KR101088652B1 - Magnetic gripper for transfer device - Google Patents

Abstract

The present invention relates to a gripper transfer device using a magnetic magnet,

A gripper provided with a case in which a plurality of magnetic magnets are arranged and a pneumatic nozzle that is introduced into a predetermined surface of the case for entering and exiting air into the case, and hinged with the gripper are rotatable in three axes of x, y and z axes. A connecting horizontal member having a fixed horizontal axis direction connected to an axial joint gripper arm and the three-axis joint gripper arm to support the gripper, wherein the three-axis joint gripper arm is fixed to the connecting horizontal member side and the connecting member. And a first gripper arm which is hinged and rotatable in any one of the x, y, and z axes and hinged with the first gripper arm and is orthogonal to an axis direction in which the first gripper arm is rotated. The rotatable second gripper arm and the second gripper arm are hinged to be orthogonal to the axial direction in which the first gripper arm and the second gripper arm rotate. And a third gripper arm rotatable in a axial direction.

According to the present invention as described above, the gripper of the part with a complex bending lacking the gripper and the ground area is easily gripped by a magnetic force by using the magnetism of the magnetic magnet for the transfer of parts of the steel material of a complex shape This does not easily fall off, there is an effect that the breakage and shape deformation of the component does not occur.

In addition, by using a three-axis joint gripper arm that can be rotated in three axes, X, Y, Z to grip a complex shape of the component can be precisely controlled according to the external shape of the component.

In addition, when the parts are gripped by magnetic magnets, the parts and magnetic magnets magnetically change the air pressure inside the case that is in close contact with the parts, thereby forming an air layer that can mitigate the impact during gripping. There is an effect that can prevent the damage to the parts by mitigating the shock to the parts.

Grippers, Conveyers, Magnets, Magnetics

Description

Magnetic gripper for transfer device

The present invention relates to a gripper conveying apparatus using a magnetic magnet, and more particularly, to convey a component of a complex shape lacking a ground plane by a magnetic force of a magnetic magnet embedded in the gripper when transferring a component of a steel material of a complex shape. The present invention relates to a magnetic gripper conveying apparatus having a gripper structure which can generate and remove magnetic field interference and easily detachable from a component.

In general, automotive body parts are made of a press molding operation using a metal material, in particular, the molding of parts of a complex shape must be performed through a number of press processes.

In order to do this, in most automobile parts manufacturing sites, field workers manually move parts or transfer them to a number of press processes using automatic transfer equipment using a vacuum gripper.

However, if the car body parts are manually transported by a field worker, there are problems in quality, including warping of parts, and production efficiency is reduced due to the input of human resources.

Therefore, in recent years, an automated transfer device using a vacuum gripper for automatically transferring a complicated automobile body part has been applied to the field.

However, such a method frequently causes component dropping to an unspecified point due to lack of air pressure or freezing of air, which threatens worker safety including shape deformation. In addition, the complex shape of the car body parts can not be automatically transferred itself.

In addition, in the domestic electronic component manufacturing field, a transfer device using an electromagnet is used, but a problem in that the component is not easily detached from the electromagnet due to the wiring process problem for the electromagnet and the magnetization of the component due to the residual current.

Particularly, a complicated shape of the vehicle body parts cannot be operated using a vacuum gripper, which causes manual transfer by a field worker.

As shown in FIG. 1, in order to transfer the parts 2 having a complicated shape using the vacuum gripper 1, a part of a contact area must be formed. However, the above complicated parts have a number of problems in which it is difficult to form a contact area. Therefore, there is a serious need for a method that can solve these problems.

The present invention has been made to solve the above problems, an object of the present invention is to provide a plurality of magnetic permanent magnets embedded in the gripper to facilitate the transfer of parts of a steel material of a complex shape.

Another object of the present invention is to provide a three-axis joint gripper arm rotatable in three axes x, y, and z coupled to a gripper for easily gripping parts of complex shape.

Another object of the present invention is a distribution plate reciprocating at a predetermined angle to generate magnetic field and magnetic field interference to facilitate the detachment of the magnetic permanent magnet and parts, and a case for mitigating impact when gripping with the parts An air nozzle unit for forming an internal impact relief air layer is provided.

According to an aspect of the present invention for achieving the above object, a gripper and the gripper is provided with a case in which a plurality of magnetic magnets are arranged and a pneumatic nozzle that is introduced into a predetermined surface of the case for entering and exiting air into the case; A three-axis joint gripper arm hinged and rotatable in three axes of x, y, and z axes and a connecting horizontal member connected to the three axis joint gripper arm and having a predetermined horizontal axis direction for supporting the gripper, wherein the three axis joint The gripper arm is hinged to the connecting member fixed to the connecting horizontal member side and the connecting member and the first gripper arm which is rotatable in the axial direction of any one of x, y, and z axes and the first gripper arm to be hinged. The second gripper arm rotatable in a predetermined axial direction orthogonal to the axial direction in which the first gripper arm is rotated and hinged to the second gripper arm And a third gripper arm rotatable in a constant axial direction orthogonal to the axial direction in which the first gripper arm and the second gripper arm are rotated.

In addition, the gripper is provided on the outer surface of the case to suck air into the case, a plurality of pneumatic nozzles are introduced into the inside and the surface of a certain thickness that is axially coupled to the upper surface of the case magnetic magnets inside the case. The distribution plate and the surface of the distribution plate has a different magnetic intersections in a predetermined section corresponding to the plurality of magnetic magnets disposed in the lower portion and is reciprocally rotated at a predetermined angle by cam driving by pneumatic pressure through the pneumatic nozzle. It is provided including a magnet cover surrounding the magnet and in contact with the bottom of the distribution plate in the case and moving up and down in the vertical direction simultaneously with the distribution plate.

In addition, the gripper is installed inside or outside of the case to detect the gap between the parts and the magnetic magnet and gripping when gripping, and is introduced into the sensing sensor and the case for detecting the magnetic force of the plurality of magnetic magnets The air nozzle unit may further include an air nozzle unit for injecting air into the case to input air or discharge air in the case in close contact with the component to lower the air pressure in the case.

The air nozzle unit senses the distance between the magnetic magnet and the components and the magnetic force of the plurality of magnetic magnets in the case by the sensing sensor, and the main control unit transmits the detected signal when the magnetic magnet and the component have a predetermined distance. And an air nozzle for adjusting the input and output of air pressure according to the sensed signal transmitted to the main controller, and an air nozzle for discharging and suctioning air into the case by the pneumatic control unit.

The first gripper arm, the second gripper arm, and the third gripper arm may be rotated at a predetermined angle to further include a rotational intermittent for maintaining the rotated angle.

In addition, each of the magnetic magnets may be hinged to the magnet cover.

In addition, the connecting horizontal member includes a conveying rail portion for conveying the three-axis joint gripper arm in the horizontal axial direction of the connecting horizontal member, and a locking jaw for fixing the three-axis joint gripper arm to the upper and lower surfaces of the conveying rail portion. Is formed.

According to the present invention as described above, the gripper of the part with a complex bending lacking the gripper and the ground area is easily gripped by a magnetic force by using the magnetism of the magnetic magnet for the transfer of parts of the steel material of a complex shape This does not easily fall off, there is an effect that the breakage and shape deformation of the component does not occur.

In addition, by using a three-axis joint gripper arm that can be rotated in three axes of X, Y, Z to grip a complex shape of the component, it is possible to precisely control the external shape of the component.

In addition, when the parts are gripped by magnetic magnets, the parts and magnetic magnets magnetically change the air pressure inside the case that is in close contact with the parts, thereby forming an air layer that can mitigate the impact during gripping. There is an effect to prevent the damage to the parts by mitigating the shock to the parts.

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

2 is a perspective view of a magnetic gripper conveying apparatus according to the present invention.

As shown in FIG. 2, the magnetic gripper transfer apparatus according to the present invention includes a gripper 100 having a plurality of magnetic magnets 120 embedded therein, and a three-axis joint gripper hinged to the gripper 100 and rotatable in three axes. And a connection horizontal member 300 connected to the arm 200 and the triaxial joint gripper arm 200 and having a horizontal axial property to support the gripper 100.

In order to transfer the parts having a complex shape, the connecting horizontal member 300 is installed vertically and horizontally for a plurality of grounding parts, and the plurality of three-axis joint gripper arms 200 and the grippers 100 are connected to the connecting horizontal member 300. One or more grippers 100 are gripped to the correct ground plane by precise adjustment of the three-axis joint gripper arm 200 at a predetermined position of the component to transport the component.

Figure 3 is a view showing the lower structure of the gripper according to the present invention, Figure 4 is a view showing a cross-sectional structure of the gripper according to the present invention, Figure 5 is a view showing the magnetic arrangement of the distribution plate according to the present invention. .

Referring to the drawings, the gripper 100 is vertically moved up and down by air pressure inside the case 110 and a plurality of magnetic magnets 120 are disposed therein, and the magnetic magnets ( A magnet cover 130 covering and supporting a predetermined portion of the 120, a distribution plate 140 in contact with an upper surface of the magnet cover 130, and having a surface of a predetermined thickness rotatably coupled to the case 110, and A plurality of detection sensors 150 installed inside and outside the case 110, an air nozzle unit 160 mounted inside the case 110 to serve as an air intake and exhaust of the air Pneumatic nozzle 170 is installed at one or more upper part and introduced into the case 110, and the cushion layer 180 is fixed to the bottom surface of the case 110 to prevent damage to the component when in close contact with the component do.

The magnet cover 130 may surround a predetermined portion of the magnetic magnet 120 to control the plurality of magnetic magnets 120 with one magnet cover 130 or independently. And the magnetic magnet 120 and the part where the part is grounded can be opened.

Particularly, in the part where the magnetic magnet 120 is grounded with the component, a protruding surface 130a lower than the ground surface of the magnetic magnet 120 for alleviating the impact when the magnetic magnet 120 is in close contact with the component is provided on the magnetic cover.

In addition, the protruding surface 130a of the magnet cover 130 is preferably a material having elasticity.

The distribution plate 140 is in contact with the upper surface of the magnet cover 130 and has a surface of a constant thickness. In addition, the distribution plate 140 is axially coupled to the upper side of the case 110 so as to be rotatable to reciprocate rotation at a predetermined angle. In addition, the distribution plate 140 is in contact with the magnet cover 130 when the magnet cover 130 is operated by the air pressure up and down at the same time to move up and down.

Referring to FIG. 4, the surface of the distribution plate 140 is partitioned into a predetermined section corresponding to the plurality of magnetic magnets 120 disposed below, so that each section has different magnetic intersections.

Here, the distribution plate 140 may also be provided with each of the distribution plate 140 so as to be able to independently control the magnetic magnet.

The detection sensor 150 is installed inside and outside the case 110, and the detection sensor 150 is gripped by a gap between the parts and the magnetic magnets 120 and the parts and the magnetic magnets 120 when ground. This is to determine whether or not, and also to detect the magnetic force of the plurality of magnetic magnets (120).

The air nozzle unit 160 is located on the inner magnet cover 130 side of the case 110 and the magnetic force and components of the plurality of magnetic magnets 120 disposed inside the case by the detection sensor 150 and the magnetic magnet ( Pneumatic control unit 162 and the pneumatic control unit for adjusting the magnitude and input or output of the air pressure according to the command of the main control unit 161 and the main control unit 161 to sense the gap between the sensed 120 and the transfer ( 162 is composed of an air nozzle 163 for discharging and suctioning air into the case 110.

The pneumatic nozzle 170 is coupled to the outer surface of the case 110 to intake or exhaust outside air into the case.

The cushion layer 180 is located on the lower surface of the case 110, that is, the case surface of the part in contact with the magnetic magnet 120 and the component, and is formed of an elastic material to prevent the component from being damaged when grounding the component.

6 is a view showing a detailed structure of the three-axis joint gripper arm according to the present invention.

Referring to the drawings, the three-axis joint gripper arm 200 is hinged and coupled to the upper portion of the gripper 100, the first gripper arm 210, the second gripper arm rotatable in three axes of x, y, z axis ( 220 and three joints of the third gripper arm 230 and a connection member 240 fixed to the connection horizontal member 300 side.

The first gripper arm 210 is hinged to the connection member 240 coupled to the connection horizontal member 300 side to rotate in one of the x, y, and z axes.

The second gripper arm 220 may be hinged to the first gripper arm 210 to rotate in a predetermined axial direction orthogonal to the axial direction in which the first gripper arm rotates.

The third gripper arm 230 is hinged to the second gripper arm 220 and one end is fixedly coupled to the gripper 100, and the first gripper arm 210 and the second gripper arm 220 rotate. It can rotate in a certain axial direction orthogonal to the axial direction.

Here, the first, second, and third gripper arms 210, 220, and 230 are rotated by a predetermined angle, and the rotation intermittent portion 250 for maintaining the rotated angle is provided with the first, second, and third gripper arms 210, 220, and 230, respectively. It is located at.

The rotation control unit 250 is preferably made of a stopper type.

8 is a view showing in detail the locking step of the connecting horizontal member according to the present invention.

Referring to the drawings, the connecting horizontal member 300 is a metal frame structure having an axial direction, the shape of the cross section is a square in which a predetermined portion of each surface is recessed. The transfer rail 310 is located in the recessed portion of the connection horizontal member 300.

The recessed surface 320 has a wing-shaped locking jaw 320 for fixing the connection member 240 and the connection horizontal member 300 without being separated.

Hereinafter will be described the operational relationship of the magnetic gripper transfer device according to the present invention.

First, the gripper 100 is transferred to an appropriate point for gripping the connecting member 240 of the three-axis joint gripper arm 200 connected to the connecting horizontal member 300 to grip the complicated component.

Here, the precise angle adjustment for gripping is performed by adjusting the angle to the x, y, and z axes through the first, second, and third gripper arms 210, 220, and 230 of the three-axis joint gripper arm 200 to form the case 110. Close to the correct position. At this time, the cushion layer 180 under the case 110 may be elastically in close contact with each other without damaging the component.

After the case 110 is in close contact with the component to maintain the angle of the three-axis joint gripper arm 200 in the rotation control unit 250.

At this time, the magnetic magnet 120 inside the case 110 is spaced apart from the component by a predetermined interval.

In addition, a magnet cover 130 having a plurality of magnetic magnets 110 installed inside the gripper 100 and a distribution plate 140 contacting the upper surface of the magnet cover 130 may be simultaneously gripped. The air is sucked into the pneumatic nozzle 170 installed in the upper portion and close to the parts while descending.

In this case, a cushioning layer may serve as a buffering layer, such as an air layer, inside the case to prevent breakage of the component during close contact.

In addition, the magnetic magnets 120 may be in close contact with the parts by varying their heights for gripping complex parts.

In addition, when the contact surface of the part is inclined, it may also be a hinge structure consisting of a three-axis joint inclined to the contact surface of each magnetic magnet.

When the magnetic magnet 120 is in close contact with the components for gripping, the magnets partitioned on the distribution plate 140 and the magnetic properties of the magnetic magnets 120 interfere with each other, and the magnetics are absent. The magnetic magnets 120 ) In close contact with the component, the pneumatic nozzle 170 is rotated at a predetermined angle partitioned by the arrangement of the magnetic magnet 120 by the air pressure. The distribution plate 140, which is divided into different intersection magnets, is rotated to generate magnetic force by not interfering with the magnetic magnets 120 and the magnets disposed below, so that the parts are gripped by the magnets.

After the gripping parts are transferred to the designated positions, the distribution plate 140 is rotated again so that the parts are dropped from the magnetic magnet 120.

When a magnetic shock is generated as described above, a certain shock is applied to a part when the part is in close contact with the part. In order to alleviate such a shock, a sensor sensor 150 is installed inside and outside the case, and the air nozzle part is installed in the inner space of the case 110 which is in close contact with the part. The air pressure inside the case may be adjusted so that the parts and the magnetic magnets 120 may alleviate the impact caused by the magnetic contact.

It measures the magnetic force of the plurality of magnetic magnets 120 disposed in the case 110 by the sensor 150, and also detects the close distance between the magnetic magnet 120 and the component to detect the main signal Transfer to control unit 161.

The main controller 161 transmits an input or output signal of air pressure to the pneumatic control unit 162 based on the detected signal value, and determines the magnitude and input or output of the air pressure in the pneumatic control unit 162 to determine the air nozzle 163. The air is exhausted or taken in through it.

Here, in order to alleviate the shock caused by the close contact with the parts when gripping, the air nozzle 163 continuously discharges the air, and then rotates the distribution plate 140 so that the magnetic magnet 120 and the parts are in close contact with the magnetic force inside the case. Due to the air pressure in the relief layer is formed.

In addition, when the gripping is completed by determining whether the gripping is performed by the sensor 150, the signal is transmitted to the air nozzle 163 to inhale the air in the case 110, which is in close contact with the part, to lower the air pressure, thereby improving the adhesion with the part. Will increase.

In addition, after the gripping is completed, the parts are transferred to a designated position to continuously inhale a certain amount of air until the dropping out, thereby alleviating the impact during dropping.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications or variations without departing from the spirit and scope of the invention. Accordingly, the appended claims are intended to cover such modifications or changes as fall within the scope of the invention.

1 is a conceptual diagram of gripping a product using a vacuum gripper according to the prior art.

2 is a perspective view of a magnetic gripper conveying apparatus according to the present invention.

3 is a view showing a lower structure of the gripper according to the present invention.

4 is a view showing a cross-sectional structure of the gripper according to the present invention.

5 is a view showing a magnetic arrangement of the distribution plate according to the present invention.

6 is a view showing a detailed structure of the three-axis joint gripper arm according to the present invention.

7 is a configuration diagram of an air nozzle unit according to the present invention.

8 is a view showing in detail the locking step of the connecting horizontal member according to the present invention.

<Description of main drawing code>

100: gripper 110: case

120: magnetic magnet 130: magnet cover

140: distribution plate 150: detection sensor

160: air nozzle unit 161: main control unit

162: pneumatic control unit 163: air nozzle

170: pneumatic nozzle 180: cushion layer

200: triaxial joint gripper arm 210: first gripper arm

220: second gripper arm 230: third gripper arm

240: connecting member 300: connecting horizontal member

310: conveying rail portion 320: locking jaw

Claims (7)

A gripper provided with a case in which a plurality of magnetic magnets are arranged and a pneumatic nozzle which is introduced into a predetermined surface of the case for entering and exiting air into the case; A three-axis joint gripper arm hinged to the gripper and rotatable in three axes of x, y and z axes; A connecting horizontal member connected to the three-axis joint gripper arm and having a predetermined horizontal axis direction for supporting the gripper; The gripper is A plurality of pneumatic nozzles installed on the outer surface of the case and drawn into the case to suck air into the case; A distribution plate positioned on an upper surface of the magnetic magnet inside the case and having a surface having a predetermined thickness axially coupled to an upper side of the case; The surface of the distribution plate is a predetermined section corresponding to a plurality of magnetic magnets disposed at the bottom, each having a different magnetic intersection and is reciprocated at a predetermined angle by the air pressure through the pneumatic nozzle, A magnet cover surrounding the magnetic magnet and moving up and down in the vertical direction simultaneously with the distribution plate by air pressure in contact with a lower portion of the distribution plate in a case; Including, The triaxial joint gripper arm A connection member fixed to the connection horizontal member side; A first gripper arm hinged to the connection member and rotatable in an axial direction of any one of x, y and z axes; A second gripper arm hinged to the first gripper arm and rotatable in a predetermined axial direction perpendicular to an axial direction in which the first gripper arm is rotated; A third gripper arm hinged to the second gripper arm and rotatable in a predetermined axial direction orthogonal to an axial direction in which the first gripper arm and the second gripper arm are rotated; Magnetic gripper transfer device comprising a. delete The method of claim 1, The gripper is A detection sensor installed inside or outside of the case to detect a gap between the part and the magnetic magnet and the presence or absence of gripping when gripping, and detecting a magnetic force of the plurality of magnetic magnets; An air nozzle unit introduced into the case to inject air into the case to input air or to discharge air in the case in close contact with the component to lower the air pressure in the case; Magnetic gripper transfer device, characterized in that it further comprises. The method of claim 3, The air nozzle unit A main control unit which senses the distance between the magnetic magnet and the component and the magnetic force of the plurality of magnetic magnets in the case by the sensing sensor and transmits a detected signal when the magnetic magnet and the component have a predetermined distance; A pneumatic control unit for adjusting the magnitude and input or output of air pressure according to the value controlled by the main control unit; An air nozzle for discharging or sucking air into the case by the pneumatic control unit; Magnetic gripper transfer device comprising a. The method of claim 1, And the first gripper arm, the second gripper arm, and the third gripper arm are rotated at a predetermined angle to maintain the rotated angle. The method of claim 1, Each magnetic magnet is Magnetic gripper transfer device characterized in that the hinge is coupled to the magnet cover. The method of claim 1, The connecting horizontal member is The triaxial joint gripper arm includes a conveying rail portion for conveying in the horizontal axial direction of the connecting horizontal member, and the engaging jaw for fixing the 3-axis joint gripper arm is formed on the upper and lower surfaces of the conveying rail portion. Magnetic Gripper Transfer Device.

Images