the load according to the detection signal of the distance sensor 15, 16 It consists of a robot 20 for correcting and loading. In addition, the floor guide line 14 for guiding the truck 30 to enter the home position is provided on the bottom surface where the truck 30 is located.

The position sensor 11, 12 and the distance sensor 15, 16 is preferably a conventional infrared sensor is applied, the two sensors are composed of an AND circuit to output the opposite operation signals to each other, the first The position sensor 11 is configured to be on when there is an object and off when there is no object, and the second position sensor 12 is configured to be off when there is an object and to be on when there is no object.

In addition, the analog signal detected by the distance sensor 15, 16 is converted into a digital signal via the A / D converter 17, 18 is transmitted to the robot 20, the robot 20 itself The program calculates the inclination θ by the ATAN function, and converts the teaching point of the robot 20 by converting the distance of each loading position of the product by the inclination (TAN function).

7 and 8 are a flow chart illustrating a control method of a truck loader system using a robot according to the present invention, Figure 9 is a view showing a loading pattern method of the load according to the present invention, the operation of the present invention configured as described above The explanation is as follows.

First, the truck 30 enters straight through the floor guide line 14 by the driver's operation. At this time, the truck 30 can be stopped at the correct loading position by the traffic light 10 and the respective position sensors 11 and 12 of the present invention.

That is, the traffic light 10 turns on a blue lamp when the truck 30 does not enter or is entering, and turns on a red lamp when the truck 30 is exactly at the loading position. In addition, the traffic light 10 turns on the red lamp when the robot 20 is loading the product, and turns on the blue lamp when the loading is completed.

Here, the traffic light at the time of entering the truck is turned on according to the detection signals of the position sensors 11 and 12, and the position sensors 11 and 12 output two operating signals opposite to each other by being composed of an AND circuit. For example, the first position sensor 11 is turned on when there is an object and turned off when there is no object, and the second position sensor 12 is turned off when there is an object and turned on when there is no object.

Accordingly, when the truck 30 does not enter the home position, the first position sensor 11 is turned off and the second position sensor 12 is turned on, and thus the whole is turned off. Therefore, the traffic light 10 lights a blue lamp. .

Then, when the truck 30 enters and the driver's seat 31 passes the second position sensor 12 to turn on the first position sensor 11 and turn on the second position sensor 12, the traffic light 10 is red. The lamp is turned on and the entire operation signal is turned on.

Such a position adjustment of the truck 30 is determined by the driver to the position point indicated by the color of the traffic light and the sensor guide to the correct position.

Alternatively, a stopper may be installed on the floor or a sensor reflector may be used to detect a home position.

Thereafter, the loading position of the robot is automatically adjusted by the correction values of the distance sensors 15 and 16 so that they can be loaded in the form of a parallel state.

That is, the distance sensor 15, 16 is located on the side guide 13 corresponding to the position where both ends (starting and ending points of cement bags are stacked) of the truck 30 loading box 32 to clarify the reference point, The signal of the distance sensors 15 and 16 is corrected by using the TAN function to correct the position value of each point.

At this time, the inclination of the truck and the distance of the truck from the reference point can be known by the first distance sensor 15 and the second distance sensor 16, which can know the inclination θ by the ATAN function of the robot program. In addition, due to the tilt θ, the distance of each loading position of the product is converted (TAN function) to automatically input data into the robot program to change the teaching point of the robot. At this time, the distance signal, which is an analog signal, is converted into a digital (BCD) value through an A / D converter, and the distance data is converted into a program using a robot group signal.

Here, as shown in FIG. 4, the inclination θ can be obtained from “ATAN = deviation / truck loading distance”, and the deviation distances of A, B, ... F points can be obtained due to the θ value. . That is, the deviation distance of point A is "(A-reference point 1 distance) x TAN (θ) + | (deviation + reference point 2)-(distance with truck) |", and the deviation distance of point B is "(B-reference point 1 Distance) × TAN (θ) + | (deviation + reference point 2)-(distance from truck) | ”, and the deviation distance of the F point is“ (F-reference point 1 distance) × TAN (θ) + | (deviation + Reference point 2)-(distance to truck) |

Then, as shown in FIG. 5, when the truck is positioned in the correct position, the robot 20 moves step by step from the point P1 to the point P6 to load the load into the loading box of the truck. First, when the robot is at P1, the stopper of S7 is always UP as a back guide, and the stopper of S6 acts as a divider. Each of the six drive conveyors 40 drives (the drive of each conveyor is separated).

When the robot 20 moves to the P2 point (the second stacking position) after completion of the loading at the point P1 (three-stage stacking) and the correct position is completed, the C5 conveyor 40 is stopped. At this time, the stopper of S6 It serves as a guide and the S5 stopper acts as a divider. At this time, the method of loading the product by the robot 20 is the same as the operation at the point P1.

The loading operation and method of the robot 20 is repeated until the completion of all the loading in the same way as described above, when the completion at the point P6, that is, when the final loading is completed, the robot 20 moves directly to the point P1 and then The truck 30 enters and waits for a program until the wait completion signal reaches the robot 20. Otherwise, the program moves to the point P5 to complete the next loading. The robot 20 repeats the above method until the final loading is completed.

The method of moving the robot 20 from the point P1 to the point P6 is driven by the brake type servomotor 22 in FIG. 6, and the driving power transmission device uses a rack pinion method or a timing belt driving method.

As shown in FIG. 6, when the servomotor 22 is driven first, an idle roller 23 connected to a bearing located on the base rail 21 is driven to accurately move to the point where the robot 20 is to be loaded. Here, the roller 23 and the rail 21 serve to support the load of the robot 20, the roller 23 and the rack gear (not shown) serves to correct the load that the robot is passed forward or backward do.

The loading pattern of the robot 20 and the moving step of the robot can be varied according to the size and loading quantity (weight) of the truck, and the basic loading method is loaded as shown in FIG. 9 based on a 25 ton cargo truck. The number of loads depends on the quantity of the load.

Excluded from other basic specifications may be a data pattern is automatically input to the robot program by the position position of the distance sensor according to the size of the truck loading box 32 can vary the loading pattern.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the above-described embodiments, and the present invention is not limited to the above-described embodiments without departing from the spirit of the present invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such modifications are intended to fall within the scope of the appended claims.

As described above, according to the truck loader system using the robot and the control method thereof according to the present invention, a load of cement or a fertilizer bag can be efficiently loaded on a truck so that a larger amount of load can be loaded at a precise position in a short time. It has an effect. In addition, the same operation can be performed quickly and accurately without time and space constraints, thereby improving productivity, and reducing labor and incident costs.

Claims (4)

Position sensors (11) (12) installed side by side at predetermined intervals on the side guides (13) corresponding to where the driver's seat (31) of the truck (30) is located to sense a stop position of the truck (30); A signal lamp 10 installed at the front of the truck 30 to be located and guiding a stop position of the truck by lighting a lamp according to a detection signal of the position sensors 11 and 12; The distance sensor 15 is installed in the side guide 13 corresponding to the place where both ends of the truck 30, the loading box 32, and detects the distance between the truck 30 and the side guide 13 ( 16); While moving on the rail 21 installed in parallel with the side guide 13, the load transferred from the conveyor is loaded in the loading box 32, the loading position of the load according to the detection signal of the distance sensor 15, 16 Truck loader system using a robot, characterized in that consisting of a robot 20 for correcting and loading. The method of claim 1, wherein the position sensor (11) (12); The two sensors are composed of an AND circuit to output opposite operation signals, but the first position sensor 11 is on when there is an object, and off when there is an object, and the second position sensor 12 is off when there is an object. Truck loader system using a robot, characterized in that when not on. The method of claim 1, The analog signals sensed by the distance sensors 15 and 16 are converted into digital signals through the A / D converters 17 and 18 and transmitted to the robot 20, and the robot 20 is supplied to its own program. By using the ATAN function to obtain the inclination (θ), by using the inclination (TAN function) by converting the distance of each loading position of the product by the truck loader system using a robot, characterized in that for changing the teaching point of the robot 20 . When the truck 30 enters through the floor guide line 14, the truck 30 is stopped at the correct loading position by turning on the lamp of the traffic light 10 by the output signals of the respective position sensors 11 and 12. Making a step; The distance between the two ends (starting point and end point of stacking the cement bag) and the side guide 13 of the truck 30, the storage box 32 stopped in the above step is sensed by the respective distance sensors 15 and 16, and this distance sensor (15) correcting the position value of each point by using the TAN function to load the signal in the form of a parallel state; The robot moves step by step from the point P1 to the point P6 and loads the load according to the position corrected in the above step, and then moves the truck by lighting a lamp of a traffic light when the loading is completed. Control method of a truck loader system using a robot, characterized in that.