Centering transfer apparatus of plate and centering transfer method of plate

Abstract

A centering transfer apparatus of a plate according to the disclosed embodiment may comprise: a feeder that moves a workpiece toward a press device; a transfer standby unit on which the workpiece is loaded before being loaded onto the feeder; a transfer robot unit that performs a loading process of loading the workpiece from the transfer standby unit to the feeder and an alignment process of aligning the workpiece on the feeder; a vision system disposed above the feeder to detect misalignment information of the workpiece by photographing the workpiece; and a controller that controls the transfer robot unit on the basis of the detected misalignment information.

Description

Steel plate centering transfer device and steel plate centering transfer method

[0001] The technical idea of ​​the present disclosure relates to a steel plate centering transport device and a steel plate centering transport method, and relates to a device and method for transporting a workpiece represented by a steel plate so that it is accurately placed at a target position.

[0002] A press device is a machine that uses a mold to perform plastic processing, primarily bending, compressing, and shearing, on a workpiece. Before the press device performs compression processing, the supplied workpiece (e.g., a steel plate) must be precisely positioned and oriented to a predetermined position. In the field of press devices, the term "centering" is typically used to refer to the process of positioning and aligning a workpiece supplied to the press device to a predetermined position.

[0003] Methods for positioning and orientation are known, in which centering is performed by mechanical slides and stops. However, these methods have the disadvantage of requiring complex conversion when changing the workpiece type due to the repositioning and reorientation of the slides and stops. Furthermore, when processing irregularly shaped workpieces or multiple small workpieces, a large number of slides and stops are required for accurate positioning. Furthermore, mechanical slides have the disadvantage of risking damage to the workpiece during centering.

[0004] The present disclosure provides a technology relating to a steel plate centering transport device and a steel plate centering transport method.

[0005] One aspect of the present disclosure provides embodiments of a steel plate centering transport device. A steel plate centering transport device according to one embodiment of a method for transporting a workpiece to a press device may include a feeder for moving the workpiece toward the press device, a transport standby unit on which the workpiece is loaded before being loaded onto the feeder, a transport robot unit for performing a loading process for loading the workpiece from the transport standby unit to the feeder and an alignment process for aligning the workpiece on the feeder, a vision system disposed above the feeder for detecting misalignment information of the workpiece by photographing the workpiece, and a controller for controlling the transport robot unit based on the detected misalignment information.

[0006] In one embodiment, the transport robot unit includes a first transport robot disposed on one side of the feeder and a second transport robot disposed on the other side of the feeder, and the controller can control the first transport robot to perform the sorting process when the first transport robot performs the loading process, and to perform the sorting process when the second transport robot performs the loading process.

[0007] In one embodiment, the transfer waiting unit includes a first transfer waiting unit disposed on one side of the feeder and adjacent to the first transfer robot, and a second transfer waiting unit disposed on the other side of the feeder and adjacent to the second transfer robot, wherein the first transfer robot can grip a workpiece from the first transfer waiting unit, and the second transfer robot can grip a workpiece from the second transfer waiting unit.

[0008] In one embodiment, the controller can control the loading process and the alignment process performed by the first transport robot and the second transport robot to be switched to each other according to a set time or number of repetitions of the process.

[0009] In one embodiment, the misalignment information of the workpiece may include the position and rotation angle of the workpiece on the feeder.

[0010] In one embodiment, the vision system can coordinate and store the position and rotation angle of the workpiece and transmit them to the transfer robot unit.

[0011] In one embodiment, the vision system may include a camera that photographs the workpiece and a vision system frame that fixes the position of the camera.

[0012] In one embodiment, the transfer robot unit includes a base, an arm connected to the base and performing multi-axis joint movement, and a gripper connected to an end of the arm to grip the workpiece, wherein the gripper includes a plurality of pads, and when gripping the workpiece, can suck in air between the pads and the workpiece, and when releasing the workpiece, can discharge air between the pads and the workpiece.

[0013] In one embodiment, the feeder includes a conveyor belt and a magnetic body disposed below the conveyor belt, the magnetic body being capable of fixing the workpiece on the conveyor belt.

[0014] One aspect of the present disclosure provides embodiments of a method for centering a steel plate. A steel plate centering transfer method according to one embodiment of the present invention is performed by a steel plate centering transfer device including a feeder for moving a workpiece toward a press device, a transfer waiting unit on which the workpiece is loaded before being loaded onto the feeder, a transfer robot unit for performing a loading process for loading the workpiece from the transfer waiting unit to the feeder and an alignment process for aligning the workpiece on the feeder, a vision system disposed above the feeder for detecting misalignment information of the workpiece by photographing the workpiece, and a controller for controlling the transfer robot based on the detected misalignment information, the method may include a loading step in which the transfer robot unit loads the workpiece stacked in the transfer waiting unit onto the feeder, an information detection step in which the vision system detects misalignment information of the workpiece by photographing the workpiece loaded onto the feeder, a control step in which the controller controls the transfer robot unit based on the misalignment information, and an alignment step in which the transfer robot unit aligns the workpiece according to a command of the controller.

[0015] In one embodiment, the information detection step may include a step in which the vision system photographs the workpiece and a step in which the vision system coordinates the misalignment information of the workpiece through the photographed image of the workpiece.

[0016] In one embodiment, the transport robot unit includes a first transport robot disposed on one side of the feeder and a second transport robot disposed on the other side of the feeder, and when the loading step is performed by the first transport robot or the second transport robot, the alignment step may be performed by a transport robot among the second transport robot and the first transport robot that does not perform the loading step.

[0017] In one embodiment, the transfer standby unit includes a first transfer stand arranged adjacent to the first transfer robot and a second transfer stand arranged adjacent to the second transfer robot, and further includes a judgment step performed after the alignment step to determine whether workpieces loaded on at least one of the first transfer stand and the second transfer stand are exhausted, and a switching step in which the loading process and the alignment process performed by the first transfer robot and the second transfer robot are switched to each other can be selectively performed based on a result of the judgment step.

[0018] In one embodiment, if it is determined in the judgment step that the workpiece is exhausted, the switching step may be passed through to the loading step, and if it is determined in the judgment step that the workpiece is not exhausted, the loading step may be immediately returned.

[0019] In one embodiment, the misalignment information may include the position and rotation angle of the workpiece on the feeder.

[0020] In one embodiment, the position and rotation angle of the workpiece can be stored in coordinate format.

[0021] According to one embodiment of the present disclosure, the process can be simplified and damage to the workpiece can be prevented as the workpiece alignment process is performed by the vision system and the controller.

[0022] According to one embodiment of the present disclosure, the time required for a process can be shortened by a switching process of a transport robot unit including two or more transport robots.

[0023] According to one embodiment of the present disclosure, the space required to perform a process of centering a steel plate or the like can be reduced by a switching process of a transport robot unit including two or more transport robots.

[0024] FIG. 1 is a perspective view illustrating a steel plate press system including a steel plate centering transport device according to one embodiment of the present disclosure.

[0025] FIG. 2 is a perspective view illustrating a steel plate centering transfer device according to one embodiment.

[0026] FIG. 3A is a perspective view illustrating a transport robot, which is one of the transport robot units according to one embodiment.

[0027] Figure 3b is an enlarged view of area A of Figure 3a.

[0028] FIG. 4 is a side view illustrating a feeder included in a steel plate centering transport device according to one embodiment.

[0029] FIG. 5 is a front view illustrating a vision system included in a steel plate centering transport device according to one embodiment.

[0030] Fig. 6 is a flowchart illustrating the sequence of a steel plate centering transfer method according to one embodiment.

[0031] Fig. 7 is a flowchart showing the detailed sequence of the information detection step of the steel plate centering transfer method of Fig. 6.

[0032] The embodiments of this disclosure are provided for the purpose of illustrating the technical concepts of this disclosure. The scope of rights under this disclosure is not limited to the embodiments presented below or the specific descriptions of these embodiments.

[0033] All technical and scientific terms used in this disclosure, unless otherwise defined, have the meanings commonly understood by those of ordinary skill in the art to which this disclosure pertains. All terms used in this disclosure have been selected for the purpose of more clearly explaining this disclosure and are not intended to limit the scope of rights under this disclosure.

[0034] Expressions such as “including,” “comprising,” “having,” and the like used in this disclosure should be understood as open-ended terms that imply the possibility of including other embodiments, unless otherwise stated in the phrase or sentence in which the expression is included.

[0035] The singular forms described in this disclosure may include plural meanings unless otherwise stated, and the same applies to the singular forms described in the claims.

[0036] The expressions “first,” “second,” etc. used in this disclosure are used to distinguish between multiple components, and do not limit the order or importance of the components.

[0037] In this disclosure, when a component is referred to as being "connected" or "connected" to another component, it should be understood that the component can be directly connected or connected to the other component, or can be connected or connected via a new other component.

[0038] The term "centering transfer device" as used in the present disclosure means a device that performs a series of processes of aligning a workpiece so that it is placed at a predetermined position of a feeder without being tilted, and transferring the aligned workpiece to a press device.

[0039] The dimensions and values ​​described in this disclosure are not limited to the dimensions and values ​​described. Unless otherwise specified, these dimensions and values ​​are to be understood to mean the values ​​described and equivalent ranges encompassing them.

[0040] Hereinafter, embodiments of the present disclosure will be described with reference to the attached drawings. In the attached drawings, identical or corresponding components are assigned the same reference numerals. Furthermore, in the description of the embodiments below, redundant descriptions of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0041] FIG. 1 is a perspective view illustrating a steel plate press system (1) including a steel plate centering transport device (10) according to one embodiment of the present disclosure. Referring to FIG. 1, the steel plate press system (1) may include a steel plate centering transport device (10), a steel plate press device (20), and a steel plate distribution device (30). The steel plate press system (1) supplies a plate-shaped workpiece (hereinafter, “workpiece”) to the press device (20), press-forms the workpiece into a predetermined shape, and then distributes the formed workpiece to a required process by the steel plate distribution device (30). The steel plate centering transport device (10) according to one embodiment may be arranged on one side of the steel plate press device (20) and continuously supply the workpiece to the steel plate press device (20) through a feeder (e.g., the feeder (12) of FIG. 2). In order for an accurate forming process to be performed on a workpiece in a steel plate press device (20), the workpiece must be placed and oriented at a predetermined position and at a constant interval on a feeder and then supplied to the steel plate press device (20). Hereinafter, with reference to FIGS. 2 to 6, a steel plate centering transfer device (10) according to one embodiment for efficiently performing the alignment and supply process of the workpiece will be described.

[0042] Fig. 2 is a perspective view illustrating a steel plate centering transport device (10) according to one embodiment. Referring to Fig. 2, the steel plate centering transport device (10) may include a feeder (12), a transport standby unit (14), a transport robot unit (16), and a vision system (18).

[0043] In one embodiment, the feeder (12) can transport the workpiece (WP) toward the press device (e.g., the press device (20) of FIG. 1). The feeder (12) can be formed to extend from an area where the steel plate centering transport device (10) is installed, which is disposed in front of the steel plate press device (20), to an area where the steel plate distribution device (30) is installed, which is disposed at the rear of the press device (20). That is, the feeder (12) is arranged longitudinally so as to penetrate the area where the press device (20) is installed, thereby transporting the workpiece (WP) so that the workpiece (WP) passes through the steel plate centering transport device (10), the steel plate press device (20), and the steel plate distribution device (30) in sequence. The feeder (12) will be described in more detail below with reference to FIG. 4.

[0044] In one embodiment, the transfer waiting unit (14) is a unit that is loaded and waits for loading before the workpiece (WP) is loaded onto the feeder (12) by the transfer robot unit (16). The transfer waiting unit (14) may include a polygonal pillar-shaped base (141) having a predetermined height from the bottom surface. The transfer waiting unit (14) may include a gripping assistant (142) that is formed to protrude upward from the base (141) and helps the workpiece (WP) to be easily gripped. The transfer waiting unit (14) may be arranged adjacent to one end of the feeder (12). The transfer waiting unit (14) may include a first transfer waiting stand (14a) and a second transfer waiting stand (14b). The first transfer waiting stand (14a) may be arranged on one side perpendicular to the longitudinal direction in which the feeder (12) extends. The second transfer standby (14b) can be placed on the other side perpendicular to the longitudinal direction in which the feeder (12) extends.

[0045] In one embodiment, the transfer robot unit (16) can perform a loading process of supplying a workpiece (WP) from a transfer standby unit (14) to a feeder (12). The transfer robot unit (16) can perform an alignment process of aligning the workpiece (WP) on the feeder (12). The loading process and the alignment process for one workpiece (WP) can be performed sequentially. The transfer robot unit (16) can include a first transfer robot (16a) and a second transfer robot (16b). The first transfer robot (16a) can be arranged adjacent to the first transfer stand (14a) on one side perpendicular to the longitudinal direction in which the feeder (12) extends. The first transfer robot (16a) can grip the workpiece (WP) from the first transfer stand (14a). The second transfer robot (16b) can be arranged adjacent to the second transfer stand (14b) on the other side perpendicular to the longitudinal direction in which the feeder (12) extends. The second transfer robot (16b) can grip the workpiece (WP) from the second transfer stand (14b). When the first transfer robot (16a) performs a loading process, the second transfer robot (16b) can perform an alignment process. When the second transfer robot (16b) performs a loading process, the first transfer robot (16a) can perform an alignment process. As described above, since the first transfer robot (16a) and the second transfer robot (16b) are arranged in parallel to perform a division of labor process, the space in which the steel plate centering transfer device (10) is installed can be reduced in the longitudinal direction compared to when one transfer robot is arranged in the center. Regarding the transport robot unit (16) including the first transport robot (16a) and the second transport robot (16b), it will be described in more detail below with reference to FIGS. 3a and 3b.

[0046] In one embodiment, a vision system (18) may be positioned above a feeder (12). The vision system (18) may photograph a workpiece (WP) positioned on the feeder (12). The vision system (18) may store information regarding the placement and orientation of the workpiece (WP). The vision system (18) will be described in more detail below with reference to FIG. 5.

[0047] FIG. 3A is a perspective view illustrating a transport robot (16a; 16b), which is one of the transport robot units (16), according to one embodiment. FIG. 3B is an enlarged view of area A of FIG. 3A. Referring to FIGS. 3A and 3B, the transport robot (16a; 16b) may include a base (161), an arm (162), and a gripper (163). In one embodiment, the base (161) may have a polygonal prism shape having a certain height from the bottom surface so that the transport robot (16a; 16b) can perform a process at an appropriate height. However, the base (161) does not necessarily have to be a polygonal prism shape, and may be formed in any shape as long as it has a flat upper surface, such as a cylindrical shape, and a certain height. In one embodiment, the arm (162) includes two or more load sections and joint sections, and may be driven by cooperation between the load sections and the joint sections. One end of the arm (162) may be attached to the base (161). The other end of the arm (162) may be attached to a gripper (163). In one embodiment, the gripper (163) may perform grabbing and releasing of a workpiece (WP) when the transport robot (16a; 16b) performs a loading process and / or an alignment process.

[0048] Referring to FIG. 3B, the gripper (163) may include a gripper frame (1631), a gripper leg (1632), and a gripper pad (1633). The gripper frame (1631) may be arranged parallel to a plane on which a workpiece (WP) is placed. The gripper frame (1631) may be attached to the other end of the arm (162). The gripper leg (1632) may extend in a downward direction perpendicular to the gripper frame (1631). One end of the gripper leg (1632) may be joined to the gripper frame (1631). A gripper pad (1633) may be attached to the other end of the gripper leg (1632). The gripper leg (1632) may be formed in multiple pieces. The gripper frame (1631) and the gripper leg (1632) may be formed of the same material. Specifically, the gripper frame (1631) and the gripper legs (1632) may be formed of a high-rigidity metal material. The gripper frame (1631) and the gripper legs (1632) may have a cylindrical shape having a hollow portion. A fluid such as air or liquid may flow through the hollow portion of the gripper frame (1631) and the gripper legs (1632). The gripper pad (1633) may be attached to the other end of the gripper leg (1632). The gripper pad (1633) may be formed in multiple pieces and may be attached to the other end of each gripper leg (1632). The gripper pad (1633) may be connected to the hollow portion of the gripper frame (1631) and the gripper legs (1632) to perform a hydraulic gripping and releasing process on the workpiece (WP). For example, when the transfer robot unit (16) grips a workpiece (WP), the gripper (163) can be made to grip the workpiece (WP) by lowering the pressure between the gripper pad (1633) and the workpiece (WP) by sucking a fluid (e.g., air) between the gripper pad (1633) and the workpiece (WP).Additionally, when the transfer robot unit (16) releases the workpiece (WP), the gripper (163) can release the workpiece (WP) by releasing a fluid (e.g., air) between the gripper pad (1633) and the workpiece (WP) to increase the pressure between the gripper pad (1633) and the workpiece (WP).

[0049] FIG. 4 is a side view illustrating a feeder (12) included in a steel plate centering transport device (10) according to one embodiment. Referring to FIG. 4, the feeder (12) may include a feeder frame (121), a conveyor belt (122), and a magnetic body (123). The feeder frame (121) may be formed to be spaced apart from the bottom surface so as to have an optimal height for loading a workpiece (WP) by a transport robot unit (e.g., a transport robot unit (16) of FIG. 3A). The feeder frame (121) may be formed to extend from an area where a steel plate centering transport device (e.g., a steel plate press device (10) of FIG. 1) is installed, which is disposed in front of a steel plate press device (e.g., a steel plate press device (20) of FIG. 1), to an area where a steel plate distribution device (e.g., a steel plate distribution device (30) of FIG. 1) is installed, which is disposed in the rear of the steel plate press device (20). A conveyor belt (122) may be formed to surround the upper and lower surfaces of a feeder frame (121). The conveyor belt (122) may rotate based on the feeder frame (121) and transport a workpiece (WP) placed on the conveyor belt (122) to a steel plate press device (20). A magnetic body (123) may be placed between the conveyor belt (122) and the feeder frame (121). The magnetic body (123) may be attached to the conveyor belt (122) and may rotate together with the feeder frame (121) as the conveyor belt (122) rotates. The magnetic bodies (123) may be placed at regular intervals along the rotational direction of the conveyor belt (122). The magnetic body (123) can fix the aligned workpiece (WP) on the conveyor belt (122) to prevent misalignment due to unexpected forces such as wind and external environment after the workpiece (WP) is aligned.

[0050] FIG. 5 is a front view illustrating a vision system (18) included in a steel plate centering transport device (10) according to one embodiment. Referring to FIG. 5, the vision system (18) may include a camera (181) and a vision system frame (182). The vision system (18) may photograph a workpiece (WP) placed on a feeder (e.g., the feeder (12) of FIG. 2). The vision system (18) may detect information about the workpiece (WP) based on the photographed image of the workpiece (WP). The information about the workpiece (WP) may be stored as data. The information about the workpiece (WP) may include information about the arrangement and orientation of the workpiece (WP). For example, the information about the workpiece (WP) may include the position of the workpiece (WP) on the feeder (12), the spacing between the workpieces (WP), the rotation angle of the workpiece (WP), etc. The rotation angle of the workpiece (WP) may refer to the degree to which the workpiece (WP) is misaligned with respect to an axis perpendicular to the plane of the feeder (12) on which the workpiece (WP) is placed. In one embodiment, the vision system (18) may store the above information of the workpiece (WP) by coordinating them. Through the information of the workpiece (WP) detected by the vision system (18), misalignment information indicating how much the workpiece (WP) placed on the feeder (12) is misaligned from the correct position may be derived.

[0051] In one embodiment, the centering transfer device (10) may further include a controller (19). The controller (19) may receive misalignment information of the workpiece (WP) obtained from the vision system (18) and control the transfer robot unit (16) based on the misalignment information. Communication between the vision system (18) and the controller (19) and / or communication between the controller (19) and the transfer robot unit (16) may be either wired or wireless, and may be appropriately selected depending on the environment in which the centering transfer device (10) is installed. Hereinafter, operations of the centering transfer device (10) controlled by the controller (19) will be described with reference to FIGS. 1 to 5.

[0052] In one embodiment, the controller (19) can control, when the loading process in which the workpiece (WP) is loaded from the transfer standby unit (14) to the feeder (12) is being performed by the first transfer robot (16a), the alignment process for aligning the position and rotation angle of the workpiece (WP) loaded onto the feeder (12) to be performed by the second transfer robot (16b). Conversely, the controller (19) can control, when the loading process in which the workpiece (WP) is loaded from the transfer standby unit (14) to the feeder (12) is being performed by the second transfer robot (16b), the alignment process for aligning the position and rotation angle of the workpiece (WP) loaded onto the feeder (12) to be performed by the first transfer robot (16a). By controlling each of the transfer robots (16a, 16b) to repeatedly perform the same process as described above, the overall process can be simplified. In addition, the overall productivity of the steel plate press system (1) can be increased by reducing the interval at which the workpiece (WP) is supplied to the steel plate press device (20), thereby inducing a rapid press process.

[0053] In one embodiment, the controller (19) can control the loading process and the alignment process performed by the first transfer robot (16a) and the second transfer robot (16b) to be switched with each other according to a certain rule. For example, the controller (19) can control the processes performed by the first transfer robot (16a) and the second transfer robot (16b) to be switched in consideration of the amount of workpieces (WP) loaded on the first transfer stand (14a) and the second transfer stand (14b). That is, if the workpieces (WP) loaded on the first transfer stand (14a) are completely exhausted while the first transfer robot (16a) is performing the loading process, the controller (19) can control the second transfer robot (16b) to perform the loading process and the first transfer robot (16a) to perform the alignment process. Whether the workpieces (WP) are exhausted can be detected by a sensor (not shown) of the transfer stand (14a, 14b). The above sensor may include a weight detection sensor, an image sensor, a temperature detection sensor, an optical sensor, etc. Preferably, the sensor may be an optical sensor. For example, the optical sensor may be placed upward on the base (141) of the transfer stand (14a, 14b) to detect whether the workpiece (WP) is exhausted based on the reflection return time for the light to be reflected and returned. When the workpiece (WP) is loaded on the transfer stand (14a, 14b), the reflection return time is short, whereas when the workpiece (WP) is exhausted, the reflection return time may be relatively long or may not return. In another embodiment, the processes performed by the first transfer robot (16a) and the second transfer robot (16b) may be switched with each other according to a set time or the number of repetitions of the process. For example, the controller (19) may control the processes performed by the first transfer robot (16a) and the second transfer robot (16b) to be switched at one-minute intervals, respectively.For example, the controller (19) can control the processes performed by the first transfer robot (16a) and the second transfer robot (16b) to be switched when the loading process and the alignment process are each repeated 10 times. According to the switching process as described above, there is no need to wait for the time for new workpieces (WP) to be loaded into the transfer standby unit (14), so that the workpieces (WP) can be quickly supplied to the steel plate press device (20), thereby shortening the time required for the entire process. For example, while the first transfer robot (16a) performs the loading process, the second transfer robot (16b) only performs the alignment process, so that new workpieces (WP) can be replenished to the second transfer stand (14b) in the meantime.

[0054] In one embodiment, the controller (19) can control the movement of the transfer robot unit (16) based on information about the workpiece (WP) detected by the vision system (18). For example, if the vision system (18) detects that the specific workpiece (WP) loaded on the feeder (12) is deviated from the correct position by +1 cm and from the correct angle by +1 degree after the first transfer robot (16a) loads the specific workpiece (WP) loaded on the first transfer stand (14a) onto the feeder (12), the controller (19) can, based on this, issue a command to the second transfer robot (16b) to correct the position of the specific workpiece (WP) by -1 cm and the angle by -1 degree, so that the second transfer robot (16b) can align the placement and orientation of the misaligned specific workpiece (WP). By the electronic alignment process of the vision system (18) and controller (19) as described above, the process can be simplified compared to the mechanical alignment process, and damage to the workpiece can be prevented.

[0055] In addition, the controller (19) can perform control over the overall processes performed in the centering transfer device (10), and is not necessarily bound to the above-described embodiment.

[0056] Fig. 6 is a flowchart illustrating the sequence of a steel plate centering transfer method (S100) according to one embodiment.

[0057] A steel plate centering transfer method (S100) according to one embodiment can be performed by a centering transfer device (10) described with reference to FIGS. 1 to 5. The steel plate centering transfer method (S100) includes a loading step (S110) in which a transfer robot unit (e.g., a transfer robot unit (16) of FIG. 2) loads a workpiece (e.g., a workpiece (WP) of FIG. 2) stacked on a transfer standby unit (e.g., a transfer standby unit (14) of FIG. 2) into a feeder (e.g., a feeder (12) of FIG. 2), an information detection step (S120) in which a vision system (e.g., a vision system (18) of FIG. 2) detects information on the workpiece (WP) by photographing the workpiece (WP) loaded on the feeder (12), a control step (S130) in which a controller controls the transfer robot unit (16) based on the information on the workpiece (WP), an alignment step (S140) in which the transfer robot unit (16) loads or aligns the workpiece (WP) according to a command of the controller, and a step of determining whether the workpiece (WP) loaded on the transfer stand (14a, 14b) is exhausted. The judgment step (S150) and the switching step may include a switching between the loading process and the sorting process performed by the first transport robot (16a) and the second transport robot (16b).

[0058] In one embodiment, the loading step (S110) may be performed by either a first transfer robot (e.g., the first transfer robot (16a) of FIG. 2) or a second transfer robot (e.g., the second transfer robot (16b) of FIG. 2). In one embodiment, the alignment step (S130) may also be performed by either a first transfer robot (e.g., the first transfer robot (16a) of FIG. 2) or a second transfer robot (e.g., the second transfer robot (16b) of FIG. 2). The alignment step (S130) may be performed by a transfer robot that has not performed the loading step (S110) among the first transfer robot (16a) or the second transfer robot (16b).

[0059] In one embodiment, information of a workpiece (e.g., a workpiece (WP) of FIG. 2) detected in the information detection step (S120) may include information regarding the arrangement and orientation of the workpiece (WP). For example, information of the workpiece (WP) may include a position of the workpiece (WP) on a feeder (e.g., a feeder (12) of FIG. 2), a spacing between workpieces (WP), a rotation angle of the workpiece (WP), etc. The rotation angle of the workpiece (WP) may mean the degree to which the workpiece (WP) is twisted with respect to an axis perpendicular to the plane of the feeder (12) on which the workpiece (WP) is placed. In one embodiment, the vision system (18) may store the above-described information of the workpiece (WP) by coordinating them.

[0060] In one embodiment, the control step (S130) may include overall control performed by a controller (e.g., the controller (19) of FIG. 5). For example, the control step (S130) may include a step of commanding, when the loading process is performed by a first transfer robot (e.g., the first transfer robot (16a) of FIG. 5) or a second transfer robot (e.g., the second transfer robot (16b) of FIG. 5), that the alignment process be performed by the second transfer robot (16b) or the first transfer robot (16a). For example, the control step (S130) may include a step of commanding that the loading process and the alignment process performed by the first transfer robot (16a) and the second transfer robot (16b) be switched with each other according to a certain rule. For example, the control step (S130) may include a step of commanding an operation for the transfer robot unit (16) based on information on the workpiece (WP) detected by the vision system (18).

[0061] In one embodiment, the alignment step (S140) may include a step in which one of the transport robot units (16) aligns the workpiece, which has received a command from a controller (e.g., a controller (19) of FIG. 5) that is made by a step of commanding an operation to the transport robot unit (e.g., a transport robot unit (16) of FIG. 5) during the control step (S130).

[0062] In one embodiment, the judgment step (S150) can determine whether a workpiece (e.g., a workpiece (WP) of FIG. 5) loaded on at least one of the transfer waiting units (e.g., the transfer waiting units (14a, 14b) of FIG. 5) is exhausted. Whether the workpiece (WP) is exhausted can be detected by a sensor (not shown) of the transfer waiting units (14a, 14b). The sensor can include a weight detection sensor, an image sensor, a temperature detection sensor, an optical sensor, or the like. Preferably, the sensor can be an optical sensor. For example, the optical sensor can be arranged to face upward on the base (141) of the transfer waiting units (14a, 14b), and can detect whether the workpiece (WP) is exhausted based on the reflection return time for light to be reflected and returned. When the workpiece (WP) is loaded on the transfer stand (14a, 14b), the reflection return time is short, whereas when the workpiece (WP) is exhausted, the reflection return time is relatively long or may not return at all. In the judgment step (S150), a result that the workpiece (WP) loaded on at least one of the transfer stand (14a, 14b) is exhausted or a result that the workpiece (WP) is not exhausted can be transmitted to the controller (e.g., the controller (19) of FIG. 5).

[0063] In one embodiment, the switching step (S160) includes a process in which the loading process and the sorting process performed by the first transfer robot (e.g., the first transfer robot (14a) of FIG. 5) and the second transfer robot (e.g., the second transfer robot (14b) of FIG. 5) are switched to each other. The switching step (S160) may be performed based on the result of the judgment step (S150). If, in the judgment step (S150), the result that all workpieces (WP) loaded on at least one of the transfer waiting units (14a, 14b) are exhausted is transmitted to the controller (19), the switching step (S150) is performed and then the process returns to the loading step (S120). In the judgment step (S150), if the result that not all workpieces (WP) loaded on the transfer stand (14a, 14b) are exhausted is transmitted to the controller (19), the switching step (S150) is not performed and the process returns immediately to the loading step (S120).

[0064] Fig. 7 is a flowchart illustrating a detailed sequence of an information detection step (S120) of the steel plate centering transfer method (S100) of Fig. 6. The information detection step (S120) may include a step (S121) in which a vision system (e.g., the vision system (18) of Fig. 2) photographs a workpiece (e.g., the workpiece (WP) of Fig. 2) and a step (S122) in which the vision system (18) coordinates the position and rotation angle of the workpiece (WP).

[0065] Although the process steps, method steps, algorithms, etc., are described in a sequential order in the flowcharts illustrated in FIGS. 6 and 7, such processes, methods, and algorithms may be configured to operate in any suitable order. In other words, the steps of the processes, methods, and algorithms described in various embodiments of the present disclosure need not be performed in the order described herein. Furthermore, even if some steps are described as being performed asynchronously, in other embodiments, such some steps may be performed concurrently. Furthermore, the illustration of a process by depiction in the drawings does not imply that the illustrated process excludes other variations and modifications thereof, nor does it imply that the illustrated process or any of its steps is essential to one or more of the various embodiments of the present disclosure, nor does it imply that the illustrated process is preferred.

[0066] While the technical concept of the present disclosure has been described above with reference to certain embodiments and examples illustrated in the accompanying drawings, it should be understood that various substitutions, modifications, and variations may be made without departing from the technical concept and scope of the present disclosure, which would be understood by those skilled in the art to which the present disclosure pertains. Furthermore, such substitutions, modifications, and variations should be considered to fall within the scope of the appended claims.

Claims

1. In a steel plate centering transfer device that transfers a workpiece to a press device, A feeder for moving the workpiece toward the press device; A transport waiting unit into which the workpiece is loaded before being loaded into the feeder; A transfer robot unit that performs a loading process for loading the workpiece from the transfer waiting unit to the feeder and an alignment process for aligning the workpiece on the feeder; A vision system positioned above the feeder to detect misalignment information of the workpiece by photographing the workpiece; and A controller controlling the transport robot unit based on the detected misalignment information; Including, Steel plate centering transfer device.

2. In paragraph 1, The above transport robot unit, A first transport robot arranged on one side of the above feeder; and A second transport robot arranged on the other side of the above feeder; Including, The controller controls the first transport robot to perform the loading process, the second transport robot to perform the alignment process, and the second transport robot to perform the loading process, the first transport robot to perform the alignment process. Steel plate centering transfer device.

3. In paragraph 2, The above transport waiting unit is, A first transfer stand arranged on one side of the feeder and adjacent to the first transfer robot; and A second transfer stand arranged on the other side of the feeder and adjacent to the second transfer robot; Including, The first transfer robot grips the workpiece from the first transfer stand, and the second transfer robot grips the workpiece from the second transfer stand. Steel plate centering transfer device.

4. In paragraph 3, The controller controls the loading process and the alignment process performed by the first transfer robot and the second transfer robot to be switched to each other when the workpiece loaded in at least one of the first transfer stand and the second transfer stand is exhausted. Steel plate centering transfer device.

5. In paragraph 1, The above misalignment information includes the position and rotation angle of the workpiece on the feeder. Steel plate centering transfer device.

6. In paragraph 5, The above vision system coordinates and stores the position and rotation angle of the workpiece and transmits it to the transfer robot unit. Steel plate centering transfer device.

7. In paragraph 1, The above vision system, a camera for photographing the above workpiece; and A vision system frame that fixes the position of the above camera; Including, Steel plate centering transfer device.

8. In paragraph 1, The above transport robot unit, base; An arm connected to the above base and performing multi-axis joint movements; and A gripper connected to the end of the arm and holding the workpiece; Including, The gripper comprises a plurality of pads, and when gripping the workpiece, air is sucked between the pads and the workpiece, and when releasing the workpiece, air is discharged between the pads and the workpiece. Steel plate centering transfer device.

9. In paragraph 1, The above feeder comprises a conveyor belt and a magnetic body placed under the conveyor belt, The above magnetic body fixes the workpiece on the conveyor belt, Steel plate centering transfer device.

10. A steel plate centering transfer method performed by a steel plate centering transfer device including a feeder for moving a workpiece toward a press device, a transfer waiting unit on which the workpiece is loaded before being loaded onto the feeder, a transfer robot unit for performing a loading process for loading the workpiece from the transfer waiting unit to the feeder and an alignment process for aligning the workpiece on the feeder, a vision system disposed above the feeder for photographing the workpiece to detect misalignment information of the workpiece, and a controller for controlling the transfer robot unit based on the detected misalignment information. A loading step in which the above-mentioned transport robot unit loads the workpiece loaded on the above-mentioned transport standby unit into the feeder; An information detection step in which the vision system detects misalignment information of the workpiece by photographing the workpiece loaded onto the feeder; A control step in which the controller controls the transfer robot unit based on the misalignment information; and An alignment step in which the transfer robot unit aligns the workpiece according to the command of the controller; Including, Method of transferring the centering of the steel plate.

11. In paragraph 10, The above information detection step is, a step of the vision system photographing the workpiece; and A step in which the vision system coordinates the misalignment information of the workpiece through a photographed image of the workpiece; Including, Method of transferring the centering of the steel plate.

12. In paragraph 10, The above transport robot unit includes a first transport robot arranged on one side of the feeder and a second transport robot arranged on the other side of the feeder, If the loading step is performed by the first transfer robot or the second transfer robot, the alignment step is performed by a transfer robot among the second transfer robot and the first transfer robot that did not perform the loading step. Method of transferring the centering of the steel plate.

13. In paragraph 12, The above transfer waiting unit includes a first transfer waiting unit arranged adjacent to the first transfer robot and a second transfer waiting unit arranged adjacent to the second transfer robot. It further includes a judgment step, which is performed after the above-mentioned sorting step and determines whether the workpiece loaded in at least one of the first transfer waiting unit and the second transfer waiting unit is exhausted. Based on the result of the above judgment step, a switching step is selectively performed in which the loading process and the alignment process performed by the first transport robot and the second transport robot are switched to each other. Method of transferring the centering of the steel plate.

14. In paragraph 13, If it is determined that the workpiece is exhausted in the above judgment step, the switching step is passed and the loading step is returned to, If it is determined in the above judgment step that the workpiece is not exhausted, it immediately returns to the loading step. Method of transferring the centering of the steel plate.

15. In paragraph 10, The above misalignment information includes the position and rotation angle of the workpiece on the feeder. Method of transferring the centering of the steel plate.

16. In paragraph 15, The position and rotation angle of the above workpiece are stored in coordinate format. Method of transferring the centering of the steel plate.

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