KR20120014276A - Control method and the system of industrial robot hand with gravity detector - Google Patents

Control method and the system of industrial robot hand with gravity detector Download PDF

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Publication number
KR20120014276A
KR20120014276A KR1020100076205A KR20100076205A KR20120014276A KR 20120014276 A KR20120014276 A KR 20120014276A KR 1020100076205 A KR1020100076205 A KR 1020100076205A KR 20100076205 A KR20100076205 A KR 20100076205A KR 20120014276 A KR20120014276 A KR 20120014276A
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KR
South Korea
Prior art keywords
cargo
weight information
weight
industrial robot
conveyor system
Prior art date
Application number
KR1020100076205A
Other languages
Korean (ko)
Inventor
윤길섭
Original Assignee
다우산업주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 다우산업주식회사 filed Critical 다우산업주식회사
Priority to KR1020100076205A priority Critical patent/KR20120014276A/en
Publication of KR20120014276A publication Critical patent/KR20120014276A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • B65G47/48—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers
    • B65G47/49—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points according to bodily destination marks on either articles or load-carriers without bodily contact between article or load carrier and automatic control device, e.g. the destination marks being electrically or electronically detected
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

PURPOSE: An industrial robot, for separating freights according to weight of freights on a conveyor system, and a control method thereof are provided to inform an operator of problems after a container system and a robot are paused in the damage and shortage of cargo. CONSTITUTION: An industrial robot comprises a load cell(Lc), a comparison unit(300), and a controller(400). The load cell senses the weight of a cargo(M) on a conveyer system(100) as the electric signal. The comparison unit receives the cargo weight information from the load cell. The comparison unit judges whether freight information is included within a range of proper weight information pre-set in a comparison weight information DB(Database), or not. If the cargo weight information is within a range of the appropriate weight information, the controller controls a robot in a proper site.

Description

Industrial robot and control method for separating cargo according to the weight of cargo on conveyor system {Control method and the system of Industrial Robot hand with gravity detector}

The present invention relates to an industrial robot for separating a cargo according to the weight of the cargo on the conveyor system and a control method thereof. More specifically, when the cargo on the conveyor system has the appropriate weight, it is loaded in a qualified place, The invention relates to an industrial robot whose operation is controlled to be loaded separately in an ineligible place and a control method thereof.

A general industrial robot performs a motion similar to that of a human hand, arm, leg, or foot, and thus is a device designed to simply and easily replace a labor force that must be handled by a large number of people. It is widely used in the field.

Among the industrial robots 10 as described above, the conventional industrial robots used for the purpose of transporting cargo carry only a function of holding cargo at one point and transferring it to another point.

In addition, as shown in Figure 1, in order to determine whether the cargo has a proper weight in the prior art configured a load cell (Lc) on the conveyor system 20, which is carried on the conveyor system 20 The conveyed cargo was made so that its weight could be automatically detected by the load cell Lc.

By the way, according to the above-described prior art, when the weight of the cargo sensed by the load cell (Lc) is an appropriate weight cargo, it is loaded on the qualified place by the industrial robot 10, but for the inappropriate weight cargo that does not have the proper weight The load cell Lc detects this and informs the worker by the display 30.

However, since only the function of simply informing the worker about such inadequate weight cargoes, there was a problem that these inadequate weight cargoes should be loaded in other places by human hand.

In addition, according to the prior art, even if the quantity of the cargo is insufficient or damaged, even though the cargo weight is significantly inadequate, there is a problem that does not take appropriate measures to continue the operation without grasping this.

The present invention has been made to solve the above-described problem, the technical problem to be solved by the present invention, by the load cell detected when the weight of the cargo transported on the conveyor system in the transfer process of the cargo is inadequate weight cargo The industrial robot is operated to transfer cargo to a separate place.

In addition, another problem to be solved of the present invention is to stop the industrial robot when the weight of the cargo significantly out of the range of the appropriate weight and to notify the operator to take action.

The present invention is provided in the conveyor system to solve the above problems is a load cell for detecting the weight of the cargo on the conveyor system as an electrical signal and sending the signal; A comparison unit which receives the cargo weight information by the electrical signal received by the load cell and compares whether the cargo weight information is within a range of proper weight information preset in the comparison weight information DB; And, if the cargo weight information is within the range of the appropriate weight information according to the comparison result of the comparison unit to load the cargo in a qualified place, and if the cargo weight information is outside the range of the appropriate weight information, the industrial Control unit for controlling the operation of the robot; can be achieved by.

In addition, the present invention stops the operation of the conveyor system and the operation of the industrial robot when the load weight information by the electrical signal of the load cell corresponds to the preset alarm weight information in the comparison weight information DB generates an alarm for the operator It can be achieved by further comprising.

In addition, the present invention comprises the steps of: a) detecting the weight of the cargo on the conveyor system as an electrical signal by the load cell to send the cargo weight information to the comparison unit; b) comparing, by the comparing unit, whether the cargo weight information received at the load cell is within a range of appropriate weight information preset in the comparison weight information DB; And c) when the compared cargo weight information is within the range of the appropriate weight information previously set in the comparative weight information DB, so that the cargo is loaded at the qualified place under control of the controller, and the cargo weight information is outside the range of the appropriate weight information. If there is a step of controlling the operation of the industrial robot to load the cargo in an ineligible place; it is possible to solve the problem by.

In addition, the present invention stops the operation of the conveyor system and the operation of the industrial robot by the alarm generator when the weight information received in the load cell of step a) corresponds to the alarm weight information preset in the comparison weight information DB Generating an alert to the user.

The present invention is to detect the weight of the cargo transported on the conveyor system by the load cell, and to control the industrial robot according to the weight of the detected cargo it is possible to separate and load the appropriate and inappropriate weight cargo.

In addition, the present invention detects when the quantity of cargo on the conveyor system is insufficient or damaged to stop the conveyor system and the industrial robot and notify the worker alert, so that the worker has time to recognize the problem and take action to solve the problem. do.

1 is a schematic configuration example of a conventional conveyor system and an industrial robot
Figure 2 is a schematic configuration example of a conveyor system and an industrial robot according to an embodiment of the present invention
Figure 3 is a simplified process diagram showing the operation of the conveyor system and the industrial robot according to an embodiment of the present invention

Hereinafter, with reference to the accompanying drawings, the configuration of the most preferred embodiment of the present invention will be described.

Figure 2 is a schematic configuration diagram of a conveyor system and an industrial robot according to an embodiment of the present invention, Figure 3 is a simplified process diagram showing the operating relationship between the conveyor system and the industrial robot according to an embodiment of the present invention.

As shown in FIG. 2, the conveyor system 100 is configured such that the conveyance belt 110 is rotated by the motor 120 to enable the conveyance of cargo as is known.

The load cell Lc is installed in a plurality of legs or a predetermined position of the conveyor system 100, and detects the weight of the cargo carried on the conveyor system 100 as an electrical signal, and the detected load weight signal will be described later. It transmits to the comparator 300.

The comparative weight information DB 200 stores preset appropriate weight information and alarm weight information. That is, in the comparison weight information DB 200 is set and stored weight information for comparison with the electrical signal (voltage) of the load weight detected in the load cell (Lc) bar load information is in grams (G) unit or kilogram Weight information corresponding to various electrical signals (voltages) is input and stored in units of (Kg).

For example, if the electrical signal detected from the load cell (Lc) is 1 kHz, the corresponding weight information is * Kg, and if the electrical signal is 2 kHz, the corresponding weight information is set and stored in the form of ** Kg.

The appropriate weight information of the comparative weight information DB 200 is, for example, assuming that the optimal weight of the cargo is 20 kg and the appropriate error range is ± 0.5 kg, the range of the appropriate weight is in the range of 19.5 Kg to 20.5 Kg. The information is saved as a setting. In addition, the range of the alarm weight may be in the range of 18 Kg or less or 22 Kg or more, which is significantly different from the range of the proper weight.

The comparison unit 300 receives the cargo weight information by the electrical signal sent from the load cell (Lc) and compares the weight information of the cargo weight information and the comparison weight information DB (200), the cargo weight information is the range of the appropriate weight information It is determined whether or not it is within the range and whether the cargo weight information is within the range of the alarm weight information.

The controller 400 controls the industrial robot 500 to load the cargo in a qualified place when the cargo weight information is within the range of the appropriate weight information according to the comparison result of the comparison unit 300, and the cargo weight information is appropriate. If the weight is out of the range to control the industrial robot 500 to load the cargo in an ineligible place.

In addition, the controller 400 stops the operation of the conveyor system 100 and the industrial robot 500 when the cargo weight information of the comparison unit 300 is significantly different from the appropriate weight. In addition, the alarm is generated by the alarm generating unit 410 to enable the operator to recognize.

Hereinafter, the operation of the industrial robot of the present invention.

First, the weight of the cargo (M) is detected as an electrical signal through the load cell (Lc) provided in the conveyor system 100 while the cargo (M) is loaded on the conveyor system 100 (S100) The cargo weight signal of the electrical signal is sent to the comparison unit 300 (S110).

Comparator 300 calculates the cargo weight information by the electrical signal received from the load cell (Lc), and compares it with the weight information of the comparative weight information DB (200) (S120).

Then, the control unit 400 determines whether the cargo weight information compared in the comparison unit 300 is within the range of the appropriate weight information preset in the comparison weight information DB 200 (S130).

When it is determined that the determined cargo weight information is within the range of the appropriate weight set in the comparative weight information DB 200, the industrial robot 500 operates under the control of the controller 400 to qualify the cargo M. To be loaded on (S140).

In addition, when it is determined that the determined cargo weight information does not fall within the range of the appropriate weight set in the comparative weight information DB 200, the industrial robot 500 operates under the control of the controller 400 to load the cargo (M). ) To be loaded in an ineligible place (S150).

In addition, when it is determined that the determined cargo weight information corresponds to the range of the alarm weight set in the comparative weight information DB 200, the control of the control unit 400 of the conveyor system 100 and the industrial robot 500 The operation is stopped (S160) and the alarm is generated by the alarm generator 410 (S170) to allow the operator to recognize this.

Therefore, the present invention is easy to separate the cargo by loading the cargo (M) after detecting the weight of the cargo (M) by the load cell (Lc) provided in the conveyor system 100, determine the appropriate weight or not. .

In addition, if the weight (M) of the cargo (M) is significantly different than the appropriate weight due to damage or other problems of the cargo (M) to the worker to check the status of the cargo (M) after the operation can proceed to proceed. have. Therefore, it is possible to prevent problems such as delay in identifying the problem and continuing unnecessary work due to the progress of the work even in a problem state.

In addition, since the load cell (Lc) for detecting the weight of the cargo (M) is configured in the conveyor system 100, the structure of the industrial robot 500 can be simplified and manufacturing cost is reduced to reduce the cost .

100: conveyor system 110: transfer belt
120: motor 200: comparative weight DB
300: comparison unit 400: control unit
410: alarm generator 500: industrial robot
Lc: load cell

Claims (4)

A load cell which is provided in the conveyor system and detects the weight of the cargo on the conveyor system as an electrical signal and sends the signal;
A comparison unit which receives the cargo weight information by the electrical signal received by the load cell and compares whether the cargo weight information is within a range of proper weight information preset in the comparison weight information DB; And,
According to the comparison result of the comparison unit, if the cargo weight information is within the range of the appropriate weight information, the cargo should be loaded at the qualified place; if the cargo weight information is outside the range of the appropriate weight information, A control unit for controlling the operation; Industrial robot for separating the cargo according to the weight of the cargo on the conveyor system consisting of.
The method of claim 1,
And an alarm generating unit for stopping the operation of the conveyor system and the operation of the industrial robot and generating an alarm to the operator when the cargo weight information by the electrical signal of the load cell corresponds to the alarm weight information preset in the comparison weight information DB. Industrial robot for separating the cargo according to the weight of the cargo on the conveyor system, characterized in that.
a) detecting the weight of the cargo on the conveyor system as an electrical signal by a load cell and sending cargo weight information to the comparator;
b) comparing, by the comparing unit, whether the cargo weight information received at the load cell is within a range of appropriate weight information preset in the comparison weight information DB; And,
c) When the compared cargo weight information is within the range of the appropriate weight information previously set in the comparison weight information DB, the cargo is loaded at the qualified place under the control of the controller, and the cargo weight information is outside the range of the appropriate weight information. Controlling the operation of the industrial robot to load the cargo in an ineligible place; Control method of the industrial robot for separating the cargo according to the weight of the cargo on the conveyor system, characterized in that consisting of.
The method of claim 3,
When the cargo weight information received in the load cell of step a) corresponds to the alarm weight information preset in the comparison weight information DB, the alarm generating unit stops the operation of the conveyor system and the operation of the industrial robot and generates an alarm to the operator. Control method of the industrial robot for separating the cargo according to the weight of the cargo on the conveyor system, characterized in that it further comprises a step.
KR1020100076205A 2010-08-09 2010-08-09 Control method and the system of industrial robot hand with gravity detector KR20120014276A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100076205A KR20120014276A (en) 2010-08-09 2010-08-09 Control method and the system of industrial robot hand with gravity detector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100076205A KR20120014276A (en) 2010-08-09 2010-08-09 Control method and the system of industrial robot hand with gravity detector

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KR20120014276A true KR20120014276A (en) 2012-02-17

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KR1020100076205A KR20120014276A (en) 2010-08-09 2010-08-09 Control method and the system of industrial robot hand with gravity detector

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101240584B1 (en) * 2012-06-26 2013-03-11 (주)엠지 Apparatus for packaging linger bags
CN103381961A (en) * 2013-07-11 2013-11-06 中山市科捷龙机器有限公司 Automatic identifying and flow splitting production line

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101240584B1 (en) * 2012-06-26 2013-03-11 (주)엠지 Apparatus for packaging linger bags
CN103381961A (en) * 2013-07-11 2013-11-06 中山市科捷龙机器有限公司 Automatic identifying and flow splitting production line

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