KR100970231B1 - Gripper tool for gantry - Google Patents

Abstract

The present invention relates to a clipper tool of a method of grabbing objects by using the expansion and contraction operation of the blade in the cantree plant.

The present invention implements a new type of gripper tool means for picking up objects in a manner of expanding and contracting blades using a motor drive and screw transmission when the object is picked up using a gripper tool in a gantry facility, thereby providing accurate operation and sufficient grip force. This provides a gantry gripper tool that can improve the functionality and handling of the tool.

Gantry, bridge, carriage, mast, gripper tool, motor, screw shaft, blade, linkage

Description

Gripper tool for gantry}

The present invention relates to a gripper tool of a gantry, and more particularly, to a gripper tool of a method of catching an object by using the expansion and contraction operation of the blade in the cantree equipment.

In general, a gantry (Gantry or Gantry crane) is a bridge-shaped structure by lowering the support at a wide interval in the middle of the horizontal beam, it is used to lift or transport heavy machinery, materials and so on over the gap between the support.

For example, a gantry is a crane having a door-shaped shape consisting of a post, which is a vertical member, and a horizontal beam, which is a horizontal member. It is a large crane.

The gantry transfers the bridge in the X-axis direction along the runway of the transfer crane which is movable by rail or tire, and the horizontal beam fixed to the ground, and the carriage in the Y-axis direction along the bridge. It is divided into fixed gantry.

On the other hand, the green tire (Green tire) during the tire manufacturing is completed by assembling various semi-finished products in the molding machine of the molding process, and then stored and arranged to be vulcanized in the vulcanizer of the next process, the vulcanization process.

In the green tire storage or air space, it is important to store them according to specifications and first-in-first-out, and the space required for storage is maintained in order to maintain the production balance between molding production plan in molding process and vulcanization production plan in vulcanization process. This also became an important factor.

The storage method of such green tires is a manual storage method and an automatic storage method, and a manual storage method is a method of handling green tires by loading them on a separate truck or pallet by an operator and an automatic storage method by a worker. This method reduces the labor load of workers by mechanizing or automating the system.

In the case of the manual storage method, since the person handles, the first-in, first-out is not made smoothly, and the overall production lead time is long, resulting in a decrease in productivity.

The automatic storage method has higher loading efficiency than manual storage method by human, but it is difficult to meet the required storage capacity and processing speed of loading and unloading during automatic storage in a narrow space, and infringes the working radius of other facilities or other workers. There is.

Therefore, in the recent tire factory, it is possible to increase the processing capacity of the green tires in the narrow confined space of the site, and to improve the space utilization efficiency by maximizing the loading capacity for the storage of the green tires. It is mainly applied by the gantry crane which can transport in the X-axis direction, Y-axis direction and Z-axis direction to minimize the radial interference.

The gantry crane is a runway of a horizontal beam structure, a bridge for feeding the X axis along the runway, a carriage for feeding the Y axis along the bridge, and a Z of a gripper tool on the bridge. It includes a mast for feeding the shaft, a gripper tool for picking up an object, and the like.

The present invention is intended to be a gripper tool of the new way of holding the object in a way to expand and contract the blade in the gantry crane configured as described above.

Accordingly, the present invention has been made in view of the above, and when the object is picked up using the gripper tool in the gantry facility, a new type of picking up the object is obtained by expanding and contracting the blade by using a motor drive and a screw transmission. By implementing the gripper tool means, it is possible to ensure accurate operation and sufficient gripping force, thereby providing a gantry gripper tool that can improve the functionality and handling of the tool.

In order to achieve the above object, the gripper tool of the gantry provided by the present invention includes a holder installed on a mast side of a gantry facility, a motor installed side by side in the holder, and a motor disposed along a central axis at an upper end of the holder. A screw device that is connected to the shaft of the rotating unit, coupled to the screw device in a screw-driven structure, the upper block body moving up and down and the lower block body moving up and down in conjunction with it, and connected to the upper block body and the lower block body respectively. A plurality of link mechanisms that are folded or unfolded in accordance with the movement of the block body, an LM guide device that is coupled to the lower block body while guiding the up and down movements while being disposed along the central axis at the lower end of the holder, and two places up and down by the link mechanism. Supported items are opened or narrowed inward during link movement It is characterized by consisting of a shape which includes a plurality of blades.

Here, the upper block and the lower block body is a lower fixed block which is respectively fixed to the top mount and the end mount which are installed inside the holder, and the upper movable block which is supported by the screw device and the LM guide device, respectively, to move up and down It is preferable to configure including.

In addition, the link mechanism includes a blade link installed at both ends in a pin structure between the moving block and the blade of the block body, and a blade sub link installed at both ends in a pin structure between the fixed block of the block body and the length of the blade link. It is preferable to comprise.

In addition, in the case of the blade is preferably provided with three that are arranged at intervals of 120 ° along the circumference of the holder to be able to hold the object in a balanced manner.

The gripper tool of the gantry provided by the present invention is made by picking up the object in the form of expanding or contracting the four blades by using the power of the motor and the movement of the screw device and the movement of the link mechanism, thereby expanding and contracting the operation. There is an effect to further enhance the functional aspects and the handleability according to the work, such as can be precisely organic and can exhibit sufficient gripping force when expanding.

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

1 and 2 are a front view and a plan view showing a state of expansion of the gripper tool according to an embodiment of the present invention.

1 and 2, the gripper tool is a holder 10 corresponding to the tool main body, a motor 11 that provides power for the movement of the blade 15, and the gap between the narrowing and narrowing of the blade 15 Upper and lower block bodies 12, 13 and a plurality of link mechanisms 14 for providing a vertical motion and a link motion for a load, a plurality of blades 15 for substantially holding an object in an outwardly open state, and the like. .

The holder 10 is formed of a hollow cylindrical member, and is installed vertically on the mast side of the gantry equipment to move in the Z-axis direction (up and down direction) according to the operation of the mast.

Since a plurality of mounts are installed in the holder 10, a block body or a motor may be supported therein.

For example, the motor mount 16 is installed in the middle of the length, and the motor 11 is supported on the lower part, and the top mount 20 and the sub mount 27a are respectively provided on the upper part. Here, the fixing block 17 of the upper block body 12 and the shaft upper end of the shaft device 18 are supported, respectively, and the submount 27b and the end mount 30 are respectively installed at the lower side thereof. The shaft of the guide device 21 and the fixed block 17 of the lower block body 13 are supported, respectively.

The motor 11 is a means for providing power for the expansion and contraction of the blade 15, is installed in a structure that is supported side by side on the inside of the holder 10 while being supported on the cylinder mount 16 with its axis up. do.

In addition, a screw device 18 is disposed above the motor 11 in parallel with the motor shaft while being arranged side by side along the center axis of the holder 10.

At this time, the screw device 18 is composed of a combination of a screw shaft 18a and a screw nut 18b, and the screw shaft 18a has a bearing 29 on the submount 27a with an upper end and a lower end thereof, respectively. As supported by the bearing 29 on the top mount 20, it is freely rotatable, and the screw nut 18b is screwed onto the screw shaft 18a to linearly move up and down during rotation of the screw shaft 18a. Will be

In particular, the screw shaft 18a of the screw device 18 has its lower end connected to the shaft of the motor 11 by a coupling 28, so that the operation of the motor 11 is performed by the screw shaft 18a. Rotation → conveying of the screw nut 18b, and starting with the movement of the block body, the components 15 are interlocked, thereby allowing the blade 15 to expand and contract.

The upper block body 12 and the lower block body 13 are composed of a pair of fixed blocks 17 and a moving block 19, respectively, and are installed concentrically in the holder 10.

The fixing block 17 of the upper block body 12 is fixedly installed on the top mount 20 installed inside the holder 10, and the moving block 19 is a screw nut (for the screw device 18). 18b) to move up and down.

In addition, the fixing block 17 of the lower block body 13 is fixedly mounted on the end mount 22 installed inside the holder 10, and the moving block 19 is an LM guide device (to be described later) ( 21 is coupled with the side when the moving block 19 of the upper block body 12 moves up and down and moves in conjunction with it up and down together.

For example, the moving block 19 of the lower block body 13 is a moving block of the upper block body 12 by at least two guide bars 36 arranged vertically in parallel with the inside of the holder 10. It is connected with (19) and moves up and down together.

That is, the moving block 19 of the upper block body 12 and the moving block 19 of the lower block body 13 may be integrally connected to each other by the guide bar 36 to move up and down together.

Accordingly, the movable block 19 of the upper block body 12 and the movable block 19 of the lower block body 13 which are integrally bound by the guide bar 36 are connected to the link mechanism 14 and the blade ( It can be moved up and down together with the movement of 15).

The LM guide apparatus 21 is a means for guiding the movement of the moving block 19 of the lower block body 13, which is interlocked with the moving block 19 of the upper block body 12, and the linear shaft 21a and this. It consists of a linear bearing 21b coupled with.

The linear shaft 21a is arranged side by side along the central axis in the holder 10 at the lower side of the motor 11, and the upper end thereof has a bearing at the lower end of the sub mount 27b and the end mount 22, respectively. 29 is installed in a rotatable structure as supported by the medium, and the linear bearing 21b is coupled to the linear shaft 21a and slidably installed up and down.

At this time, as the linear bearing 21b is coupled with the moving block 17 of the lower block body 13, the movement of the moving block 17 may be guided.

At this time, the linear bearing 21b is assembled in a concentric manner into a hole formed in the center of the moving block 19, and then at least two or more bolt coupling structures, for example, the upper block body 12, are formed. Can be coupled in a structure similar to bolting between the moving block 19 and the screw nut 18b.

The link mechanism 14 is a means for expanding and contracting the blade 15 through link movement while interlocking with the block body side, and having a long blade link 23 and a blade sub link 24 having a shorter length. It is composed of, and is assigned to the upper block body 12 side and the lower block body 13 side, respectively, so that the blade 15 can be supported in two places up and down.

The link mechanism 14 is composed of three arranged at intervals of 120 ° along the circumference of the holder 10, and in the present invention, a total of six link mechanisms 14 are supported to support two positions of the blade 15 above and below. Provide an example of application.

In the case of the blade link 23, both ends thereof are connected in a pin structure between an end portion of the moving block 19 of the block body and an inner surface of the blade 15, and the blade sub link 24 is a fixed block of the block body. Both ends are connected in a pin structure between the end of (17) and the middle of the length of the blade link (23).

Accordingly, as the block-side pin connecting portion is opened or narrowed by the movement of the moving block 19, a link movement is made to expand or contract the pin connecting portion between the links, thereby expanding and contracting the blade 15. Will be possible.

The blade 15 is a means for directly gripping an object, which has a long bar shape, which can enter the inside of the object, such as a tire, and pick up the object in an expanded state.

The blade 15 is supported by the inner surface is connected to the blade link 23 of the link mechanism 14, it can take a vertical posture parallel to the holder 10 through two support points up and down.

In addition, the bottom portion of the blade 15 is attached to the bottom of the blade 25 is formed to protrude outwards, which hangs the lower end of the article, so that the grip state of the object by the blade 15 in a more stable state Can be.

Three blades 15 may be provided along the circumference of the holder 10 at intervals of 120 °, thereby holding the object firmly in the form of a three-point support.

In addition, the present invention provides a means for detecting the movement of the blade 15, the detection signal at this time is an operating signal of the motor 11 or other operation signals, such as masts and carriages interlocked with the clipper tool. Can be used.

To this end, a sensor 26 supported by a bracket is installed at the lower end of the holder 10, and the sensor 26 at this time enables sensing when the blade 15 is close to the inner position. For example, a detection signal related to the reduced state of the blade 15 may be generated.

3 is a perspective view showing an installation state of a gripper tool according to an embodiment of the present invention.

As shown in FIG. 3, a bridge 33 is installed on the runway 34 having a beam structure in the form of an X-axis transfer along the belt 35, and the bridge 33 is located along the belt 35. The carriage 30 is installed to be Y-axis transferable, and the mast 30 is installed to the Z-axis transferable to the carriage 30 at this time.

The gripper tool 32 of the present invention is installed in a vertical position on the bottom of the mast 31.

Therefore, the operation state of the gripper tool configured as described above is as follows.

When the motor 11 rotates forward while the gripper tool is lowered to the position where the object can be gripped by the Z-axis transfer of the mast, the lower block body 12 is rotated by the rotation and vertical movement of the screw device 18. Moving block 19 is lowered, so that the moving block 19 closer to the fixed block 17, the blade link 23 and the blade sub-link 24 of the link mechanism 14 is the pin coupling portion between the link It is spread outward with the axis.

As a result, the blade 15 is pushed outward by the blade link 23 to be in the maximum expansion state as shown in FIGS. 1 and 2, and the object can be gripped in this state.

The link mechanism 14 on the lower block body 13 side also opens outward while being interlocked with the top portion of the blade 15, and at the same time, the moving block 19 of the lower block body 13 also has an LM guide device. While being guided by 21, the lower side of the blade 15 can be supported while descending.

After gripping the object with the gripper tool, the object can be moved to the desired place through the Z axis transfer of the mast, the Y axis transfer of the carriage and the X axis transfer of the bridge.

The situation of laying down an object can be accomplished by the reverse of the above-described process.

That is, the gripper tool can be pulled out of the object while the blades 15 are at least reduced while the parts are interlocked by the reverse rotation operation of the motor 11.

 In this way, by moving the motor, driving the screw device, guiding the LM guide device, link movement of the link mechanism, etc., the blade is moved to the gripped state by expanding and contracting the object, and the object is placed at the desired place. As a result, it is possible to further enhance the functional aspect and the handling aspect according to the work, such as to safely move the object without damage, and to increase the efficiency and convenience of the work.

1 is a front view showing a state in the expansion of the gripper tool according to an embodiment of the present invention

Figure 2 is a plan view showing a state when the gripper tool expansion in accordance with an embodiment of the present invention

3 is a perspective view showing an installation state of a gripper tool according to an embodiment of the present invention

<Description of the symbols for the main parts of the drawings>

10 holder 11 motor

12: upper block body 13: lower block body

14: link mechanism 15: blade

16: cylinder mount 17: fixed block

18: screw device 19: moving block

20: top mount 21: LM guide device

22: end mount 23: blade link

24: blade sub link 25: blade bottom

26 sensor 27a, 27b sub-mount

28: coupling 29: bearing

30: carriage 31: mast

32: Gripper Tool 33: Bridge

34: runway 35: belt

36: guide bar

Claims (6)

In the gripper tool of the gantry, A holder 10 installed on the mast side of the gantry facility; A motor 11 installed side by side in the holder 10; A screw device 18 disposed along the central axis at the upper end of the holder 10 and connected to the shaft of the motor 11 to rotate; An upper block body 12 coupled to the screw device 18 by a screw transmission structure and moving up and down, and a lower block body 13 moving up and down in association with the screw device 18; A plurality of link mechanisms 14 connected to the upper block body 12 and the lower block body 13 to be folded or unfolded according to the movement of the block body; An LM guide device (21) coupled to the lower block body (13) to guide the up and down movement while being disposed along a central axis at the lower end of the holder (10); A plurality of blades 15 which are supported by the link mechanism 14 up and down and picked up while being opened outwardly or narrowed inwardly during the link movement; The gripper tool of the gantry comprising a. The lower block of claim 1, wherein the upper block 12 and the lower block 13 are fixed to the top mount 20 and the end mount 22, respectively, which are installed inside the holder 10. 17) and a gripper tool of the gantry, characterized in that it comprises a moving block (19) of the upper portion supported by the screw device (18) and the LM guide device (21) to move up and down. 2. The link mechanism (14) according to claim 1, wherein the link mechanism (14) comprises a blade link (23) which is connected at both ends in a pin structure between the moving block (19) and the blade (15) of the block body, and the fixed block (17) of the block body. The gripper tool of the gantry, characterized in that it comprises a blade sub-link (24) which is connected at both ends in a pin structure between the length of the blade link (23). The gantry gripper tool according to claim 1, wherein three blades are provided at intervals of 120 ° along the circumference of the holder. The gripper tool of claim 1 or 4, wherein a blade bottom (25) protruding outward is attached to a lower end of the blade (15). The gripper of the gantry according to claim 1, further comprising a sensor (26) installed at the lower end of the holder (10) to sense the blade (15) in close proximity to detect the expansion or contraction position of the blade (15). Tools.

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