KR20140144569A - A device for aligning banknotes using robot arms and the banknote alignment method using the same - Google Patents

A device for aligning banknotes using robot arms and the banknote alignment method using the same Download PDF

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Publication number
KR20140144569A
KR20140144569A KR20130066696A KR20130066696A KR20140144569A KR 20140144569 A KR20140144569 A KR 20140144569A KR 20130066696 A KR20130066696 A KR 20130066696A KR 20130066696 A KR20130066696 A KR 20130066696A KR 20140144569 A KR20140144569 A KR 20140144569A
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KR
South Korea
Prior art keywords
medium
robot arm
media
conveying
conveyed
Prior art date
Application number
KR20130066696A
Other languages
Korean (ko)
Inventor
권용관
Original Assignee
노틸러스효성 주식회사
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 노틸러스효성 주식회사 filed Critical 노틸러스효성 주식회사
Priority to KR20130066696A priority Critical patent/KR20140144569A/en
Publication of KR20140144569A publication Critical patent/KR20140144569A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/80—General aspects of machine operations or constructions and parts thereof
    • B29C66/84—Specific machine types or machines suitable for specific applications
    • B29C66/863—Robotised, e.g. mounted on a robot arm
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/10—Mechanical details
    • G07D11/16—Handling of valuable papers
    • G07D11/17—Aligning
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F19/00—Complete banking systems; Coded card-freed arrangements adapted for dispensing or receiving monies or the like and posting such transactions to existing accounts, e.g. automatic teller machines
    • G07F19/20—Automatic teller machines [ATMs]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1912—Banknotes, bills and cheques or the like
    • 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
    • Y10S902/00—Electronic funds transfer
    • Y10S902/08—Terminal* with means permitting deposit or withdrawal, e.g. ATM

Abstract

The present invention relates to a medium alignment apparatus using a robot arm and a medium alignment method thereof. The medium alignment apparatus according to an embodiment of the present invention is arranged on a rear conveying path of an automatic teller machine and aligns the conveyed mediums by using the robot arm. The robot arm includes: a medium pick-up unit which picks up the mediums conveyed along the conveying path; and a robot arm driving unit which rotates, lifts, and moves the robot arm in all four directions.

Description

[0001] The present invention relates to a media aligning apparatus and a media aligning method using a robot arm,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a media aligning apparatus and a media aligning method using a robot arm, and more particularly, to a media aligning apparatus and a media aligning method using a robotic arm, A skew and a transport position of the medium are photographed by picking up the transport state of the medium transported through the medium recognition camera and picked up the medium transported using the robot arm , Corrects the skew and the conveying position of the medium conveyed on the basis of the recognition information of the medium recognized by the medium recognition camera to a predetermined alignment position, and transmits the skew and conveying position to the conveying path of the medium discriminating portion by accurately aligning the medium entering the medium discriminating portion , Even in the case of different sizes and types of media (check and banknotes), and can be arranged longitudinally and transversely The payment method, such as aroma deposit method relates to media devices and media arranged alignment method using a robotic arm that can be applied extensively automated teller giedo media of various different types.

In general, a medium automatic teller machine (ATM) for automatically inputting / outputting a banknote or a check, such as an automatic teller machine (ATM), is widely used in financial institutions such as banks and the like, It is an automation device that allows basic financial services such as withdrawal or transfer to be used freely regardless of place and time.

In such a media automatic teller machine, there is provided a deposit and withdrawal portion for allowing a customer to receive a medium such as a banknote or a check for deposit and withdrawal transactions, thereby allowing the customer to deposit and withdraw the medium.

When a customer inserts a banknote or a check or other medium in the deposit process through the deposit / withdrawal unit, the inserted medium is conveyed to the medium discrimination unit through the conveying route, and is subjected to a medium process such as discrimination of whether it is counterfeit or not.

In this case, when the loaded medium is processed in a state in which the loaded medium is not properly aligned, a malfunction may occur in various apparatuses performing the medium processing process, resulting in a failure that the medium is not normally processed.

Therefore, a media sorting device for aligning the media is essentially constituted in a media automatic input / output device such as a financial automation device, and media (bills and checks) having mutually different sizes and types are arranged by such a media sorting device, It is possible to accurately recognize and distinguish the information recorded in the recording medium.

However, in the conventional media aligning apparatus applicable to the financial automation equipment and the like, in the case where the medium aligning apparatus aligns the medium by using the rollers, the media are aligned simultaneously with the running of the medium, The recognition process in the media discrimination unit may not be performed properly and the media may be wrinkled or torn during the alignment process of the media.

Further, in the case where the medium aligning apparatus accommodates the medium and vibrates to align the medium, it is impossible to perfectly align the medium when the media having different sizes are input, There is a problem that a malfunction such as malfunction may occur.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a media recognition camera and a robotic arm provided on a conveying path of a media automatic teller machine, A skew and a transport position of the medium are photographed by photographing the transport state of the medium transported through the medium recognition camera, picks up the medium transported using the robot arm, The skew and the conveying position of the medium conveyed on the basis of the recognition information of the medium are corrected to a predetermined alignment position and are conveyed to the conveying path of the medium discriminating portion side so that the medium entering the medium discriminating portion is accurately aligned, In the case of media (checks and bills), they can be sorted effectively, and deposit methods such as a longitudinal deposit method and a lateral deposit method To provide a medium alignment apparatus and media alignment method using a robotic arm that can be widely applied to other various types of media Automatic Teller it is an object.

In order to achieve the above object, the present invention provides a medium aligning apparatus for aligning a medium to be conveyed provided on a conveying path of a deposit-and-withdrawal portion of a media automatic teller machine, A media recognition camera that captures a conveying state of a medium that is fed through the deposit-and-withdrawal unit and is conveyed, and recognizes a skew and a conveying position of the photographed medium; The pickup device picks up the medium transported along the transport path and corrects the skew and transport position of the picked-up medium based on the recognition information of the medium recognized by the medium recognition camera to a preset alignment position, And a robot arm for transmitting the medium to the transport path.

As described above, in the media sorting apparatus using the robot arm according to the present invention, when the medium inserted through the deposit / withdrawal portion of the automatic media entry / exit machine is conveyed from the deposit / withdrawal portion, the conveyance state of the medium conveyed through the media recognition camera is photographed The skew and the conveying position of the medium conveyed on the basis of the recognition information of the medium recognized from the medium recognition camera are picked up in advance by picking up the medium conveyed using the robot arm By correcting the alignment position to the set alignment position and transferring it to the medium discrimination unit side transportation path, the medium entering the medium discrimination unit can be accurately aligned, and also the mediums (check and paper money) of different sizes and types can be effectively arranged.

In addition, the media sorting apparatus using the robot arm according to the present invention can be widely applied to various kinds of automatic media input / output apparatuses having different types of depositing methods such as a longitudinal deposit method and a lateral deposit method by arranging the medium with a robot arm .

1 is a side view schematically showing a configuration of a media sorting apparatus using a robot arm according to an embodiment of the present invention;
2 is a plan view showing a configuration of a robot arm in a media aligning apparatus using a robot arm according to an embodiment of the present invention.
FIGS. 3 to 6 are diagrams illustrating an operation process of a robot arm included in a media aligning apparatus using a robot arm according to an embodiment of the present invention
FIG. 7 is a flowchart showing a medium sorting method of a medium sorting apparatus using a robot arm according to an embodiment of the present invention

Hereinafter, the embodiments of the present invention will be described in detail, but the present invention is not limited to the following embodiments unless they depart from the gist of the present invention.

FIG. 1 is a side view schematically showing a configuration of a media aligning apparatus using a robot arm according to an embodiment of the present invention. FIG. 2 is a schematic view showing a configuration of a robot arm in a media aligning apparatus using a robot arm according to an embodiment of the present invention. Fig.

As shown in FIGS. 1 and 2, a media sorting apparatus using a robot arm according to an embodiment of the present invention is provided on a conveying path 30 behind a media automatic teller machine depositing and dispensing section 10, A medium recognition camera 100 for photographing a conveying state of the medium 1 which is fed through the unit 10 and conveyed, and recognizing a skew and a conveying position of the photographed medium; Picks up the medium 1 conveyed along the conveying path 30 and picks up the skew and conveyance position of the medium 1 picked up based on the recognition information of the medium recognized from the medium recognition camera 100 And a robot arm 200 for carrying the corrected medium 1 to a predetermined alignment position and then delivering the corrected medium 1 to the conveying path 30 of the medium discriminating portion 20. [

That is, the present invention as described above is a media aligning apparatus which is provided in a media automatic teller machine such as a financial automation machine and aligns a medium to be fed through the deposit / withdrawal portion and transported, And a robot arm for aligning the medium to be transported is provided at the rear of the medium recognition camera so that when the medium inserted through the deposit and withdrawal portion is transported along the transport path, , Recognizes the skew of the medium and the conveying position, picks up the medium conveyed using the robot arm, and recognizes the recognition information of the medium recognized from the medium recognition camera The skew and the transport position of the transported medium are corrected to the predetermined alignment positions and are transmitted to the transporting path of the medium discrimination unit side It is possible to accurately align the media entering the media discriminating portion and effectively arrange the media of the same size and type (check and banknote), and in addition, the depositing method such as the longitudinal depositing method and the lateral depositing method And can be widely applied to other various types of automatic media input / output devices.

Hereinafter, the configuration of a media sorting apparatus using a robot arm according to an embodiment of the present invention will be described in detail. A media recognition camera 100 is installed on an upper part of a conveyance path 30 on the deposit / withdrawal unit 10, (10), and recognizes the skew and transport position of the photographed medium (1).

1, when the medium 1 is inserted through the deposit / withdrawal portion 10 of the automatic teller machine, the deposit / withdrawal portion 10 is fed with the medium 1 And the medium recognition camera 100 provided at the upper part of the conveying path 30 on the deposit and withdrawal part 10 is conveyed one by one along the conveying path 30 The skew of the medium and the conveying position on the conveying path are recognized through an image or an image of the photographed medium 1. [

As described above, the medium recognition camera 100 recognizes the degree of skew of the medium and the degree of deviation from the reference transport position through the image or image of the photographed medium 1, and transmits the recognition information of the medium to the robot arm 200 .

The robot arm 200 is provided on a conveying path 30 behind the medium recognition camera 100 and picks up the medium 1 conveyed along the conveying path 30 from the deposit- And aligns the picked-up medium 1 on the basis of the recognition information of the medium received from the medium recognition camera 100.

That is, the robot arm 200 picks up the medium 1 conveyed along the conveying path 30 from the deposit-and-withdrawal portion 10 and picks up the recognition information of the medium received from the medium recognition camera 100 And transports the corrected medium 1 to the conveying path 30 on the side of the medium discriminating unit 20. The medium 1 is conveyed to the conveying path 30 on the medium discriminating unit 20 side.

At this time, the robot arm 200 picks up, corrects, and transports the medium 1 in accordance with the conveying speed of the medium 1 conveyed along the conveying path 30 from the depositing and dispensing section 10, And is conveyed to the conveying path 30 so that each medium 1 to be conveyed and conveyed can be introduced into the medium discriminating part 20 at regular intervals.

1 and 2, the robot arm 200 includes a medium pickup unit 210 for picking up the medium 1 transported along the transport path 30, And a robot arm driving unit 220 that rotates, lifts, and moves the robot arm 210 in the left and right directions.

Here, the medium pickup unit 210 may be configured to pick up the medium 1 in various manners. For example, in this embodiment, the medium pickup unit 210 is configured to pick up the medium 1 using a vacuum adsorption method.

That is, in the case where the medium pickup section 210 uses the vacuum suction method as in the present embodiment, the vacuum pickup pad 211 is provided on the lower part (the part opposite to the conveying path) of the medium pickup section 210, It is needless to say that various methods of stably picking up and transporting the transported medium 1 can be applied.

The robot arm driving unit 220 drives the X axis feed unit 221, the Y axis feed unit 222, the Z axis feed unit 223, and the rotation drive unit (not shown) so that the media pickup unit 210 can be rotated, elevated, 224).

As shown in FIGS. 1 and 2, the X-axis transporting unit 221 is disposed along the medium transport direction on the transport path 30, and the transport direction of the medium transport direction Axis transporting unit 222, which is disposed in a direction orthogonal to the Y-axis transporting unit 221 and connected to the X-axis transporting unit 221, along the X-axis direction in FIG.

The Y-axis transporting unit 222 is configured to move along the direction perpendicular to the medium transport direction (Y-axis direction in FIG. 2) as the medium pickup unit 210 is disposed in the direction orthogonal to the medium transport direction.

The Z-axis transport unit 223 is provided between the media pickup unit 210 and the Y-axis transport unit 222 to move the media pickup unit 210 up and down.

The rotation drive unit 224 is connected to the media pickup unit 210 to rotate the media pickup unit 210 left and right.

Here, the rotation driving unit 224 may be configured to rotate the medium pickup unit 210 with a servomotor or the like that is easy to control the rotation.

The X-axis transferring section 221, the Y-axis transferring section 222 and the Z-axis transferring section 223 described above may be constituted by a combination of a controllable motor and gear, or may be constituted by a combination of a motor, a pulley and a belt, It goes without saying that the conveying means can be applied.

FIGS. 3 to 6 are views showing the operation of the robot arm constructed as described above.

3, a Y-axis transport unit 222 is disposed on the transport path 30 side of the deposit / withdrawal unit 10 and a medium pickup unit 210 connected to the Y axis transport unit 222 is disposed on the transport path 30 When the medium 1 transported along the transport path 30 is located at the bottom of the medium pickup section 210 in the initial state in which the medium pickup section 223 is disposed at the center reference position, (210) to pick up the medium (1).

4, the medium driving unit 224 drives the media pickup unit (not shown) by a skew amount of the medium 1 based on the recognition information of the medium transmitted from the medium recognition camera 100 (see FIG. 1) 210) to correct the skew of the medium 1 and feed the medium pickup section 210 in the direction orthogonal to the medium transport direction (Y-axis direction in FIG. 4) through the Y-axis transporting section 222, 1 is aligned with the conveying reference line (a).

5, the media pickup unit 210 is moved to the conveying path 30 side of the media discriminating unit 20 through the X axis conveying unit 221, and then the media pickup unit 210 is moved up and down The medium 1 picked up by the medium discriminating portion 20 is transferred onto the conveying path 30 on the medium discriminating portion 20 side so that the medium 1 delivered to the conveying path 30 on the medium discriminating portion 20 is correctly aligned And enters the medium discrimination unit 20 in a maintained state.

After transferring the medium 1 picked up through the medium pickup section 210 onto the conveying path 30 on the medium discriminating section 20 as in the process of FIG. 5, as shown in FIG. 6, The pickup unit 210 is returned to the initial state to pick up the medium 1 to be transported next, and the above-described processes are repeated.

Hereinafter, a method of aligning media using a media aligning apparatus using a robot arm according to an embodiment of the present invention will be described.

FIG. 7 is a flowchart illustrating a media sorting method of a media sorting apparatus using a robot arm according to an embodiment of the present invention.

As shown in FIG. 7, in the media sorting method of the media sorting apparatus using the robot arm according to the embodiment of the present invention, when the media inputted through the depositing / dispensing section of the automatic media input / And the skew and the conveying position of the photographed medium are recognized (S110)

At this time, the medium recognition camera recognizes the degree of skew of the medium and the degree of deviation from the reference transport position through the image or image of the photographed medium, and transmits the recognition information of the medium to the robot arm (S120)

Then, when the medium recognized by the medium recognition camera is conveyed to the robot arm along the conveying path, the robot arm is operated to pick up the medium to be conveyed (S130), and based on the recognition information of the medium transmitted from the medium recognition camera The skew and the transport position of the pickup medium are corrected (S140)

That is, in correcting the skew and the transport position of the medium picked up through the robot arm, the skew is corrected by rotating the medium picked up through the robot arm based on the recognition information of the medium transmitted from the medium recognition camera, Direction so that one end of the medium is aligned with the transport reference line.

Then, the medium in which the skew and the conveying position are corrected through the robot arm is conveyed in the medium conveying direction and transferred to the conveying path of the medium discriminating portion side (S150). Thereafter, the robot arm is returned to the initial position (S160)

At this time, when the medium is continuously conveyed through the cash-on-delivery-side conveying path, the medium recognition camera and the robot arm repeatedly operate the above-described processes to continuously recognize the conveying medium and correct the skew and conveying position of the medium And delivers the sorted media to the sorting conveying path.

According to the embodiment of the present invention as described above, the media aligning device using the robot arm is provided on the conveying path behind the media automatic teller machine deposit / withdrawal portion so as to correct the skew and conveying position of the conveyed medium, In addition, the media aligning apparatus of the present invention is also useful for aligning media stored in a media cassette. In this case, the media aligning apparatus according to the present invention can be used as a media auto- The apparatus may be configured to arrange the medium conveyed to the medium cassette by being installed on a conveyance path in front of the medium cassette storing the medium in the apparatus.

That is, when the medium aligning apparatus is provided on the conveying path in front of the medium cassette as described above, the media stored in the medium cassette are stacked in an aligned state by aligning the skew and the conveying position of the medium conveyed by the medium cassette , It is possible to improve the medium stack efficiency of the medium cassette.

As described above, in the media sorting apparatus using the robot arm according to the present invention, when the medium inserted through the deposit / withdrawal portion of the automatic media entry / exit machine is conveyed from the deposit / withdrawal portion, the conveyance state of the medium conveyed through the media recognition camera is photographed The skew and the conveying position of the medium conveyed on the basis of the recognition information of the medium recognized from the medium recognition camera are picked up in advance by picking up the medium conveyed using the robot arm By correcting the alignment position to the set alignment position and transferring it to the medium discrimination unit side transportation path, the medium entering the medium discrimination unit can be accurately aligned, and also the mediums (check and paper money) of different sizes and types can be effectively arranged.

In addition, the media sorting apparatus using the robot arm according to the present invention can be widely applied to various kinds of automatic media input / output apparatuses having different types of depositing methods such as a longitudinal deposit method and a lateral deposit method by arranging the medium with a robot arm .

1: Medium 10:
20: Medium discrimination unit 30:
100: medium recognition camera 200: robot arm
210: Media pickup unit 211: Vacuum adsorption pad
220: Robot arm driving unit 221: X axis transfer unit
222: Y-axis feed portion 223: Z-axis feed portion
224: rotation driving part a: conveying reference line

Claims (10)

A medium aligning apparatus for aligning a medium to be conveyed provided on a deposit / withdrawal portion rear conveying path of a medium automatic teller machine,
A media recognition camera provided on a conveying path behind the deposit-and-withdrawal portion to capture a conveying state of a medium that is fed through the deposit-and-withdrawing portion and conveyed, and recognizes a skew and a conveying position of the photographed medium;
The pickup device picks up the medium transported along the transport path and corrects the skew and transport position of the picked-up medium based on the recognition information of the medium recognized by the medium recognition camera to a preset alignment position, A robot arm for transferring the medium to a transport path;
And a controller for controlling the operation of the robot arm.
The method according to claim 1,
The robot arm includes:
A medium pickup unit for picking up a medium conveyed along the conveyance path;
A robot arm driving unit for moving the media pickup unit in the direction of rotation, elevation, and transverse movement;
And a controller for controlling the operation of the robot arm.
3. The method of claim 2,
The medium pickup unit includes:
Wherein the medium is picked up through a vacuum adsorption method.
3. The method of claim 2,
The robot arm driving unit includes:
An X-axis conveying unit provided on the conveying path along the medium conveying direction;
A Y-axis feeder which is connected to the X-axis feeder and is conveyed in the medium conveying direction by driving of the X-axis conveying unit and arranged in the direction orthogonal to the medium conveying direction to convey the medium pickup in the direction perpendicular to the medium conveying direction;
A Z-axis conveying unit connected to the Y-axis conveying unit to move the media pickup unit up and down;
A rotation driving unit that rotates the media pickup unit from side to side;
And a controller for controlling the operation of the robot arm.
The method according to claim 1,
Wherein the medium alignment device comprises:
Wherein the controller is provided on a conveying path in front of the medium discriminating part in the automatic media input / output device.
The method according to claim 1,
Wherein the medium alignment device comprises:
Wherein the media cassette is provided on a conveyance path in front of the media cassette in the media automatic input / output device.
A method for aligning a medium conveyed to a conveying path of a media auto-
Capturing a state of a medium conveyed to the conveying path via a medium recognition camera, recognizing a skew and a conveying position of the photographed medium;
Transmitting recognition information of the medium recognized by the medium recognition camera to the robot arm;
Picking up a medium transported through the robot arm;
A step of correcting a skew and a transport position of the picked-up medium by driving a robot arm based on recognition information of the medium transmitted from the medium recognition camera;
Transmitting the corrected medium to a transport path via a robot arm;
Returning the robot arm to an initial position;
Wherein the robot arm comprises a plurality of robot arms,
8. The method of claim 7,
In the step of picking up the medium through the robot arm,
A medium sorting method using a robotic arm, characterized by picking up a medium by using a vacuum adsorption method
8. The method of claim 7,
In the step of correcting the skew and the transport position of the pick-up medium,
And correcting the skew by rotating the picked-up medium, moving the picked-up medium in a direction orthogonal to the medium transport direction, and correcting one end of the medium to be aligned with the transport reference line.
8. The method of claim 7,
The robot arm includes:
And performing pick-up, correction, and delivery of the medium in accordance with the medium conveying speed on the conveying path.
KR20130066696A 2013-06-11 2013-06-11 A device for aligning banknotes using robot arms and the banknote alignment method using the same KR20140144569A (en)

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KR20130066696A KR20140144569A (en) 2013-06-11 2013-06-11 A device for aligning banknotes using robot arms and the banknote alignment method using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR20130066696A KR20140144569A (en) 2013-06-11 2013-06-11 A device for aligning banknotes using robot arms and the banknote alignment method using the same

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114821891A (en) * 2021-01-29 2022-07-29 光荣株式会社 Media processing system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114821891A (en) * 2021-01-29 2022-07-29 光荣株式会社 Media processing system

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