Automative Label Attachment Robot System and Method For Steel Products

Abstract

A product label automatic attachment robot system according to one embodiment of the present invention comprises: a label printer that prints a label to be attached to a product and separates a portion of the label from a release liner so that it can be attached to the product; a label attachment robot that separates the label partially separated from the release liner from the label printer and attaches it to a label attachment location on the product; and a label attachment robot controller that controls the movement of the label attachment robot to the label attachment location and controls the adsorption pressure for adsorbing the label to the label attachment robot and the label attachment pressure for attaching the label to the product.

Description

Technology Field

[0001] This specification relates to a robot system and method for automatically labeling steel products. Background Technology

[0002] The steel product manufacturing process may include a process of attaching a label containing information about the steel product to the produced steel product.

[0003] Conventionally, to attach labels, a worker was placed within the operating radius of steel product manufacturing equipment to directly attach labels to the steel products.

[0004] Consequently, there is a possibility of worker safety accidents and the misapplication of labels. Furthermore, to allow workers into the operating radius of steel product manufacturing equipment, the safety sensors must be deactivated, which requires halting the operation of the equipment; since the steel product production lines are interconnected, the entire production line must be shut down. This leads to a problem of reduced steel product production efficiency. The problem to be solved

[0005] The present invention aims to solve the aforementioned problems and has as its technical objective the provision of an automatic label attachment robot system and method for steel products that can automate label attachment by determining the location where the label is to be attached using position sensing technology for steel products.

[0006] In addition, the technical objective of the present invention is to provide a robot system and method for automatically attaching labels to steel products, which can automate the attachment of labels by using label adsorption technology to adsorb a label from a label printer and transfer the label to a label attachment location. means of solving the problem

[0007] A product label automatic attachment robot system according to one embodiment of the present invention comprises: a label printer that prints a label to be attached to a product and separates a portion of the label from a release liner so that it can be attached to the product; a label attachment robot that separates the label partially separated from the release liner from the label printer and attaches it to a label attachment location on the product; and a label attachment robot controller that controls the movement of the label attachment robot to the label attachment location and controls the adsorption pressure for adsorbing the label to the label attachment robot and the label attachment pressure for attaching the label to the product. Effects of the invention

[0008] The automatic label attachment robot system for steel products according to the present invention has the effect of increasing the production efficiency of steel products by automating the attachment of labels and attaching them quickly.

[0009] The automatic label application robot system for steel products according to the present invention has the effect of reducing the occurrence of incorrect label application by automating the application of labels.

[0010] The automatic label attachment robot system for steel products according to the present invention can prevent safety accidents involving workers by automating the attachment of labels, thereby enabling the label attachment process to proceed without direct intervention by workers. Brief explanation of the drawing

[0011] FIG. 1 is a diagram showing the schematic configuration of an automatic label attachment robot system according to one embodiment of the present invention. FIG. 2 is a simplified cross-sectional view of a label printer according to one embodiment of the present invention. FIG. 3 is a diagram showing the schematic configuration of a label attachment robot according to one embodiment of the present invention. FIG. 4 is a diagram showing the schematic configuration of a robot tool according to one embodiment of the present invention. FIG. 5 is a diagram briefly illustrating a method for recognizing the position of a coil according to an embodiment of the present invention. FIG. 6a is a diagram illustrating an example situation in which a position sensing sensor according to an embodiment of the present invention recognizes a band connected to a coil. Figure 6b is an example of position sensing data generated according to Figure 6a. FIG. 7 is a block diagram of a label attachment robot controller according to one embodiment of the present invention. FIG. 8 is a flowchart of an automatic label attachment method according to one embodiment of the present invention. FIG. 9a is a diagram showing a label adsorption step according to one embodiment of the present invention. Figure 9b is a simplified drawing of part A of Figure 9a. FIG. 10 is a diagram showing the position sensing step of a product according to one embodiment of the present invention. FIG. 11a is a drawing showing a label attachment step according to one embodiment of the present invention. FIG. 11b is a simplified drawing of part B of FIG. 11a. Specific details for implementing the invention

[0012] Throughout the specification, identical reference numbers denote substantially identical components. In the following description, detailed descriptions of components and functions known in the art may be omitted if they are not related to the core components of the invention. The meanings of the terms described in this specification should be understood as follows.

[0013] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims.

[0014] The shapes, sizes, ratios, angles, numbers, etc. disclosed in the drawings for explaining embodiments of the present invention are exemplary, and therefore the present invention is not limited to the depicted details. Throughout the specification, the same reference numerals refer to the same components. Furthermore, in describing the present invention, if it is determined that a detailed description of related known technology may unnecessarily obscure the essence of the present invention, such detailed description is omitted.

[0015] Where terms such as 'comprising,' 'having,' 'consisting of,' etc. are used in this specification, other parts may be added unless 'only' is used. Where a component is expressed in the singular, it includes cases where it is included in the plural unless specifically stated otherwise.

[0016] In interpreting the components, they are interpreted to include a margin of error even in the absence of a separate explicit statement.

[0017] In the case of an explanation of a temporal relationship, for example, when a temporal sequence is explained using 'after', 'following', 'next', 'before', etc., it may include cases where the sequence is not continuous unless 'immediately' or 'directly' is used.

[0018] Although terms such as "first," "second," etc. are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another. Accordingly, the first component mentioned below may be the second component within the technical scope of the present invention.

[0019] The term “at least one” should be understood to include all combinations that can be presented from one or more related items. For example, the meaning of “at least one of the first item, the second item, and the third item” may mean not only the first item, the second item, or the third item individually, but also all combinations of items that can be presented from two or more of the first item, the second item, and the third item.

[0020] The features of each of the various embodiments of the present invention may be combined or combined with one another, either partially or wholly, and may technically enable various interlocking and operation. Each embodiment may be implemented independently of one another or may be implemented together in an associated relationship.

[0022] Hereinafter, an automatic label attachment robot system according to an embodiment of the present invention will be described with reference to the drawings.

[0023] FIG. 1 is a diagram showing the schematic configuration of an automatic label attachment robot system according to one embodiment of the present invention.

[0024] The steel product production process may include a process of attaching a label containing information about the steel product to the steel product being produced. For example, when the production of a coil (10) is completed on a tension reel (TR), the coil (10) produced by the working beam (WB) (100) is transported, and then, after going through the process of bending the coil (10) and measuring the basis weight of the coil (10), the process of attaching a label containing information about the coil (10) is carried out.

[0025] Although steel products according to one embodiment of the present invention may include various types, for convenience of explanation, coils are described in this specification as examples of steel products.

[0026] To automate the process of attaching labels to such steel products, an automatic label attachment robot system according to one embodiment of the present invention includes a label printer (200), a label attachment robot (300), and a label attachment robot controller (400), as shown in FIG. 1.

[0027] A label printer (200) receives information about a produced coil (10) from a programmable logic controller (PLC) that controls the entire production process of a steel product, and prints a label containing information about the received coil (10). At this time, the information about the coil (10) included in the label may include the type of coil (10), information about the basis weight measured for the coil (10), etc.

[0028] A label printer (200) according to one embodiment of the present invention prints information about a coil (10) on a label attached to a release liner and can separate a portion of the printed label from the release liner so that it can be attached to the coil (10). Specifically, the label printer (200) separates a portion of the printed label from the release liner by applying a second pressure in a direction different from the first pressure applied to the release liner in the direction of travel of the printed label.

[0029] Referring to FIG. 2, an example of a label printer (200) according to an embodiment of the present invention is described. FIG. 2 is a simplified cross-sectional view of a label printer according to an embodiment of the present invention.

[0030] For example, as shown in FIG. 2, a label printer (200) may include a printing unit (210), a first roller (221), a fourth roller (224), rotary motors (not shown) for driving the rotation of each roller, a first direction changer (222), a second direction changer (223), a first label separation unit (271), and a second label separation unit (272).

[0031] A label (241) attached to a release liner is wound on the first roller (221), and the label (241) attached to the release liner is supplied by a rotary motor. At this time, the label (241) attached to the release liner may be a label that does not have information about the coil (10) printed on it.

[0032] The printing unit (210) can print information about the coil (10) on a label (241) attached to a release liner supplied from the first roller (221) to the first direction switching unit (222). Accordingly, the label (242) with information about the coil (10) printed on it is supplied to the first direction switching unit (222) while attached to the release liner.

[0033] The first direction switching unit (222) switches the direction of travel of the label (242) with information of the coil (10) printed on it while attached to the release liner, and supplies the label (242) with information of the coil (10) printed on it while attached to the release liner to the first label separation unit (271) and the second label separation unit (272).

[0034] The first label separation unit (271) and the second label separation unit (272) apply pressure in a direction different from the pressure applied to the release paper (260) in the direction of travel of the label printed by the first direction switching unit (222) and the second direction switching unit (223) to the label (242) on which information of the coil (10) is printed. Specifically, while a vertical tension, which is the first pressure in the direction of travel of the label printed by the first direction switching unit (222) and the second direction switching unit (223), is applied to the release paper (260), the first label separation unit (271) and the second label separation unit (272) apply pressure that changes direction in a horizontal direction, which is the second pressure in a direction different from the first pressure, to the label (242) on which information of the coil (10) is printed and the release paper (260) on which the label (242) is attached, while the label (242) is attached. That is, the release liner (260) is in a state where a vertical tension, which is a first pressure in the direction of travel of the printed label, is applied by the first direction switching unit (222) and the second direction switching unit (223), but the label (242) on which the information of the coil (10) is printed is only subjected to a horizontal pressure, which is a second pressure in a direction different from the first pressure, by the first label separation unit (271) and the second label separation unit (272). At this time, the second pressure, which is a horizontal pressure applied by the first label separation unit (271) and the second label separation unit (272), may be greater than the adhesive force with which the label (242) is attached to the release liner (260). Accordingly, a portion of the label (242) attached to the release paper (260) is separated from the release paper (260) by the first label separation unit (271) and the second label separation unit (272), and the other portion to which pressure is applied by the second label separation unit (272) can remain attached to the release paper (260).

[0035] However, the structure of the first and second label separation parts (271, 272) is not limited to this, and may have various structures for separating the label attached to the release liner.

[0036] The release paper (260) from which the label (242) has been separated can be recovered by the second direction changer (223) and the second roller (224) and wound onto the second roller (224). A label printer (200) according to one embodiment of the present invention can be positioned close to a working beam (100) through which a coil (10) is transported, as shown in FIG. 1, so as to facilitate the attachment and transport of the label.

[0037] The label attachment robot (300) adsorbs a label that is printed from the label printer (200) and partially separated from the release liner, transports the adsorbed label to the label attachment position of the coil (10), and attaches the label at the label attachment position of the coil (10).

[0038] Hereinafter, a label attachment robot according to an embodiment of the present invention will be described with reference to FIG. 3. FIG. 3 is a diagram showing the schematic configuration of a label attachment robot according to an embodiment of the present invention.

[0039] The label attachment robot (300) includes a robot arm (310) and a robot tool (320), as shown in FIG. 3.

[0040] The robot arm (310) moves the robot tool (320) for attaching the label and sensing the position of the coil (10). The robot arm (310) may include various structures capable of rotational and joint movements. For example, the robot arm (310) may include a rotating body, joints rotatably connected to the rotating body, and a fixed part that is rotatably connected to the joints at one end and connected to the robot tool (320) at the other end.

[0041] According to one embodiment of the present invention, the robot arm (310) may include a pressure generating unit that generates pressure internally. The pressure generating unit generates an adsorption pressure for adsorbing a label and a label attachment pressure for attaching the adsorbed label to the coil (10) using at least one of pneumatic and hydraulic pressure. For example, the pressure generating unit vacuums to vacuum adsorb the label and applies pressure to attach the vacuum-adsorbed label to the coil (10). That is, the pressure generating unit can generate a vacuum as the adsorption pressure and generate a positive pressure as the label attachment pressure. Since the label attachment pressure is a positive pressure and the adsorption pressure is a negative pressure that creates a vacuum, the label attachment pressure is a pressure greater than the adsorption pressure. To generate such pressure, the pressure generating unit may be a device that generates at least one of pneumatic and hydraulic pressure, such as a vacuum pump, a pneumatic device, a hydraulic device, etc.

[0042] The robot tool (320) adsorbs a printed label, recognizes the position of the coil (10) to determine the label attachment position, and attaches the adsorbed and transported label to the label attachment position of the coil (10). The robot tool (320) can be positioned at one end of the robot arm (310), as shown in FIG. 3. For example, as described above, it can be positioned at one end of the robot arm (310) by being mounted on a fixed part coupled to a joint of the robot arm (310).

[0043] Hereinafter, a robot tool according to an embodiment of the present invention will be described with reference to FIG. 4. FIG. 4 is a diagram showing the schematic configuration of a robot tool according to an embodiment of the present invention.

[0044] As shown in FIG. 4, the robot tool (320) includes an attachment pad (321), a pressure transmission part (322), and a position sensing sensor (323).

[0045] The attachment pad (321) adsorbs the label and attaches the adsorbed label to the label attachment location on the coil (10).

[0046] The attachment pad (321) receives pressure generated from the pressure generating part of the robot arm (310) through the pressure transmission part (322), adsorbs the label, and attaches the adsorbed label to the label attachment location of the coil (10). To this end, the attachment pad (321) may be made of a soft material with a hole structure to facilitate the application of pressure generated from the pressure generating part of the robot arm (310). For example, the attachment pad (321) may be made of a material such as a porous sponge.

[0047] The pressure transmission unit (322) connects the pressure generating unit of the robot arm (310) and the attachment pad (321) to transmit the pressure generated from the pressure generating unit of the robot arm (310) to the attachment pad (321). The pressure transmission unit (322) may have a structure that facilitates the transmission of pressure. For example, the pressure transmission unit (322) may be composed of a cylinder and a pad connected to the cylinder on which the attachment pad (321) can be mounted, and may be structured to effectively transmit the pressure generated from the pressure generating unit to the attachment pad (321).

[0048] The position sensing sensor (323) senses the position of the coil (10) to generate position sensing data (map_data). Specifically, the position sensing sensor (323) can generate position sensing data (map_data) by recognizing the position of at least one of the coil (10), the band (20) binding the coil (10), and the edge of the coil (10). At this time, the position sensing data (map_data) may be data in which distance data is mapped to at least a portion of the image data.

[0049] To this end, the position sensing sensor (323) includes a distance sensor (323a), an image sensor (323b), and a data integration unit (not shown).

[0050] The distance sensor (323a) generates distance data by measuring the distance from the distance sensor (323a) to an object facing it. The distance sensor (323a) may be a distance measuring sensor and may be at least one of a laser sensor such as, for example, an infrared sensor, a Time of Flight Sensor (TOF), a Structured Light Sensor, an ultrasonic sensor, and a Lidar sensor. However, the type of distance sensor (323a) is not limited to this and may include at least one of various types of distance measuring sensors.

[0051] The image sensor (323b) captures an object facing the image sensor (323a) to generate image data. The image sensor (323b) may be at least one optical camera, for example, at least one of a line scan camera or an area scan camera. However, the capturing device (210) is not limited thereto and may include at least one of various types of optical cameras.

[0052] The data integration unit can generate location sensing data (map_data) by mapping the distance data generated from the distance sensor (323a) to the image data generated from the image sensor (323b).

[0053] Referring to FIGS. 5 to 6b, a method for a position sensing sensor to recognize the position of a coil (10) according to one embodiment of the present invention will be described.

[0054] FIG. 5 is a diagram briefly illustrating a method for recognizing the position of a coil according to an embodiment of the present invention. FIG. 6a is a diagram illustrating an example situation in which a position sensing sensor according to an embodiment of the present invention recognizes a band connected to a coil, and FIG. 6b is an example of position sensing data generated according to FIG. 6a.

[0055] First, as illustrated in FIG. 5, when the position sensing sensor (323) moves to a preparation position (RP) and receives a preparation position arrival signal (RP_arr) from the automatic label attachment robot controller (400) indicating that the position sensing sensor (323) has reached the preparation position (RP), the position sensing sensor (323) moves along a first direction (D1) which is vertical to a measurement position (MP) separated by a predetermined distance from the coil (10), and simultaneously, senses the distance from the coil (10) and outputs position sensing data (map_data) to the automatic label attachment robot controller (400). Accordingly, when the distance between the position sensing sensor (323) and the coil (10) reaches a predetermined measurement height (MH), the automatic label attachment robot controller (400) can determine that the position sensing sensor (323) has reached the measurement position (MP) based on the received position sensing data (map_data) and stop moving.

[0056] The preparation position (RP) is a position prepared for position measurement of a steel product (10) located on a working beam (100), and is located at a height higher than the maximum height (Hmax) of the coil (10) or steel product with respect to the first direction (D1), and can be located at the center of the coil (10) with respect to the third direction (D3) which is perpendicular to the first direction (D1), which is the height direction, and the direction in which the coil (10) is transported by the working beam (100) or the second direction (D2), which is the length direction of the coil (10).

[0057] The measurement position (MP) is the starting position for measuring the position of the coil (10) and the band (20) attached to the coil (10), and is a position spaced apart from the coil (10) by a predetermined measurement height (MH) in the first direction (D1) in the height direction, and is a position moved in the first direction (D1) from the preparation position (RP).

[0058] Subsequently, when the measurement position (MP) is reached and the measurement position arrival signal (MP_arr) is received from the label attachment robot controller (400), the position sensing sensor (323) moves along the second direction (D2), which is the longitudinal direction of the coil (10), as illustrated by the yellow dashed line in FIGS. 6a and 6b, and begins sensing the coil (10) and the band (20) attached to the coil (10). That is, the position sensing sensor (323) generates distance data and image data by sensing the coil (10) and the band (20), and generates position sensing data (map_data) based on this.

[0059] For example, at a position corresponding to the coil (10) of the generated position sensing data, the distance data and image data may each be within a first distance range and within a coil image range, respectively; at a position corresponding to the band (20) bound to the coil (10) of the generated position sensing data, such as the first point (P1) and the second point (P2), the distance data may have a smaller value compared to the distance data corresponding to the coil (10) due to the thickness of the band (20), and may be data outside the first distance range and within the second distance range; and as shown in FIG. 6b, the image data may have a value outside the coil image range corresponding to the coil (10). Additionally, at a position corresponding outside the edge of the coil (10) of the generated position sensing data, the distance data may be data outside the first and second distance ranges with a significantly larger value compared to the distance data corresponding to the coil (10) because the coil (10) does not exist, and the image data may be image data outside the coil image range.

[0060] The label attachment robot controller (400) controls the label attachment robot (300) to attach a label to a steel product. Specifically, the label attachment robot controller (400) determines the label attachment coordinates, which are the coordinates of the label attachment position of the coil (10), using position sensing data (map_data), and controls the movement of the label attachment robot (300) and the pressure generation of the pressure generation part of the robot tool (320).

[0061] Referring to FIG. 7, a label attachment robot controller (400) will be described. FIG. 7 is a block diagram of a label attachment robot controller according to one embodiment of the present invention.

[0062] As shown in FIG. 7, the label attachment robot controller (400) includes a coordinate determination unit (410), a movement control unit (420), and a pressure control unit (430).

[0063] The coordinate determination unit (410) determines the label position coordinates, which are the position coordinates of a label partially separated from the release liner in the label printer (200), determines the label attachment coordinates (attach_POS), which are the coordinates of the label attachment position, based on the position sensing data (map_data) generated by the position sensing sensor (323) and the position coordinates (cur_POS) of the robot tool (320) received from the movement control unit (420), and provides information regarding the determined label attachment coordinates (attach_POS) to the movement control unit (420).

[0064] Since the position of the label that is partially separated from the release liner in the label printer (200) may be a position that is predetermined and does not change, the coordinate determining unit (410) can determine the predetermined label position coordinates as the label position coordinates.

[0065] As described above, since position sensing data (map_data) of different values ​​is generated depending on the sensed position, the coordinate determination unit (410) distinguishes the sensed position according to the values ​​of the position sensing data (map_data), that is, the distance data and image data. Specifically, the coordinate determination unit (410) determines that the sensed location is the coil (10) when the distance data of the position sensing data (map_data) is within the first distance range and the image data of the position sensing data (map_data) is within the coil image data range; determines that the sensed location is the band (20) when the distance data of the position sensing data (map_data) is outside the first distance range and is within the second distance range corresponding to a value smaller than the first distance range, and the image data of the position sensing data (map_data) is outside the coil image data range; and determines that the sensed location is the space where the coil (10) is not located when the distance data of the position sensing data (map_data) is outside the first and second distance ranges and the image data of the position sensing data (map_data) is outside the coil image data range.

[0066] The coordinate determination unit (410) maps the position coordinates of the location where the position sensing data (map_data) is sensed to the position sensing data (map_data) using the position coordinates (cur_POS) of the robot tool (320) generated from the movement control unit (420). For example, the coordinate determination unit (410) can map the time when the position sensing data (map_data) is sensed to the position coordinates of the robot tool (320) at that time. Alternatively, the coordinate determination unit (410) can map the position sensing data (map_data) generated in real time to the position coordinates of the robot tool (320).

[0067] The coordinate determination unit (410) determines reference position coordinates, which are the coordinates of the edges of the band (20) and the coil (10), using position sensing data (map_data) in which the position coordinates (cur_POS) of the robot tool (320) are mapped, and determines the label attachment coordinates (attach_POS) of the label attachment position of the coil (10) that are predetermined based on the reference position coordinates.

[0068] At this time, the label attachment location may be, for example, a band (20), a band (20) and a coil (10), and an edge of the coil (10), and accordingly, the attachment location determining unit (410) may determine, for example, at least one position coordinate of the band (20) as the label attachment coordinate using a reference position coordinate which is the coordinate of the edge of the band (20) and the coil (10), or determine a position coordinate that can be simultaneously attached to the band (20) and the coil (10) along a direction perpendicular to the band (20) as the label attachment coordinate, or determine a position coordinate of at least one edge of the coil (10) as the label attachment coordinate.

[0069] The movement control unit (420) controls the label attachment robot (300) so that the robot tool (320) of the label attachment robot (300) moves to an appropriate position to attach a label to the coil (10). The movement control unit (420) can output a robot control signal (rbt_COM) to the label attachment robot (300) to control the label attachment robot (300).

[0070] When the movement control unit (420) receives a label printing completion signal from a programmable logic controller (PLC) that controls the entire production process of steel products, indicating that the printing of the label is completed, it controls the label attachment robot (300) to move to a label adsorption position that adsorbs the printed label.

[0071] The movement control unit (420) controls the movement of the robot tool (320) so that the coil (10) is sensed when the label is adhered to the robot tool (320).

[0072] Specifically, the movement control unit (420) controls the label attachment robot (300) so that the robot tool (320) including the position sensing sensor (323) moves to the preparation position (RP), and when the robot tool (320) reaches the preparation position (RP), the label attachment robot (300) controls the robot tool (320) so that it moves from the preparation position (RP) to the measurement position (MP).

[0073] The movement control unit (420) uses position sensing data (map_data) output from the position sensing sensor (320) while the robot tool (320) is moving from the preparation position (RP) to the measurement position (MP), and determines that the robot tool (320) has reached the measurement position (MP) when the robot tool (320) reaches the measurement height (MH) from the coil (10), and controls the label attachment robot (300) to stop the movement of the robot tool (320).

[0074] The movement control unit (420) controls the label attachment robot (300) so that when the robot tool (320) reaches the measurement position (MP), the robot tool (320) moves along the second direction (D2), which is the length direction of the coil (10), to sense the coil (10).

[0075] The movement control unit (420) controls the label attachment robot (300) so that the robot tool (320) moves to the label attachment position and the label that is adsorbed to and transported by the robot tool (320) is attached to the coil (10).

[0076] Specifically, the movement control unit (420) receives the label attachment coordinates (attach_POS) from the coordinate determination unit (410) and controls the label attachment robot (300) so that the robot tool (320) that has attached the label moves to the label attachment coordinates (attach_POS). At this time, the movement control unit (420) controls the label attachment robot (300) to apply a movement pressure (move_attach) by moving the attachment pad (321) with the label attached toward the coil (10), together with the label attachment pressure (prs_attach) controlled by the pressure control unit (430).

[0077] The movement control unit (420) can control the label attachment robot (300) so that when the robot tool (320) reaches the label attachment coordinates (attach_POS), the robot tool (320) presses toward the coil (100) to attach the label.

[0078] Additionally, the movement control unit (420) can control the label-attaching robot (300) so that the label-attached robot tool (320) moves to a waiting position.

[0079] The movement control unit (420) can provide information about the position of the robot tool (320) by outputting a signal indicating that the position has been reached according to the position of the robot tool (320).

[0080] When the robot tool (320) reaches the ready position (RP), the movement control unit (420) outputs a ready position arrival signal (RP_arr) so that the position sensing sensor (320) can sense the distance from the coil (10).

[0081] The movement control unit (420) generates and outputs the position coordinates (cur_POS) of the robot tool (320). The movement control unit (420) can output the position coordinates (cur_POS) of the robot tool (320) in real time or output the position coordinates (cur_POS) over time at regular intervals.

[0082] When the movement control unit (420) determines that the robot tool (320) has reached the measurement position (MP), it can output a measurement position arrival signal (MP_arr) so that the position sensing sensor (320) can sense the coil (10), thereby providing information about the position of the robot tool (320) to the position sensing sensor (320).

[0083] The movement control unit (420) can provide information about the position of the robot tool (320) to the pressure control unit (430) by outputting a label adsorption position arrival signal (arr1) when the robot tool (320) reaches a label adsorption position and a label attachment position arrival signal (arr2) when the robot tool (320) reaches a label attachment position.

[0084] The pressure control unit (430) controls the pressure generation unit to generate an adsorption pressure (prs_absr) for adsorbing a label to the robot tool (320) and a label attachment pressure (prs_attach) for attaching the label to a product based on the position of the robot tool (320). To this end, the pressure control unit (430) can output a pressure control signal (prs_COM) from the movement control unit (420) to the label attachment robot (300) to control the pressure generation unit of the robot tool (320).

[0085] When the robot tool (320) reaches the label adsorption position and receives a signal (arr1) of the label adsorption position arrival from the movement control unit (420), the pressure control unit (430) controls the pressure generation unit to generate an adsorption pressure (prs_absr) for adsorbing the label from the robot tool (320). Accordingly, the adsorption pressure (prs_absr) is generated and transmitted to the attachment pad (321), and the label (250), which is partially separated from the release liner by the adsorption pressure (prs_absr) transmitted to the attachment pad (321), can be adsorbed to the attachment pad (321).

[0086] Additionally, the pressure control unit (430) controls the pressure generating unit to maintain the adsorption pressure (prs_absr) until the label comes into contact with the coil (10). Accordingly, the label adsorbed to the attachment pad (321) by the adsorption pressure (prs_absr) can be transported until it comes into contact with the coil (10) while maintaining the adsorbed state.

[0087] Additionally, the robot tool (320) reaches the label attachment coordinates (attach_POS) and receives a label attachment position arrival signal (arr2) from the movement control unit (420). Upon receiving the label attachment position arrival signal (arr2), the attachment pad (321) on which the label was adsorbed moves toward the coil (100), thereby applying a movement pressure (move_attach) to the label and the coil (10). Consequently, the pressure control unit (430) controls the pressure generation unit to generate a label attachment pressure (prs_attach) for attaching the label, instead of the adsorption pressure (prs_absr) generated to adsorb the label to the attachment pad (321). Accordingly, the label (250), which is adsorbed to the attachment pad (321) and transported to the label attachment coordinates, can be attached to the label attachment coordinates of the coil (10) through the moving pressure (move_attach) applied according to the movement of the attachment pad (321) and the label attachment pressure (prs_attach) applied from the attachment pad (321) toward the coil (10) through the attachment pad (321).

[0088] Hereinafter, with reference to FIGS. 8 to 11b, an automatic label attachment method according to an embodiment of the present invention will be described.

[0089] FIG. 8 is a flowchart of an automatic label attachment method according to one embodiment of the present invention.

[0090] FIG. 9a is a drawing showing a label adsorption step according to an embodiment of the present invention, and FIG. 9b is a simplified drawing showing an enlarged portion A of FIG. 9a. FIG. 10 is a drawing showing a product position sensing step according to an embodiment of the present invention. FIG. 11a is a drawing showing a label attachment step according to an embodiment of the present invention, and FIG. 11b is a simplified drawing showing an enlarged portion B of FIG. 11a.

[0091] Referring to FIG. 8, first, a label is printed in a label printer, and a portion of the printed label is separated from the release liner (S801). Specifically, information about the produced coil (10) is received from a programmable logic controller (PLC) that controls the entire production process of the steel product, and a label containing information about the received coil (10) is printed. A portion of the printed label is separated from the release liner in the label printer so that the printed label is adhered to the label attachment robot (300). To do this, the label printer (200) separates a portion of the printed label from the release liner by applying a second pressure in a direction different from the first pressure applied to the release liner in the direction of travel of the printed label. At this time, the second pressure, which is a horizontal pressure applied by the first label separation unit (271) and the second label separation unit (272), may be greater than the adhesion force with which the label (242) is attached to the release liner (260).

[0092] Subsequently, as illustrated in FIGS. 9a and 9b, a label (250) that has been printed and partially separated from the release liner is adsorbed to a label attachment robot (300) (S802). Specifically, when the robot tool (320) reaches a label adsorption position in the pressure control unit (430) and receives a signal (arr1) of reaching the label adsorption position from the movement control unit (420), the pressure control unit (430) controls a pressure generating unit to generate an adsorption pressure to adsorb the label (250) that has been partially separated from the release liner in the robot tool (320), and the pressure generating unit of the robot tool (320) generates an adsorption pressure to adsorb the label (250) that has been partially separated from the release liner to the label attachment robot (300).

[0093] Afterwards, the coil (10) is sensed by the position sensing sensor (323) to generate position sensing data (map_data) (S803).

[0094] Specifically, the movement control unit (420) controls the label attachment robot (300) so that the robot tool (320), which includes a position sensing sensor (323), moves to the aforementioned preparation position (RP).

[0095] When the robot tool (320) reaches the preparation position (RP), a preparation position arrival signal (RP_arr) is output so that the position sensing sensor (320) can sense the distance from the coil (10). The movement control unit (420) controls the label attachment robot (300) so that the robot tool (320) moves from the preparation position (RP) to the measurement position (MP). While the robot tool (320) is moving from the preparation position (RP) to the measurement position (MP), if the robot tool (320) reaches the measurement height (MH) from the coil (10) using the position sensing data (map_data) output from the position sensing sensor (320), the movement control unit (420) determines that the robot tool (320) has reached the measurement position (MP) and controls the label attachment robot (300) to stop the movement of the robot tool (320).

[0096] Next, when the robot tool (320) reaches the measurement position (MP) in the movement control unit (420), the labeling robot (300) is controlled so that the robot tool (320) moves along the second direction (D2) to sense the coil (10) as shown in FIG. 10. Accordingly, the position sensing sensor (323) generates position sensing data (map_data), which is data in which distance data is mapped to at least a portion of the image data.

[0097] While the robot tool (320) moves along the second direction (D2), which is the length direction of the coil (10), to sense the coil (10), the position sensing data (map_data) generated and the position coordinates (cur_POS) of the label attachment robot (323) are used to determine the label attachment coordinates (attach_POS), which are the coordinates of the label attachment position (S804).

[0098] To this end, first, the coordinate determination unit (410) distinguishes the sensed location based on the values ​​of the location sensing data (map_data), that is, the distance data and image data. Specifically, in the coordinate determination unit (410), if the distance data of the position sensing data (map_data) is within the first distance range and the image data of the position sensing data (map_data) is within the coil image data range, the sensed position is determined to be the coil (10); if the distance data of the position sensing data (map_data) is outside the first distance range and is within the second distance range corresponding to a value smaller than the first distance range, and the image data of the position sensing data (map_data) is outside the coil image data range, the sensed position is determined to be the band (20); and if the distance data of the position sensing data (map_data) is outside the first and second distance ranges and the image data of the position sensing data (map_data) is outside the coil image data range, the sensed position is determined to be a space where the coil (10) is not located.

[0099] Along with this, the position coordinates (cur_POS) of the robot tool (320) generated by the movement control unit (420) are mapped to the position sensing data (map_data) in the coordinate determination unit (410). Subsequently, the coordinate determination unit (410) determines reference position coordinates, which are the coordinates of the edges of the band (20) and the coil (10), using the position sensing data (map_data) to which the position coordinates (cur_POS) of the robot tool (320) are mapped, and determines the label attachment coordinates (attach_POS) of the label attachment location of the coil (10) based on the reference position coordinates. At this time, the label attachment location may be, for example, the band (20), the band (20) and the coil (10), and the edge of the coil (10). That is, using reference position coordinates, which are the coordinates of the edges of the band (20) and the coil (10) in the attachment position determining unit (410), for example, at least one position coordinate of the band (20) can be determined as the label attachment coordinate, the position coordinates of multiple bands (20) can be determined as the label attachment coordinate, the position coordinates that are simultaneously attached to the band (20) and the coil (10) along a direction perpendicular to the band (20) can be determined as the label attachment coordinate, or the position coordinates of at least one edge of the coil (10) can be determined as the label attachment coordinate.

[0100] Subsequently, as illustrated in FIGS. 11a and 11b, a label is attached to the label attachment location. Specifically, the coordinate determining unit (410) controls the robot tool (320) to move to the label attachment coordinates, which are the coordinates of the label attachment location, and when the robot tool (320) reaches the label attachment coordinates, it outputs a label attachment location arrival signal. Accordingly, to attach the label, the pressure control unit (430) controls the pressure generating unit to generate a label attachment pressure (prs_attach), and the movement control unit (420) controls the robot tool (320) and the attachment pad (321) to move the label (250) toward the coil (10) to apply a movement pressure (move_attach), thereby allowing the label (250) to be attached to the coil (10). At this time, since the label attachment pressure is a positive pressure and the adsorption pressure is a negative pressure that creates a vacuum, the label attachment pressure is a pressure greater than the adsorption pressure.

[0102] Those skilled in the art to which the present invention pertains will understand that the above-described invention may be implemented in other specific forms without altering its technical concept or essential features.

[0103] Additionally, the methods described herein may be implemented at least partially using one or more computer programs or components. These components may be provided as a series of computer instructions via a computer-readable or machine-readable medium including volatile and non-volatile memory. The instructions may be provided as software or firmware and may be implemented wholly or partially in hardware configurations such as ASICs, FPGAs, DSPs, or other similar devices. The instructions may be configured to be executed by one or more processors or other hardware configurations, which perform or are capable of performing all or part of the methods and procedures disclosed herein when executing the series of computer instructions.

[0104] Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. The scope of the invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the invention. Explanation of the symbols

[0105] 10: Coil 20: Band 100: Working Beam 200: Label Printer 300: Labeling robot 310: Robot arm 320: Robot tool 321: Attachment pad 322: Pressure transmission unit 323: Position sensing sensor 323a: Distance sensor 323b: Image sensor 400: Label Attachment Robot Controller 410: Attachment Coordinate Determination Unit 420: Movement control unit 430: Pressure control unit

Claims

Claim 1 A label printer that prints a label to be attached to a product and separates a portion of the label from a release liner so that it can be attached to the product; a label attachment robot that separates the label partially separated from the release liner from the label printer and attaches it to the label attachment location on the product; The label attachment robot controller controls the movement of the label attachment robot to the label attachment position and controls the suction pressure for adsorbing a label to the label attachment robot and the label attachment pressure for attaching the label to the product. The label attachment robot controller includes a coordinate determination unit that determines the label position coordinates of a label partially separated from the release liner and the label attachment coordinates to attach the label, a movement control unit that controls movement to the label position coordinates and movement from the label position coordinates to the label attachment coordinates, and a pressure control unit that controls the suction pressure for separating the label partially separated from the release liner from the label printer and controls the label attachment pressure for attaching the label to the product. The movement control unit moves to a preparation position located at a height higher than the maximum height of the product and at the center of a direction perpendicular to the length direction of the product. Upon reaching the preparation position, it moves to a measurement position located at a predetermined measurement height distanced from the product according to the height direction. Upon reaching the measurement position, it changes direction and moves along the length direction of the product while simultaneously measuring the distance in the height direction and generating distance data. A band exists in the range where the distance data is smallest. An automatic label attachment robot system for a product that determines the label attachment position by making a judgment. Claim 2 delete Claim 3 A label automatic attachment robot system of a product, wherein, in claim 1, the label attachment robot controller controls the label attachment robot to generate the suction pressure when it arrives at the label position coordinates and controls the label attachment robot to generate the label attachment pressure when it arrives at the label attachment coordinates. Claim 4 A product label automatic attachment robot system according to claim 1, wherein the adsorption pressure and label attachment pressure are pressures generated by at least one of hydraulic and pneumatic pressures. Claim 5 In claim 1, the label printer is a product label automatic attachment robot system that separates a portion of the printed label from the release liner by applying a second pressure in a direction different from the first pressure applied to the release liner in the direction of travel of the printed label. Claim 6 In claim 5, the second pressure applied to the release liner in a direction different from the first pressure is greater than the adhesive force that attaches the label to the release liner, in an automatic label attachment robot system for a product. Claim 7 A product label automatic attachment robot system according to claim 1, wherein the movement control unit controls the label attachment robot to move to the label position coordinates when it receives a print completion signal of the label. Claim 8 In claim 1, the label attachment robot comprises: a pressure generating unit that generates the adsorption pressure and the label attachment pressure according to the control of the pressure control unit; and an attachment pad that adsorbs the label by the adsorption pressure or attaches the label to the product by the label attachment pressure; an automatic label attachment robot system for a product. Claim 9 A product label automatic attachment robot system according to claim 1, wherein the label attachment robot includes a position sensing sensor that senses the position of the product and generates position sensing data, and the coordinate determining unit determines the label attachment coordinates using the position sensing data generated while the label attachment robot moves in the longitudinal direction of the product. Claim 10 delete Claim 11 A product label automatic attachment robot system according to claim 9, wherein while the label attachment robot moves from the preparation position to the measurement position, the position sensing sensor senses the distance to the product and outputs the position sensing data. Claim 12 An automatic label application robot system for a product, characterized in that, in claim 9 or 11, the position sensing data is data in which distance data is mapped to at least a portion of image data, and the coordinate determining unit determines the label application coordinates based on the position sensing data and the position coordinates of the label application robot. Claim 13 A product label automatic attachment robot system according to claim 9, wherein the coordinate determining unit determines a reference position coordinate based on the position sensing data, the coordinate of the position of the edge of the product or the band binding the product, and determines the label attachment coordinate based on the reference position coordinate. Claim 14 A method for automatically attaching a label to a product, comprising: a step of moving to a label position coordinate of a label on which product information is printed and a release liner is separated; a step of generating an adsorption pressure at the label position coordinate to adsorb the label; a step of moving to a label attachment coordinate where the label is attached while the label is adsorbed; and a step of generating an attachment pressure in a direction toward the product at the label attachment coordinate to attach the label, wherein the step of moving to the label attachment coordinate comprises: a step of moving to a preparation position located at a height higher than the maximum height of the product and at the center of a direction perpendicular to the length direction of the product; a step of, upon reaching the preparation position, moving to a measurement position located at a position spaced apart from the product by a predetermined measurement height according to the height direction; a step of, upon reaching the measurement position, changing direction to move along the length direction of the product while simultaneously measuring the distance in the height direction and generating distance data; and a step of determining the label attachment coordinate by determining that a band exists in the range where the distance data is smallest. Claim 15 A method for automatically attaching a product label according to claim 14, wherein, in the step of moving to the label position coordinates of a label from which the product information is printed and the release liner is separated, a second pressure in a direction different from the first pressure applied to the release liner is applied to the label to separate the label and the release liner, and the second pressure is greater than the adhesive force for attaching the label to the release liner. Claim 16 delete Claim 17 A method for automatically attaching a label of a product according to claim 14, wherein the attachment pressure for attaching the label at the label attachment coordinates is greater than the adsorption pressure for adsorbing the label at the label position coordinates.

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