Automatic robot system for gripping tire

Abstract

The present invention provides an automated tire loading and unloading robot system comprising: a dual-arm collaborative robot that moves a gripped tire using a plurality of robot arms; a mobile manipulator that drives inside a container or truck by recognizing a driving path using a visual sensor and enables the dual-arm collaborative robot to be installed to perform unloading or loading operations of the tire; a tire-specific gripper installed at the end of the robot arm that adjusts the gripping state according to the size and weight of the tire to grip the tire and then places the tire at the unloading or loading position; and a vision unit installed on the mobile manipulator to recognize the position and arrangement state of the tire. By providing this system, tires of various sizes and weights can be loaded and unloaded quickly and accurately, allowing for flexible response to changes in the work environment and maximizing logistics efficiency by making the most of the loading space.

Description

Technology Field

[0001] The present invention relates to an automated tire loading and unloading robot system, and more specifically, to an automated tire loading and unloading robot system capable of rapidly and accurately loading and unloading tires of various sizes and weights, thereby flexibly responding to changes in the work environment and maximizing logistics efficiency by making the most of the loading space. Background Technology

[0003] Generally, robot arms are primarily used in industrial settings, such as manufacturing production lines, for the purpose of automating product production.

[0004] The tip of a robot arm installed on a production line is typically equipped with a gripper for grasping items, and the form and function of the gripper vary depending on the item and the task.

[0005] In addition, in robot-assisted object handling technology, the most commonly used type is the two-finger gripper, represented by the Parallel Jaw type, and the two-finger gripper does not have the concept of a separate gripping mode.

[0006] In contrast, the 3-finger gripper can select various gripping modes.

[0007] An example of such a conventional three-finger gripper is Korean Registered Patent No. 10-1677259, "Gripper for Robot Mounting." As described above, conventional three-finger grippers, such as the BLT gripper, have been designed to stably grip objects of various sizes and shapes using multiple degrees of freedom. These grippers also enable movement for gripping objects and allow the position of the objects to be moved by a robot arm.

[0008] However, vehicle tires are heavy and bulky, making loading and unloading difficult and time-consuming. Furthermore, since most tire loading and unloading operations currently rely on manual labor, there is an increased risk of worker fatigue and safety accidents.

[0009] Furthermore, there is a problem of reduced logistics efficiency due to a lack of work speed and accuracy, and to solve this issue, there is a growing need for an automated robotic system capable of exclusively loading and unloading vehicle tires. The problem to be solved

[0011] The objective of the present invention is to provide an automated tire loading and unloading robot system that can rapidly and accurately load and unload tires of various sizes and weights, thereby flexibly responding to changes in the work environment and maximizing logistics efficiency by making the most of the loading space. means of solving the problem

[0013] According to one aspect of the present invention for achieving the above objective, a tire loading and unloading automation robot system may be provided, comprising: a dual-arm collaborative robot that moves a gripped tire using a plurality of robot arms; a mobile manipulator that drives inside a container or truck by recognizing a driving path using a visual sensor and enables the dual-arm collaborative robot to perform unloading or loading operations of the tire; a tire-specific gripper installed at the end of the robot arm that adjusts the gripping state according to the size and weight of the tire to grip the tire and then places the tire at an unloading or loading position; and a vision unit installed on the mobile manipulator to recognize the position and arrangement state of the tire.

[0014] Here, the vision unit may include a camera installed at a certain height on one side of the mobile manipulator, a lighting module provided on one side of the camera to irradiate a light source, and a control unit that controls the movement of the dual-arm collaborative robot and the tire-dedicated gripper based on information acquired through the camera.

[0015] In addition, the camera and the lighting module may be fixedly positioned on a frame portion formed to have a certain height on one side of the mobile manipulator.

[0016] In addition, the tire-dedicated gripper may include a gripper body installed symmetrically at the end of the dual-arm collaborative robot, and a finger portion installed on the gripper body so as to be movable along the diameter direction of the tire, with a locking piece at the end to secure the tire to the gripper body.

[0017] In addition, the finger portion may be connected to the gripper body by an air cylinder so that the end of the finger portion can move along the diameter direction of the tire.

[0018] In addition, an LM guide that guides the movement of the finger part may be installed between the finger part and the air cylinder.

[0019] In addition, the front surface of the gripper body in contact with the tire is formed at an angle parallel to the tangential direction of the tire, and the finger portion may be installed on the gripper body parallel to the diameter direction of the tire.

[0020] In addition, a transfer unit may be installed on the lower surface of the central area of ​​the mobile manipulator, wherein a plurality of rollers are rotatably installed to allow the tire being unloaded to be placed and moved.

[0021] In addition, a separate conveyor module may be installed at the rear of the mobile manipulator.

[0022] In addition, the dual-arm collaborative robot is installed on each of the front sides of the mobile manipulator, and the vision unit may be positioned in the boundary area between the conveyor module and the transfer unit at the rear of the dual-arm collaborative robot.

[0023] In addition, the conveyor module may include a horizontal conveyor installed in a flat direction on the upper surface of the mobile manipulator, and an inclined conveyor connected to the horizontal conveyor and positioned at an angle at the end of the horizontal conveyor.

[0024] In addition, the transfer unit may have an end formed to extend toward the rear of the mobile manipulator at a certain interval so as to protrude toward the rear of the mobile manipulator and be connected to the horizontal conveyor.

[0025] In addition, the horizontal conveyor can be installed to be tiltable in the necessary shape so as to transport cargo to the floor surface. Effects of the invention

[0027] The tire loading and unloading automation robot system according to the present invention has the effect of enabling rapid and accurate loading and unloading of tires of various sizes and weights, thereby allowing for flexible response to changes in the work environment.

[0028] In addition, by ensuring that tires are efficiently loaded into the loading space through a loading pattern algorithm, it is possible to maximize logistics efficiency by making the most of the loading space.

[0029] In addition, by monitoring the position and status of the tires in real time through the vision unit to ensure work accuracy, it is possible to reduce worker fatigue and improve work efficiency. Brief explanation of the drawing

[0031] FIG. 1 is a perspective view illustrating the structure of a tire loading and unloading automation robot system according to one embodiment of the present invention, and FIG. 2 is a side view illustrating the structure of a tire loading and unloading automation robot system according to one embodiment of the present invention, and FIG. 3 is a plan view illustrating the structure of a tire loading and unloading automation robot system according to one embodiment of the present invention, and FIG. 4 is a rear view illustrating the structure of a tire loading and unloading automation robot system according to one embodiment of the present invention, and FIG. 5 is a perspective view illustrating the structure of a tire-dedicated gripper of a tire loading and unloading automation robot system according to one embodiment of the present invention, and FIG. 6 is a plan view illustrating the structure of a tire-dedicated gripper of a tire loading and unloading automation robot system according to one embodiment of the present invention, FIG. 7 is a perspective view illustrating the operation of loading tires using an automated tire loading and unloading robot system according to an embodiment of the present invention, and FIG. 8 is a plan view illustrating a structure in which tires are loaded using an automated tire loading and unloading robot system according to one embodiment of the present invention. Specific details for implementing the invention

[0032] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0033] Hereinafter, with reference to the drawings, an automated tire loading and unloading robot system according to the present invention will be described.

[0034] FIG. 1 is a perspective view illustrating the structure of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 2 is a side view illustrating the structure of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 3 is a plan view illustrating the structure of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 4 is a rear view illustrating the structure of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 5 is a perspective view illustrating the structure of a tire-dedicated gripper of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 6 is a plan view illustrating the structure of a tire-dedicated gripper of a tire loading and unloading automation robot system according to an embodiment of the present invention, FIG. 7 is a perspective view illustrating the operation of loading a tire using a tire loading and unloading automation robot system according to an embodiment of the present invention, and FIG. 8 is a plan view illustrating the structure of a tire loaded using a tire loading and unloading automation robot system according to an embodiment of the present invention.

[0036] As illustrated in these drawings, a tire loading and unloading automation robot system according to one embodiment of the present invention comprises: a dual-arm collaborative robot (100) that moves a gripped tire (1) using a plurality of robot arms (110); a mobile manipulator (200) that drives inside a container or truck by recognizing a driving path using a visual sensor and enables the dual-arm collaborative robot (100) to perform unloading or loading operations of the tire (1); a tire-specific gripper (300) installed at the end of the robot arm (110) that adjusts the gripping state according to the size and weight of the tire (1) and places the tire (1) at the unloading or loading position after gripping the tire (1); and a vision unit (400) installed on the mobile manipulator (200) to recognize the position and arrangement state of the tire (1).

[0038] The dual-arm collaborative robot (100) is a 6-axis multi-joint collaborative robot equipped with dual arms, and each robot arm (110) is designed to have enough strength to withstand the load of the tire (1), and the reach of the robot arm (110) is formed to be 1900 mm or more, so that it can work up to a height of up to 2.7 m.

[0039] This dual-arm collaborative robot (100) is rotatably provided on one side of the manipulator (100) and serves to move the tire (1), which is the target of the movement operation, to a desired position using a tire-specific gripper (300) installed at the end of the robot arm (110).

[0040] To this end, it is desirable that the dual-arm collaborative robot (100) be configured with multiple joints as described above so that it can rotate in various directions, thereby enabling the tire to be moved to a desired position.

[0041] In addition, it is effective to have two dual-arm collaborative robots (100) arranged in synchronization on each side of the end of the mobile manipulator (200) so that stable gripping is possible even if the weight of the tire (1) to be worked on is different in size.

[0043] A mobile manipulator (200) may be configured to include a housing (210) having an upper surface and supported by various parts such as a dual-arm collaborative robot (100), a tire-dedicated gripper (300), and a vision unit (400), and moving means (220) provided on both sides of the housing (210) to move the housing (210) to a desired position.

[0044] The housing (210) is a member formed in a rectangular shape and has a certain height and a flat upper surface, so that a conveying unit (230) can be installed in the central area of ​​the flat upper surface, in which a plurality of rollers are rotatably installed along the length direction of the housing (210).

[0045] The end of the conveying part (230) may be formed to extend toward the rear of the mobile manipulator (200) at a certain interval so as to protrude toward the rear of the mobile manipulator (200), and may be connected to the horizontal conveyor (510) to be described later.

[0046] In addition, the means of movement (220) is provided on both sides of the housing (210) and serves to move the housing (210) to a desired position. Any configuration capable of moving the housing (210) to a desired position is acceptable, and in the case of one embodiment of the present invention, it may be configured as an endless track or a driving wheel.

[0047] This mobile manipulator (200) can advance to the front layer by moving into the interior of a container or cargo compartment carrying the tire (1) that is the subject of the movement operation through an autonomous driving function, and can also correct its position during the movement operation of the tire (1) and maintain a stable posture even in an irregular environment, thereby allowing the movement operation of the tire (1) to be carried out stably.

[0049] Meanwhile, the tire-dedicated gripper (300) is fixed to the end of the robot arm (110) as described above and serves to firmly grip the tire (1) so that it can be moved to a desired position using the dual-arm collaborative robot (100).

[0050] This tire-specific gripper (300) may include a gripper body (310) installed symmetrically at the end of a dual-arm collaborative robot (100), and a finger part (320) installed on the gripper body (310) so as to be movable along the diameter direction of the tire (1) and having a locking piece (321) at the end to fix the tire (1) to the gripper body (310).

[0051] The gripper body (310) is formed from a pair of mutually corresponding members and is installed symmetrically at the end of the dual-arm collaborative robot (100). When gripping the tire (1), the front surface of the gripper body (310) that contacts the tire (1) can be formed at an angle parallel to the tangential direction of the tire (1).

[0052] The front surface of the gripper body (310) is formed at an angle parallel to the tangential direction of the tire (1) when gripping the tire (1), so that the tire (1) can be gripped firmly and stably when gripping the tire (1) using the finger portion (320).

[0053] The finger portion (320) is a member installed on the gripper body (310) to pull the tire (1) toward the gripper body (310) so as to achieve a substantial grip on the tire (1), and the finger portion (320) may be installed on the gripper body (310) so as to be parallel to the diameter direction of the tire (1).

[0054] With the front of the gripper body (310) formed at an angle parallel to the tangential direction of the tire (1), the finger portion (320) is installed on the gripper body (310) parallel to the diameter direction of the tire (1), thereby arranging the front of the gripper body (310) and the length direction of the finger portion (320) perpendicularly, so that when the tension pulling the tire (1) toward the gripper body (310) by the finger portion (320) is applied, the tire (1) can be gripped most firmly.

[0055] In order to allow the tire (1) to be pulled toward the gripper body (310) using the finger portion (320), the finger portion (320) may be connected to the gripper body (310) by a separate air cylinder (330) so that the end of the finger portion (320) can slide along the diameter direction of the tire (1).

[0056] The finger portion (320) installed on the gripper body (310) by means of such an air cylinder (330) can be slidably moved at a certain distance along the length direction of the finger portion (320), so that the tire (1) can be pulled toward the gripper body (310) while the catch (321) provided at the end of the finger portion (320) is caught on one side of the inner surface of the tire (1), thereby enabling the tire (1) to be gripped.

[0057] Additionally, an LM guide (340) that guides the movement of the finger part (320) may be installed between the finger part (320) and the air cylinder (330). By installing the LM guide (340) on the finger part (320), the air cylinder (330) prevents movement of a part of the finger part (320) during sliding movement, thereby allowing for stable sliding movement, and consequently, a stable grip of the tire (1) using the finger part (320) can be achieved.

[0059] The vision unit (400) may be configured to include a camera (410) installed at a certain height on one side of the mobile manipulator (200), a lighting module (420) provided on one side of the camera (410) to irradiate a light source, and a control unit (not shown) that controls the movement of the dual-arm collaborative robot (100) and the tire-dedicated gripper (300) based on information obtained through the camera (410).

[0060] One side of the mobile manipulator (200) may further include a vision unit (400) that determines whether gripping and moving operations are possible by identifying the position of the tire (1), which is the object of the moving operation. This vision unit (400) may be placed in the boundary area between the horizontal conveyor (510) and the inclined conveyor (520) that constitute the conveyor module (500) installed at the rear of the robot arm (110).

[0061] By placing the vision unit (400) at the boundary area between the horizontal conveyor (510) and the inclined conveyor (520), it is possible to verify whether cargo moving along the horizontal conveyor (510) is accurately moved to the outside and discharged along the inclined conveyor (520).

[0062] This vision unit (400) may include a camera (410) installed at a certain height on one side of the mobile manipulator (200), a lighting module (420) provided on one side of the camera (410) to irradiate a light source, and a control unit (not shown) that controls the movement of the robot arm (110) and the tire-dedicated gripper (300) based on information obtained through the camera (410).

[0063] In addition, it is preferable that the camera (410) and the lighting module (420) be fixedly positioned on a frame part (430) formed to have a certain height on one side of the mobile manipulator (200) so that the camera (410) and the lighting module (420) can be positioned at a certain height to check the overall motion of the moving cargo, thereby allowing the vision part (400) to function accurately.

[0064] In addition, for this purpose, it is effective to position the camera (410) and the lighting module (420) toward the robot arm (110) and the tire-dedicated gripper (300) so that the robot arm (110) and the tire-dedicated gripper (300) can detect in real time whether the accurate movement of the cargo is being performed.

[0066] The conveyor module (500) is installed on the upper surface of the mobile manipulator (200) and is a component that moves the tire (1), which is placed after being gripped by the tire-specific gripper (300), to a desired position.

[0067] This conveyor module (500) may include a horizontal conveyor (510) installed in a flat direction on the upper surface of the mobile manipulator (200), and an inclined conveyor (520) connected to the horizontal conveyor (510) at the end of the horizontal conveyor (510) and positioned at an angle.

[0068] And, the horizontal conveyor (510) is connected to a conveying unit (230) installed in the central area of ​​the mobile manipulator (200) so that the tire (1) to be conveyed can be supplied to the tire-dedicated gripper (300) to be loaded, or the loaded tire (1) can be unloaded after being gripped by the tire-dedicated gripper (300) and moved to a desired location.

[0069] This horizontal conveyor (510) can be positioned in a tilted state as needed, thereby allowing the tire (1) to be transported to be stably transported to the tire-dedicated gripper (300) to be loaded or unloaded and transported to a desired location.

[0070] It is preferable that the inclined conveyor (520) be installed so that the degree of inclination can be adjusted so that it can be connected to the height at which the horizontal conveyor (510) is installed flat, thereby mitigating the impact applied to the tire (1) by the conveyor module (500) when unloading the tire (1) and allowing the tire (1) to be aligned quickly.

[0072] Referring to FIGS. 7 and FIGS. 8, the process of moving a tire to be worked on to unload or load it from a container using an automated tire loading and unloading robot system according to one embodiment of the present invention having the configuration described above is as follows.

[0073] First, the tire loading and unloading automation robot system according to the present invention is moved to a position close to the container using a mobile manipulator (200) and positioned at the entrance side of the container.

[0074] And, the horizontal conveyor (510) and the inclined conveyor (520) of the conveyor module (500) are arranged in combination at the rear of the mobile manipulator (200) to allow the tire (1) to be loaded or unloaded to be transported.

[0075] In this state, the loading status of the tire or the position and shape of the tire is determined using the vision unit (400), and preparation is made to accurately grip the tire (1) using the tire-specific gripper (300).

[0076] When the automated tire loading and unloading robot system is ready, the position or condition of the tire (1) is recognized, and the robot arm (110) and the tire-specific gripper (300) are operated in an optimal motion so that the gripping operation of the tire (1) is carried out.

[0077] A robot arm (110) is installed on both ends of a mobile manipulator (200) so as to move the tire (1) to a position where it is to be moved or unloaded. The robot arm (110) is installed to be rotatable with respect to the X-axis, Y-axis, and Z-axis so as to be able to change the direction of movement through rotation, and is equipped with multiple joints to enable various movements.

[0078] In addition, a transfer unit (230) consisting of a plurality of rollers is installed in the center of the mobile manipulator (200) on which the robot arm (110) is installed so as to allow the tire (1), which is the work object, to be moved by sliding, and the transfer unit (230) is connected to a horizontal conveyor (510) so as to move the tire (1) stably and allow the transfer operation of the tire (1) to be performed quickly.

[0079] Here, when examining the gripping operation of the tire (1) using the tire-specific gripper (300), if the front of the gripper body (310), which is arranged symmetrically, is positioned to contact the outer surface of the tire (1), the finger portion (320) installed on the gripper body (310) is positioned along the diameter direction of the tire (1), and the catch piece (321) provided at the end of the finger portion (320) is positioned in a location close to the inner surface of the tire (1).

[0080] In this state, when the air cylinder (330) is operated, the finger portion (320) slides along the LM guide (340), and as the overall length of the finger portion (320) contracts, the locking piece (321) presses against the inner surface of the tire (1), and accordingly, the outer surface of the tire (1) is pressed against the front of the gripper body (310), thereby completing the grip of the tire (1).

[0081] When the tire (1) is gripped by the tire-dedicated gripper (300) through the above process, the tire (1) is moved to a desired position and placed by the rotation of the robot arm (110), and then the air cylinder (330) is operated to release the gripper (321) from the inner surface of the tire (1), thereby returning the tire-dedicated gripper (300) to its original position and allowing the tire (1) to be repeatedly gripped, thereby enabling the loading or unloading of the tire (1).

[0082] By gripping the tire (1) using a tire-specific gripper (300) through the above-described process and then placing it on the conveying unit (230), the tire (1) can be conveyed along the horizontal conveyor (510) connected to the conveying unit (230) so that the unloading of the tire can be performed.

[0083] Conversely, in the case of loading a tire (1), the tire (1) is transported along a horizontal conveyor (510) and placed on a transport section (230). Then, the tire (1) placed on the transport section (230) is gripped using a tire-specific gripper (300) and loaded at a desired location on the container.

[0084] In addition, after the loading or unloading of the tire (1), which is the work object, is completed through the process described above, the robot arm (110) is moved to a waiting position so that another work can be performed later, and when loading the tire (1), it is effective to use a loading pattern algorithm as shown in FIG. 8.

[0085] The above loading pattern algorithm is an algorithm that generates an optimal loading pattern according to the size and quantity of the tires (1), and such an algorithm can be designed by considering the diameter, weight, loading space, etc. of the tires (1).

[0086] By operating the dual-arm collaborative robot (100), mobile manipulator (200), and tire-specific gripper (300) according to this loading pattern algorithm, a loading pattern can be automatically generated to maximize the utilization of the loading space inside a truck or container, thereby enabling the loading of tires (1) according to various loading scenarios.

[0087] As illustrated in FIG. 8(a), the tires (1) may be loaded in a horizontal position inside the container with their sides in contact with each other to form sequential rows and columns using this loading pattern algorithm, or as illustrated in FIG. 8(b), some tires (1) may be loaded upright on both sides inside the container, and the tires (1) may be loaded in a certain pattern with an oblique slope in the central area.

[0088] However, it is desirable to use a loading pattern algorithm to ensure that the tire (1) is loaded in an optimal way by considering variables that may occur in the actual work environment, thereby enabling a quick and accurate loading operation of the tire (1), which reduces the fatigue of the worker and improves work efficiency.

[0090] In the foregoing, although all components constituting the embodiments of the present invention have been described as being combined or operating together, the present invention is not necessarily limited to such embodiments. That is, within the scope of the purpose of the present invention, all such components may be selectively combined and operated in one or more ways. Furthermore, terms such as "include," "constitute," or "have" described above, unless specifically stated otherwise, mean that the relevant component may be inherent; thus, they should be interpreted as allowing for the inclusion of additional components rather than excluding other components. All terms, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains, unless otherwise defined. Terms commonly used, such as those defined in advance, should be interpreted in accordance with their meaning in the context of the relevant technology and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the present invention.

[0092] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0093] 1 : Tire 100 : Dual-arm collaborative robot 110 : Robot arm 200 : Mobile manipulator 210 : Housing 220 : Transportation 230 : Transfer unit 300 : Tire-specific gripper 310: Gripper body 320: Finger part 321 : Locking piece 330 : Air cylinder 340 : LM Guide 400 : Vision Department 410 : Camera 420 : Lighting module 430 : Frame section 500 : Conveyor module 510: Horizontal conveyor 520: Vertical conveyor

Claims

Claim 1 A tire loading and unloading automation robot system comprising: a dual-arm collaborative robot that moves a gripped tire using multiple robot arms; a mobile manipulator that drives inside a container or truck by recognizing a driving path using a visual sensor and enables the dual-arm collaborative robot to be installed to perform unloading or loading operations of the tire; a tire-specific gripper installed at the end of the robot arm that adjusts the gripping state according to the size and weight of the tire to grip the tire and then places the tire at the unloading or loading position; and a vision unit installed on the mobile manipulator to recognize the position and arrangement state of the tire; wherein a transfer unit is installed on the lower surface of the central area of ​​the mobile manipulator, with multiple rollers rotatably installed to place and move the unloading tire. Claim 2 A tire loading and unloading automation robot system according to claim 1, wherein the vision unit comprises a camera installed at a certain height on one side of the mobile manipulator, a lighting module provided on one side of the camera for irradiating a light source, and a control unit for controlling the movement of the dual-arm collaborative robot and the tire-dedicated gripper based on information obtained through the camera. Claim 3 In paragraph 2, the tire loading and unloading automation robot system wherein the camera and the lighting module are fixedly positioned in a frame portion formed to have a certain height on one side of the mobile manipulator. Claim 4 The tire loading and unloading automation robot system according to claim 1, wherein the tire-dedicated gripper comprises a gripper body installed symmetrically at the end of the dual-arm collaborative robot and a finger portion installed on the gripper body so as to be movable along the diameter direction of the tire, the finger portion having a locking piece at the end to fix the tire to the gripper body. Claim 5 In claim 4, the tire loading and unloading automation robot system in which the finger portion is connected to the gripper body by an air cylinder so that the end of the finger portion can move along the diameter direction of the tire. Claim 6 In claim 5, a tire loading and unloading automation robot system having an LM guide installed between the finger part and the air cylinder to guide the movement of the finger part. Claim 7 In claim 4, the front surface of the gripper body in contact with the tire is formed at an angle parallel to the tangential direction of the tire, and the finger portion is installed on the gripper body parallel to the diameter direction of the tire, thereby forming an automated tire loading and unloading robot system. Claim 8 delete Claim 9 A tire loading and unloading automation robot system according to claim 1, wherein a separate conveyor module is further installed at the rear of the mobile manipulator. Claim 10 A tire loading and unloading automation robot system according to claim 9, wherein the dual-arm collaborative robot is installed on each of the front sides of the mobile manipulator, and the vision unit is positioned in the boundary area between the conveyor module and the transfer unit at the rear of the dual-arm collaborative robot. Claim 11 In claim 9, the conveyor module comprises a horizontal conveyor installed in a flat direction on the upper surface of the mobile manipulator and an inclined conveyor connected to the horizontal conveyor and positioned at an angle at the end of the horizontal conveyor, thereby forming an automated tire loading and unloading robot system. Claim 12 In claim 11, the above-mentioned conveying unit is formed such that its end extends toward the rear of the mobile manipulator at a certain interval so as to protrude toward the rear of the mobile manipulator and is connected to the horizontal conveyor, thereby forming an automated tire loading and unloading robot system. Claim 13 In claim 11, the above-mentioned horizontal conveyor is a tire loading and unloading automation robot system installed to be tiltable in a shape necessary to transport cargo to the floor surface.

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