KR20200072759A - Robot marking system and robot marking method using the same - Google Patents

Abstract

The present invention relates to a robot marking system marking a product by using an industrial robot. The system includes: a multi-joint robot; a marking unit installed on the head of the multi-joint robot, and including a first sensor for sensing an edge of a marking target product, a second sensor for measuring a distance to the surface of the product, and a marking nozzle for spraying ink; a robot controller controlling the operation of the multi-joint robot; an ink unit controlling the supply of ink to the marking nozzle; a cleaning unit for cleaning the marking nozzle; and a control part horizontally moving the marking unit from the first sensor to an offset position on the product and vertically moving the marking unit from the second sensor to a predetermined height, and then, controlling the robot controller and the ink unit to mark the product, and also, moving the marking unit to the position of the cleaning unit before or after the marking of the product, and then, controlling the cleaning unit to clean the marking nozzle. Therefore, the robot marking system is capable of handling various marking requests in a one-machine multi-product fashion, facilitating the facility alteration and maintenance of a user and minimizing exposure to accident risks. Moreover, the system is capable of preventing ink hardening or nozzle clogging by cleaning the marking nozzle.

Description

Robot marking system and robot marking method using the same{ROBOT MARKING SYSTEM AND ROBOT MARKING METHOD USING THE SAME}

The present invention relates to an automated facility system for marking a product using an industrial robot, and more particularly, to a robot marking system for performing printing by spraying ink at a fixed position on a product surface, and a robot marking method using the same.

In the domestic and foreign device industry, the facilities that can mark products are common, but considering that the steel production area is always exposed to weight, heat, and other risks of accidents, the marking facilities in this environment are users. There has been a demand for development of a robot marking system that needs to be easy to change and maintain its facilities, minimize exposure to risk, and can easily mark various locations of multi-product products.

On the other hand, since the existing marking equipment is fixed, unnecessary time and money are input for maintenance, repair, and change, and it is difficult for the user to easily change the equipment and it is inevitable to mark one type of machine. I came to propose a system.

[Prior Art Document] Patent Registration No. 10-1607842 (2016.03.25.)

Patent Publication No. 10-2014-0074568 (2014.06.18.)

Therefore, the object of the present invention is a multi-variety of one machine, capable of responding to various marking needs, easy to change and maintain the user's equipment, and a robot marking system capable of minimizing exposure to accident risk and a robot marking method using the same To provide.

The present invention to achieve the above object is a multi-joint robot; It is installed on the head of the articulated robot, a first sensor for sensing an edge of a product to be marked, a second sensor for measuring a distance from the surface of the product, and a marking nozzle for spraying ink Marking unit having a; A robot controller that controls the operation of the articulated robot; An ink unit that controls ink supply to the marking nozzle; A cleaning unit for cleaning the marking nozzle; And controlling the robot controller from the detection signal of the first sensor to horizontally move the marking unit from the edge to a constant offset position on the product, and controlling the robot controller from the detection signal of the second sensor to mark the unit. After vertically moving to a constant height on the product, marking the product is performed by controlling the robot controller and the ink unit, and controlling the robot controller before or after marking the product to control the marking unit. It provides a robot marking system characterized in that it comprises a control unit for moving to the position of the cleaning unit and then controlling the cleaning unit to perform cleaning for the marking nozzle.

Here, the cleaning unit is provided with an alcohol solvent nozzle and an air injection nozzle, the control unit, when performing the cleaning for the marking nozzle, primarily by placing the marking nozzle on the alcohol solvent nozzle to spray the alcohol solvent nozzle The marking nozzle may be cleaned, and secondly, the marking nozzle may be positioned on the air injection nozzle to spray the air injection nozzle to perform blowing on the marking nozzle.

At this time, the marking unit is further provided with a base plate installed to be connected to the head of the articulated robot, the first sensor, the second sensor and the marking nozzle are mounted on the base plate, and the temperature of the marking nozzle In order to measure the temperature, a temperature sensor mounted on the base plate is further provided, and the controller cleans the marking nozzle when the temperature of the marking nozzle sensed through the temperature sensor satisfies a constant low temperature cleaning temperature condition. It may also take a configuration to perform.

On the other hand, in order to achieve the above object, the present invention, in the robot marking method using the robot marking system as described above, detecting and stopping the product approaching along a constant transfer line; Controlling the robot controller from the detection signal of the first sensor to horizontally move the marking unit from the edge to a constant offset position on the product; Controlling the robot controller from the detection signal of the second sensor to vertically move the marking unit to a constant height on the product; Marking the product by controlling the robot controller and the ink unit; Determining whether the text is normal by scanning text marked on the product surface through a camera; And controlling the robot controller before or after marking the product to move the marking unit to a position of the cleaning unit and then controlling the cleaning unit to perform cleaning on the marking nozzle. To provide a robot marking method.

As described above, according to the robot marking system according to the present invention and the robot marking method using the same, it is possible to cope with various kinds and various marking needs with one robot marking system, so any place within the operating range of the multi-joint robot without any space restrictions Since it can be marked anywhere, it has strengths in terms of system flexibility and application diversity.

In addition, by applying the automation of the marking system using a robot to the steel plate product factory through the present invention, it is possible to contribute to the realization of low-cost, high-efficiency smart factory and to expand the automation of the steel industry, product weight and heat, etc. It can reduce exposure to numerous accident risks.

Particularly, according to the robot marking system and the robot marking method using the same according to the present invention, ink is fixed or nozzle clogged by moving the marking unit to the position of the cleaning unit before and after marking on the product to perform cleaning on the marking nozzle. It can prevent and maintain excellent marking quality continuously.

1 is a block diagram of a robot marking system according to an embodiment of the present invention,
Figure 2 is a schematic configuration diagram showing an implementation example according to the block diagram of Figure 1,
3 is a perspective view showing an implementation example of the multi-joint robot and the marking unit of FIG. 1,
Figure 4 is an enlarged view of the marking unit of Figure 3,
5 is a flowchart of a robot marking method according to an embodiment of the present invention,
6 to 11 is a schematic diagram showing an implementation example of each step of the method of FIG. 5,
12 is a schematic view showing a cleaning step implemented in addition to the method of FIG. 5,
13 is a schematic view showing an implementation example of the cleaning unit of FIG. 1 and a state in which the marking unit is cleaned.

The robot marking system 100 according to an embodiment of the present invention includes a multi-joint robot 110 that performs marking as shown in FIGS. 1 and 2 and a marking unit 120 (see FIG. 3) installed therein. . Further comprising a robot controller 130 for controlling the operation of the articulated robot 110, an ink unit 140 for controlling the ink supply to the marking unit 120, these robot controller 130 and the marking unit 120 ) Is simultaneously controlled by the control unit 150, and the control unit 150 is remotely controlled by the main HMI PC 170 through the upper system hub 160.

A flexible pendant (180) that allows teaching and manually manipulating the articulated robot 110 is connected to the robot controller 130, and the robot marking system 100 is installed at the installation site of the articulated robot 110. A local OP panel 190 is installed, which enables manipulation of the functions associated with it. In addition, a plurality of cameras 200 for sensing and inspecting the product 1 to be marked is connected to the main HMI PC 170.

The marking unit 120 is connected to and installed on the head 111 side of the articulated robot 110 as shown in FIG. 3, and is mounted on the plate surface of the base plate 121 vertically standing as shown in FIG. 4. The first sensor 122 and the second sensor 123 are mounted side by side, and a marking nozzle 124 for ejecting ink in accordance with the left end of the plate surface is mounted. Limit switches 125 and 126 are protruded on both sides of the marking nozzle 124 along the plate surface to prevent contact breakage of the marking nozzle 124 due to access to an external object.

marking The cleaning unit (210 in FIG. 1) for cleaning the nozzle 124 is configured to be disposed adjacent to the articulated robot 110 opposite to the product 1 as shown in FIG.

The robot marking system 100 having the above-described configuration operates according to the sequence shown in FIG. 5.

First, after the initial system has been set up and initialized, the product 1, which is being transported along a constant transport line as shown in FIG. 6, is detected through the camera 201. The detection of the product 1 can also be detected through the photosensor 211, and the detected signal is transmitted to the main HMI PC (170 in FIG. 1) and pad-backed to stop the transfer line (S1). ).

When the product 1 is stopped, the multi-joint robot 110 to perform marking as shown in FIG. 7 approaches the edge of the product 1, that is, the edge 1a and detects it (S2). The detection of the edge 1a may be performed by a camera 202 separately installed on the robot 110 side or by a first sensor 122 which is a laser sensor provided in the marking unit 120.

When the edge 1a of the product 1 is detected, as shown in FIG. 8, the articulated robot 110 is driven to move the marking unit 120 at a constant distance d1 in the opposite direction of the product 1 transport direction. ) To the horizontal position (S3). The transfer distance to the offset position can also be measured through the camera 203. Through this, the marking nozzle 124 of the marking unit 120 has a constant offset distance d2 from the edge 1a of the product 1, which is a starting point of nozzle printing.

Next, as illustrated in FIG. 9, the articulated robot 110 descends to approach a constant height (h) with the product 1 through the second sensor 123 which is a laser sensor of the marking unit 120. (S4). Accordingly, the marking distance to be performed by the marking nozzle 124 is adjusted. At this time, the concept of'falling' to'vertical' of the marking unit 120 is a relative concept meaning'approaching' to the surface of the product 1, and thus is not an absolute concept that means perpendicular to the general ground.

As described above, when the offset distance d2 on the product 1 and the marking height h are matched, the marking unit 120 and the articulated robot 110 are driven to mark the nozzle 124 as shown in FIG. 10. Marking by) is started (S5).

When the marking of the text is completed, as shown in FIG. 11, the marked text is scanned through the camera 204 to check whether the marking is normal on the main HMI PC (170 in FIG. 1) (S6). The camera 204 may be installed in the articulated robot 110 or fixedly installed in a separate and independent position.

As above, for product(1) Marking After completion or Marking Before starting, the control unit (150 in FIG. 1) controls the robot controller 130 to marking As shown in FIG. 12, the unit 120 is rotationally driven to face the cleaning unit 210 on the opposite side of the product 1. marking The nozzle cleaning for the unit 120 is performed.

Specifically, as shown in Figure 13 marking The nozzle 124 is primarily located in the alcohol solvent nozzle 211 of the cleaning unit 210, and then, Solenoid When the valve 212 is controlled to open, the alcohol solvent is injected marking Clean the nozzle 124. after, marking Nozzle( 124) is Located in the adjacent air injection nozzle 213, Solenoid When the valve 214 is open-controlled, compressed air is injected, marking Clean the nozzle 124, i.e. Blowing Perform.

Such marking Cleaning the nozzle 124 marking It can be set to be performed before the job is started or after the job is completed, or marking Through the temperature sensor 127 mounted on the base plate 121 of the unit 120 marking When the temperature of the nozzle 124 is sensed and the ink in the nozzle is cold enough to block the passage (ex. 5°C or less), it is automatically as described above. marking The cleaning step of the nozzle 124 may be performed.

In addition, in addition to the nozzle cleaning described above marking Before commencement marking Nozzle (124) Randomly By discharging 2~3 times to discharge foreign substances such as solid ink blocking the passage in the nozzle marking Nozzle Purging It can also be performed by setting the function.

On the other hand, the robot marking system 100 described above and the robot marking method using the same are only one embodiment to help understanding of the present invention, and the scope of rights and technical scope of the present invention are the following claims and their equivalents It is determined by.

100: robot marking system 110: multi-joint robot
120: marking unit 121: base plate
122: first sensor 123: second sensor
124: marking nozzle 125, 126: limit sensor
127: temperature sensor 130: robot controller
140: ink unit 150: control unit
160: upper system hub 170: main HMI PC
180: Flex pendant 190: Local OP panel
200: camera 210: cleaning unit
211: alcohol solvent nozzle 212: solenoid valve
213: air injection nozzle 214: solenoid valve

Claims (4)

A multi-joint robot;
It is installed on the head of the articulated robot, a first sensor for sensing an edge of a product to be marked, a second sensor for measuring a distance from the surface of the product, and a marking nozzle for spraying ink Marking unit having a;
A robot controller that controls the operation of the articulated robot;
An ink unit that controls ink supply to the marking nozzle;
A cleaning unit for cleaning the marking nozzle; And
The marking unit is controlled by horizontally moving the marking unit from the edge to a certain offset position on the product by controlling the robot controller from the sensing signal of the first sensor, and controlling the robot controller from the sensing signal of the second sensor to control the marking unit. After vertically moving to a certain height on the product, marking the product is performed by controlling the robot controller and the ink unit, and controlling the robot controller before or after marking the product to control the marking unit. And a control unit for cleaning the marking nozzle by moving to a position of the cleaning unit and controlling the cleaning unit . According to claim 1,
The cleaning unit is provided with an alcohol solvent nozzle and an air spray nozzle,
The control unit
By When performing cleaning of the marking nozzle, to position the marking nozzles on the alcohol solvent nozzle with a primary injection of the alcohol solvent nozzle perform cleaning for the marking nozzle, the air injection of the marking nozzle secondarily Robot marking system, characterized in that to perform blowing on the marking nozzle by spraying the air injection nozzle positioned on the nozzle . The method according to claim 1 or 2,
The marking unit
Further provided with a base plate connected to the head of the articulated robot, the first sensor, the second sensor, and the marking nozzle are mounted on the base plate, and further, the base for measuring the temperature of the marking nozzle Further equipped with a temperature sensor mounted on the plate,
The control unit
When the temperature of the marking nozzle sensed by the temperature sensor satisfies a constant low-temperature cleaning temperature condition , the robot marking system is characterized in that the marking nozzle is cleaned . In the robot marking method using the robot marking system of claim 1,
Detecting and stopping the product approaching along a constant transfer line;
Controlling the robot controller from the detection signal of the first sensor to horizontally move the marking unit from the edge to a constant offset position on the product;
Controlling the robot controller from the detection signal of the second sensor to vertically move the marking unit to a constant height on the product;
Marking the product by controlling the robot controller and the ink unit;
Determining whether the text is normal by scanning text marked on the product surface through a camera; And
And before or after marking the product, controlling the robot controller to move the marking unit to a location of the cleaning unit, and then controlling the cleaning unit to perform cleaning on the marking nozzle. Robot marking method.

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