KR20160147336A

KR20160147336A - System for supplying a plate

Info

Publication number: KR20160147336A
Application number: KR1020150083942A
Authority: KR
Inventors: 봉민
Original assignee: 봉민
Priority date: 2015-06-15
Filing date: 2015-06-15
Publication date: 2016-12-23
Also published as: KR101853900B1

Abstract

A sheet material supply system is provided. According to an embodiment of the present invention, there is provided a sheet material supply system including: a stacking unit on which a sheet material stack is stacked; A position determination unit for photographing an upper surface of the plate material pile and calculating a position of the uppermost plate material; A position adjusting unit for adjusting the position of the top plate by moving the loading unit; A pickup unit for picking up and transporting the uppermost plate material; And a cutting unit for cutting the transferred uppermost sheet material to a predetermined size.

Description

[0001] SYSTEM FOR SUPPLYING A PLATE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sheet material supply system, and more particularly, to a sheet material supply system capable of separately feeding a sheet material to an accurate position by correcting the position of a sheet material before separating the sheet material from a stacked sheet material.

Generally, various sheets of plywood are separated one by one from various production lines such as automobile production, shipbuilding, etc. and supplied to the operation line.

1 is a view showing a sheet material supply system according to the prior art.

1, a plate material supply system 1 according to the related art loads a pallet 3 on which a plate material B is laminated by using a forklift or the like, and the robot arm 4 descends to the vacuum cylinder 5 ) To separate the sheet material (B) one by one. The separated sheet material B is conveyed to the next processing step by using a conveyor (not shown) or the like.

At this time, for precise work in the processing step, it is necessary to place the separated plate material B in the correct position. For example, when there is an error in the position of the plate material B at the time of cutting the plate material B, there arises a problem that the plate material B can not be processed into a desired size.

In order to solve this problem, an alignment operation for adjusting the position of the plate material B manually or an alignment operation for the plate material B is performed by rotating the vacuum cylinder 5 of the robot arm 4 .

However, when the alignment work of the plate material B is performed manually or by rotation of the vacuum cylinder 5 of the robot arm 4, an excessive amount of time is required for the work, and productivity may be deteriorated.

Korea Patent Publication No. 2007-0072458 (2007.07.04. Disclosed) Korea Patent Publication No. 2005-0107853 (published on November 16, 2005)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to provide a sheet material supply system capable of separately feeding a sheet material to an accurate position by previously correcting the position of the sheet material using an image of the sheet material before separating the sheet material from the stack, to provide.

Further, there is provided a sheet material supply system capable of separately supplying sheets one by one by adsorbing one region of the sheet material using two rows of adsorption plates and then adsorbing the other region.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a sheet material supply system including: a stacking unit for stacking sheet materials; A position determination unit for photographing an upper surface of the plate material pile and calculating a position of the uppermost plate material; A position adjusting unit for adjusting the position of the top plate by moving the loading unit; A pickup unit for picking up and transporting the uppermost plate material; And a cutting unit for cutting the transferred uppermost sheet material to a predetermined size.

The positioning unit may include at least four cameras each photographing four vertexes of the top plate, and a calculation module calculating the position of the top plate by analyzing images obtained from the at least four cameras .

The position determination unit may further include a movement module that moves the at least four cameras to the vertex portions of the plate material, respectively, according to the size of the plate material.

The position adjusting unit may include an X-axis driving motor for moving the loading unit in the X-axis direction on the XY plane, a Y-axis driving motor for moving the loading unit in the Y-axis direction on the XY plane, And a control module for controlling the X-axis and Y-axis driving motors and the rotation driving motors based on the calculated position of the plate material.

The pick-up unit may include a plurality of suction plates for picking up the uppermost plate material, and a plurality of spindles for moving the plurality of pick-up plates up and down, respectively.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, the position of the plate material can be corrected in advance by using the image of the plate material, and the plate material can be separately supplied to the correct position.

Further, the plate materials can be separately supplied and supplied one by one using the two rows of adsorption plates.

Thus, the working time can be reduced and the work productivity can be improved.

1 is a view showing a sheet material supply system according to the prior art.
2 is a conceptual diagram of a sheet material supply system according to an embodiment of the present invention.
3 is a detailed configuration diagram of a sheet material supply system according to an embodiment of the present invention.
4 to 6 are views showing various embodiments of images obtained in the sheet material supply system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

2 is a conceptual diagram of a sheet material supply system according to an embodiment of the present invention.

2, a sheet material supply system 100 according to an embodiment of the present invention includes a stacking unit 110, a positioning unit 120, a position adjusting unit 130, a pickup unit 140, a cutting unit 150, . &Lt; / RTI >

The loading unit 110 is a place where a stack of plate materials in which the plate material B is piled up in several layers is loaded. The sheet material pile of the loading unit 110 is picked up by the pickup unit 140 and transferred to the next processing step. At this time, the position of the plate material B is confirmed by the position determination unit 120 for alignment of the plate material B, and the position adjustment unit 130 moves the placement unit 110 based on the position of the plate material B Thereby centering the position of the plate B to the correct position.

The position determination unit 120 calculates the position of the uppermost plate material B by photographing the upper surface of the plate material pile. The position determination unit 120 confirms the positional deviation of the uppermost plate material B from the photographed image and transmits the positional drift to the position driving unit 130. [

The position adjusting unit 130 adjusts the position of the uppermost plate B by moving the loading unit 110. Specifically, the position adjustment unit 130 moves or rotates the stacking unit 110 on the plane on the basis of the position of the uppermost plate material B received from the position determination unit 120, To the correct position.

The pick-up unit 140 picks up and feeds the uppermost plate B aligned by the position adjusting unit 130. The uppermost plate material B picked up by the pickup section 140 is transferred to the cutting process.

The cut portion 150 cuts the fed plate B to a predetermined size and is transferred to the next process. 2, the plate material B picked up by the pick-up unit 140 is conveyed through a conveyor 50, and the plate material B is conveyed by a cutting unit 150, Size. The cutting unit 150 may further include a laser (not shown) or the like, and may be cut to a predetermined size using a laser or the like. The plate material B cut to a predetermined size in the cut portion 150 is sent to a next process such as a pressing process.

Hereinafter, the detailed configuration of each component of the sheet material supply system 100 will be described.

3 is a detailed configuration diagram of a sheet material supply system according to an embodiment of the present invention.

3, the camera 122 of the position determining unit 120 and the attracting plate 142 of the pick-up unit 140 may be positioned on the upper portion of the loading unit 110. The camera 122 captures the upper surface of the plate material B and the attracting plate 142 vacuum-absorbs the upper surface of the plate material B to transfer the plate material B.

The X axis driving motor 132, the Y axis driving motor 134 and the rotary driving motor 136 of the position adjusting unit 130 are positioned below the loading unit 110 to move the loading unit 110 Or rotate.

The position determination unit 120 may include a camera 122, an operation module 124, a movement module 126, and the like. The camera 122 photographs the upper surface of the plate material B, and preferably at least four cameras can be disposed so that each of the four vertexes of the uppermost plate material B can be photographed.

Further, the calculation module 124 analyzes the image obtained from the camera 122 and calculates the position of the uppermost plate B. In particular, when each camera 122 photographs four vertexes of the uppermost plate B, each vertex can be found from each image at a fast time, and the position of the uppermost plate B can be calculated more quickly. A specific calculation process of the calculation module 124 will be described later.

Then, the moving module 126 can move the camera 122 in the front, rear, left, and right directions on the upper side of the plate material B. That is, the movement module 126 can move the camera 122 in the X-axis direction and the Y-axis direction on the X-Y axis plane. Further, preferably, the moving module 126 can move the four cameras to the vertex portions of the plate material B, respectively. Accordingly, even if the size of the plate material B is very large, the camera 122 can capture all of the vertex portions of the plate material B, and the position information of the plate material B can be detected.

Particularly, the operation module 124 analyzes the images photographed by the four cameras 122 in real time, and the movement module 126 controls the cameras 122 such that each camera 122 is positioned on the vertex of each vertex of the plate B Each camera 122 can be moved.

The position adjusting unit 130 may include an X axis driving motor 132 for moving the Y axis driving motor 134, a rotation driving motor 136 for moving the Y axis driving motor 134, and a control module 138. The X-axis driving motor 132 and the Y-axis driving motor 134 move the loading unit 110 in the X-axis direction and the Y-axis direction on the X-Y plane, respectively.

Further, the rotation drive motor 136 can rotate the loading unit 110 on the X-Y plane. For example, the rotation drive motor 136 may rotate the loading section 110 clockwise and / or counterclockwise.

The control module 138 may control the motors 132, 134 and 136 to move the loading unit 110 based on the position of the plate B calculated by the position determining unit 120, Accordingly, the position of the uppermost plate B loaded on the stacking unit 110 can be aligned to a predetermined position. For example, the control module 138 may rotate each of the motors 132, 134, 136 by a CW (clockwise) / CCW (counterclockwise) command. The frames connected to the X-axis driving motor 132 and / or the Y-axis driving motor 134 move in the X-axis direction and / or the Y-axis direction on the XY plane, It can move forward / backward / left / right. As the rotation driving motor 136 rotates, the frames connected thereto are rotated, so that the loading unit 110 can rotate.

The pickup unit 140 may include a plurality of suction plates 142, spindles 144 connected to the suction plates, and the like. The adsorption plate 142 adsorbs the uppermost plate B aligned in the correct position in vacuum. For vacuum suction, a vacuum motor (not shown) or the like may be disposed inside the spindle 144, or a pneumatic tube (not shown) may be connected. Each adsorption plate 142 may be connected to a spindle 144 for vertically moving the adsorption plate 142. The spindle 144 may further include a linear motor (not shown) or the like for up and down movement.

The pick-up unit 140 may further include a structure 146 for moving up and down, back and forth, and right and left. The spindle 144 and the attracting plate 142 are connected to the structure 146 and the structure 146 is connected to a hydraulic cylinder (not shown) and an actuator (not shown) so as to be moved up and down, , The plate material B picked up by the pick-up unit 140 can be transferred to a desired processing position.

4 to 6 are views showing various embodiments of images obtained in the sheet material supply system according to an embodiment of the present invention.

4 to 6, various images I obtained by photographing the upper part of the plate material B by the camera 122 and obtaining various images and showing the vertices of the plate material B are shown. By analyzing the image I, it is possible to calculate the current position of the plate B and confirm whether the plate B is broken. The calculation of the image and the calculation of the position of the plate B can be performed by the calculation module 124.

4 to 6, the calculation module 124 can extract the plate material B and the loading unit 110 in the image I. For example, an edge detection algorithm is used to detect each edge line of the plate material B and the loading unit 110 in the image I, and the vertex of the plate material B and the loading unit 110 is set to 2 It can be displayed in dimension coordinates.

Alternatively, the area of the plate material B and the loading unit 110 can be analyzed using the pixel value of each pixel of the image. For example, the outer shape of the plate material B and the loading unit 110 can be detected by binarizing the image I of the image. All pixels of a binarization image are represented only by black and white, and pixels having a low value based on a predetermined threshold value as a reference for black can be represented as white. The predetermined threshold value may be an average of brightness values of all the pixels, or iterative selection, two peak method, or the like. At this time, erosion and dilation operations are performed on the binarized image to remove the noise of the binarized image. That is, the background area is expanded with respect to the area of the plate material B and the loading unit 110, which are the subject area, by erosion calculation, and the noise component around the subject area is reduced or reduced by reducing the size of the subject. In order to restore the size of the reduced image of the subject, the size of the image of the plate material B and the image of the loading unit 110 is enlarged and the background is reduced through an expansion calculation. Then, each area of the plate material B and the loading unit 110 is determined and extracted based on the obtained binarized image. At this time, each area of the plate material B and the loading unit 110 is determined using a labeling operation. That is, a labeling operation is performed to give different numbers to the respective areas of the plate material B and the loading unit 110, and a different number is assigned to each area of the plate material B and the loading unit 110 And reconstructs the binarized image to determine and extract the respective regions of the plate material B and the loading unit 110.

It goes without saying that the area of the plate material B and the loading unit 110 can be derived by analyzing the image I with various image analysis algorithms that can be adopted by those skilled in the art.

In FIG. 4, the four vertexes b1 to b4 of the plate material B and the four vertexes a1 to a4 of the loading unit 110 can be derived using the above-described method or various image analysis algorithms. Four vertexes of each region of the plate material B and the loading unit 110 can be represented by two-dimensional coordinate information.

The distance between the adjacent vertexes a1, b1, a2, b2, a3, b3, a4, b4 is determined, The distance between the plates A and B1 and the distance between the plates A and B may be determined by determining the distances between the plates A and B1, a2, b2, a3 and b3, and a4 and b4. It can be judged that it is not centered.

When the plate member B is not centered on the loading unit 110, after the position adjusting unit 130 moves the loading unit 110 to adjust the position of the uppermost plate B, Since the uppermost plate material B is adsorbed, the pick-up unit 140 can place the plate material B in the correct position of the next step.

In addition, in FIG. 5, each edge of the plate material B can be derived using the above-described method or various image analysis algorithms. Then, diagonal lines can be formed at four vertices of each edge line. When the diagonal crossing lines of the plate material B and the loading section 110 coincide with each other, the plate material B is centered on the loading section 110, It can be judged that it is not centered. The plate material B is centered on the loading section 110 if the diagonal cross line of the plate material B and the center point of the diagonal cross line of the loading section 110 coincide with each other, It can be judged that the loading unit 110 is not centered.

When the plate member B is not centered on the loading unit 110, after the position adjusting unit 130 moves the loading unit 110 to adjust the position of the uppermost plate B, The uppermost plate material B is adsorbed.

In Fig. 6, four images (I-1 to I-4) can be obtained from at least four cameras. Edges and vertices can be detected using the above-described method or various image analysis algorithms in each of the images (I-1 to I-4). Here, one vertex of the plate B and one vertex of the stacking unit 110 can be derived from one image. The distance between the vertex of the plate material B and the vertex of the loading unit 110 in each of the images I-1 to I-4 can be determined and it can be confirmed whether or not the plate material B is twisted therefrom.

Alternatively, a diagonal cross line is formed from the vertex of the plate material B and the vertex of the loading unit 110 to the vertex side of the image in each of the images I-1 to I-4, It can be judged that the loading unit 110 is not centered. If the center points do not coincide with each other, it can be determined that the plate material B is not centered on the loading unit 110. At this time, it is possible to determine whether the position of the plate material B is in the correct position by using only one image, for example, the I-1 image, and the calculation time of the calculation module 124 can be reduced.

As shown in FIG. 6, when four images are used, four arithmetic chips of the arithmetic module 124 connected to the respective cameras 122 are constituted to reduce the calculation process of calculating the position of the top plate have.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: Sheet material supply system
110: loading section 120: positioning section
130: position adjustment section 140: pickup section
150:

Claims

A loading section on which the sheet material stack is loaded;
A position determination unit for photographing an upper surface of the plate material pile and calculating a position of the uppermost plate material;
A position adjusting unit for adjusting the position of the top plate by moving the loading unit;
A pickup unit for picking up and transporting the uppermost plate material; And
And a cutting section for cutting the transported uppermost sheet material to a predetermined size.

The method according to claim 1,
The position-
At least four cameras for photographing four vertices of the top plate,
And a calculation module for analyzing images obtained from the at least four cameras and calculating a position of the top plate.

3. The method of claim 2,
The position-
And a moving module for moving the at least four cameras to the vertex portions of the plate material, respectively, according to the size of the plate material.

The method according to claim 1,
The position adjustment unit,
An X-axis driving motor for moving the mounting portion in an X-axis direction on an XY plane,
A Y-axis drive motor for moving the mounting portion in the Y-axis direction on the XY plane,
A rotation driving motor for rotating the loading unit on an XY plane,
And a control module that controls the X-axis and Y-axis drive motors and the rotation drive motor based on the calculated position of the plate material.

The method according to claim 1,
The pick-
A plurality of adsorption plates for adsorbing the uppermost plate material,
And a plurality of spindles for moving the plurality of suction plates up and down respectively.