KR101694196B1 - Gantry Machine - Google Patents

Abstract

Disclosed is a gantry machine for conveying hollow material. A gantry machine for transporting a hollow article according to an embodiment of the present invention includes a chucking unit that is partially insertable into a hollow article for chucking a hollow article; And a unit moving part connected to the chucking unit and for moving the chucking unit, the chucking unit comprising: a unit body; A plurality of chucks disposed outside of the unit body and approaching or spacing from the unit body and chucked to the inner wall of the hollow deliveries when spaced from the unit body; And a chuck driver connected to the unit body and the plurality of chucks to drive the plurality of chucks such that the plurality of chucks are linearly moved in the radial direction in the hollow article.

Description

{Gantry Machine} A gantry machine for conveying a hollow-

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gantry machine for conveying a hollow conveyed matter, and more particularly, to a gantry machine for conveying a hollow conveyed material, which is more compact and has a slim structure than the conventional gantry machine, And more particularly, to a gantry machine for carrying hollow bodies to be conveyed so that chucking can be carried out even if the hollow articles are small in size, and in particular, it is easy to ensure straightness during chucking operation so that hollow articles can be chucked smoothly.

A gantry machine for conveying a hollow conveyed material refers to a device for conveying a hollow conveyed matter, that is, a hollow conveyance, which is an empty conveyance, from among various conveyed objects to a desired place by chucking.

The form of the hollow delivery can be varied throughout the industry. For example, a pipe, a tire, or the like may correspond to a hollow conveyance.

Hollow deliveries should be transported to the desired location for production, loading or transport within the plant.

On the other hand, in order to transport the hollow article placed on the first side of the floor to the second place as the desired place, the hollow article placed in the first place must be chucked, and then the chucked hollow article The transport must be moved to the second location.

Accordingly, a chucking unit for chucking the hollow conveyed material is used in the gantry machine for conveying the hollow conveyed material.

However, the chucking unit of the gantry machine for transporting a hollow-shaped conveyed object, which is conventionally used in the past, can not slim the structure of the gantry machine and can not ensure straightness due to the limitation of the chucking structure. There is a problem that is difficult to do.

In addition, although the chucking unit must be capable of chucking hollow articles of various sizes, it is not slim in the case of the chucking unit which has been applied to the prior art, so that the chucking operation of the small- It is necessary to develop a technique for a gantry machine for transporting a hollow conveyance which can solve all of these problems.

Korean Intellectual Property Office Application No. 10-1997-0023060

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a hollow- In particular, it is an object of the present invention to provide a gantry machine for transporting a hollow-shaped transported object, which is capable of smoothly chucking a hollow-shaped object to be conveyed while ensuring straightness of the chucking operation.

According to an aspect of the invention, there is provided a chucking unit comprising: a chucking unit partially insertable into the hollow delivery to chuck the hollow delivery; And a unit moving unit connected to the chucking unit and for moving the chucking unit, the chucking unit comprising: a unit body; A plurality of chucks disposed outside of the unit body and approaching or spaced from the unit body and chucked to the inner wall of the hollow deliveries when spaced from the unit body; And a chuck driving unit connected to the unit body and the plurality of chucks to drive the plurality of chucks so that the plurality of chucks are linearly moved in the radial direction in the hollow deliveries. A gantry machine for water transport may be provided.

Wherein the chuck drive part is movably disposed in the unit body along a direction in which the chucking unit is inserted into the hollow article; And a linear motion transmitting portion connected to the push rod, the unit body, and the plurality of chucks to cause the plurality of chucks to linearly move in a direction crossing the pushing direction of the push rod when the push rod is pressed can do.

Wherein the rectilinear motion transmission portion includes: a cam follower connected to the push rod and partially exposed to the outside of the unit body; A first link member rotatably connected at both ends to protrusions of the chuck and the cam follower; A linkage provided on an outer surface of the unit body; And a second link member having both ends rotatably connected to the first link member and the linkage support, respectively.

The cam follower may be further provided with a guide roller which moves together with the push rod.

The unit body may be provided with a roller rail on which the guide roller is rotatably supported.

The roller rail may be formed by a cut-out portion formed on a side wall of the unit body.

The unit body may be formed with an exposure hole through which the cam follower is exposed.

The chuck driving unit may further include a rod guide disposed between the push rod and the unit body and guiding movement of the push rod.

The plurality of linear motion transmission units may be disposed along the longitudinal direction of the unit body.

A press block may be coupled to the exposed end of the push rod.

The plurality of chucks may be arranged in a triangular configuration with respect to the unit body.

Wherein the chuck comprises: a pressurizing chucking portion which is chucked while being pressed against the inner wall of the hollow article; And a pair of skirt portions bent at opposite ends of the pressure chucking portion so as to intersect the pressing chucking portion.

The chuck may further include a stopper provided on at least one of the pressure chucking portion and the skirt portion, the stopper preventing the fall of the hollow article.

A chucking sensing unit provided in the chucking unit for sensing whether the hollow article is chucked in the chucking unit; And a controller for controlling operations of the chucking unit and the unit moving unit based on information from the chucking sensing unit.

The unit moving unit includes an X-axis moving unit movably provided on a pair of gantries arranged along the X-axis direction and moved along the X-axis direction; A Y axis moving unit connected to the X axis moving unit and moving along a Y axis direction intersecting with the X axis; And a Z-axis moving unit that supports the chucking unit and is connected to the Y-axis moving unit to move the chucking unit along a Z-axis direction in a vertical direction, wherein the hollow- have.

According to the present invention, since it has a more compact and slim structure than the conventional one, it can be commonly applied to hollow-type deliveries of various sizes, and chucking operation can be performed even if the hollow- In particular, it is easy to secure the straightness during chucking operation, so that the hollow conveyed material can be smoothly chucked.

FIGS. 1 to 8 are views showing the operation of a gantry machine for transporting a hollow material according to an embodiment of the present invention.
9 is a perspective view of the chucking unit.
10 is a perspective view of the chucking unit during chucking operation.
Figs. 11 and 12 are enlarged views of the essential parts of Figs. 9 and 10, respectively.
Figs. 13 and 14 are side views of Figs. 9 and 10, respectively.
Figs. 15 and 16 are plan views of Figs. 9 and 10, respectively.
17 is a control block diagram of a gantry machine for transporting hollow material according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

FIGS. 1 to 8 are views showing the operation of a gantry machine for conveying a hollow conveyed object according to an embodiment of the present invention, wherein FIG. 9 is a perspective view of a chucking unit, Figs. 11 and 12 are enlarged views of the main parts of Figs. 9 and 10, Figs. 13 and 14 are side views of Figs. 9 and 10, respectively, FIG. 17 is a control block diagram of a gantry machine for transporting hollow material according to an embodiment of the present invention. FIG.

Referring to these figures, since the gantry machine for carrying hollow bodies according to this embodiment has a more compact and slim structure than the conventional gantry machines, it can be commonly applied to hollow-type deliveries of various sizes, The chucking unit 100 can smoothly carry out the chucking operation even when the chucking unit 100 is a small hollow conveyed object. In particular, And a unit moving unit 190 connected to the unit 100 for moving the chucking unit 100.

As previously mentioned, the hollow delivery may be of various types throughout the industry, such as pipes or tires.

In the case of this embodiment, the tire to be applied to the vehicle is shown as a hollow delivery, but the hollow delivery does not necessarily have to be limited to a tire. That is, if the inside is empty, such as a tire, it can be a hollow article to be conveyed.

The chucking unit 100 is a portion that substantially chucks the hollow article. That is, the chucking unit 100 can chuck the hollow article at that location after being partially inserted into the hollow article.

In this embodiment, the chucking unit 100 has a slim structure unlike the prior art. One end of the chucking unit 100 will be described first, and then the chucking unit 100 will be described in detail.

The unit moving unit 190 is connected to the chucking unit 100 and serves to move the chucking unit 100, as shown in FIGS.

(See FIG. 8) for chucking and chucking the chucking unit 100 to a desired location, as shown in FIG. 8, .

The unit moving unit 190 includes an X-axis moving unit 192 that is movably provided on a pair of gantries 191 disposed along the X-axis direction and moves along the X-axis direction, and an X-axis moving unit 192 A Y-axis moving unit 193 which is moved along the Y-axis direction intersecting with the X-axis and which is connected to the Y-axis moving unit 193 to support the chucking unit 100, And a Z-axis moving unit 194 for moving the chucking unit 100 along the Y-axis.

1 to 8, the X-axis moving unit 192 and the Y-axis moving unit 193 are operated to move the chucking unit 100 to the upper portion of the hollow article to be placed on the first side of the floor The Z-axis moving unit 194 is operated to chuck up the hollow article to be picked up. Thereafter, the X-axis moving unit 192 and the Y-axis moving unit 193 are operated again, The Z-axis moving unit 194 may be operated to chuck the hollow article to be picked down after moving the hollow article 100 to the second position.

In this case, since the chucking unit 100 has a compact and slim structure, the chucking unit 100 can perform the chucking operation even in the case of a hollow article having a small size. In particular, Type conveyed object can be smoothly chucked.

For reference, in the present embodiment, a plurality of tires, for example, six tires stacked one on top of the other are chucked at one time and transported to the second place. However, unlike the drawings, the tires may be transported one by one.

On the other hand, the chucking unit 100 serves to chuck the substantially hollow article. The chucking unit 100 may include a unit body 110, a plurality of chucks 120, and a chuck driving unit 130.

First, the unit body 110 forms the central pillar of the chucking unit 100. In this embodiment, the unit body 110 may be provided as a pipe-type structure as a whole except for the portion where the roller rail 111 is formed.

Next, a plurality of chucks 120 are disposed outside the unit body 110 and are moved toward the unit body 110 (see Figs. 9, 11 and 13) or spaced apart from each other by the chuck driving unit 130 , Figs. 12 and 14).

When a plurality of chucks 120 are spaced from the unit body 110 (see FIGS. 10, 12 and 14), the chucking unit 100 is chucked to the inner wall of the hollow article, So that the conveyed object can be chucked.

The chuck 120 includes a pressurizing chucking portion 121 that is chucked while being pressed against the inner wall of the hollow article to be conveyed and a pair of skirts 120 that are bent to cross the pressurizing chucking portion 121 at both ends of the pressurizing chucking portion 121. [ (Not shown).

The pair of skirt portions 122 are provided to partially protect the first and second link members 152 and 154 of the rectilinear motion transmitting portion 150 described later and the first and second link members 152 and 154, An interference phenomenon does not occur.

In this embodiment, the chuck 120 is provided to be relatively longer than the length of the unit body 110. Since the chuck 120 is long, the plurality of pipes can be chucked and transported at a time.

In particular, a plurality of chucks 120 are arranged in a triangular configuration with respect to the unit body 110. A plurality of chucks 120 spaced apart by 120 degrees are pressed against the inner wall of the hollow conveyed object, So that there is an advantage that the hollow material can be chucked stably.

A stopper 123 is provided at the lower end of the chuck 120 so as to intersect with the longitudinal direction of the chuck 120.

The stopper 123 serves as a latching jaw for preventing the fall of the hollow article. In this embodiment, the stopper 123 is protruded from the pressurizing chucking portion 121, but the stopper 123 may be protruded from the skirt 122.

11 and 12, the chuck driving unit 130 includes a unit body 110 and a plurality of chucks 120 (not shown) such that a plurality of chucks 120 are linearly moved in a radial direction in the hollow article, To drive a plurality of chucks 120.

The chuck driving part 130 may include a push rod 140 and a linear motion transmitting part 150.

The push rod 140 is a rod-like structure that is movably disposed within the unit body 110 along the direction in which the chucking unit 100 is inserted into the hollow delivery.

When the push rod 140 is pressed in the direction A (see Fig. 14), the chucks 120 are linearly moved radially outward by the action of the rectilinear motion transmitting portion 150, and are brought into close contact with the inner wall of the hollow article And in the opposite case, the chucking can be released.

The press block 141 is coupled to the exposed end of the push rod 140 so that the push rod 140 can be pressed in the A direction (see Fig. 14). For example, an actuator or the like may be connected to the pressurizing block 141.

A rod guide 115 is provided in the gantry machine for carrying hollow bodies of the present embodiment so that the push rod 140 can be pressed well in the A direction (see Fig. 14) and can be returned to the original position well.

The rod guide 115 is disposed between the push rod 140 and the unit body 110 and guides the push rod 140 to move. The rod guide 115 may be provided only on one side of the upper end region of the push rod 140.

The linear motion transfer unit 150 is a mechanical structure connected to the push rod 140, the unit body 110 and the plurality of chucks 120. When the push rod 140 is pressed, So that a plurality of chucks 120 are linearly moved in a direction crossing the pressing direction of the chuck 120.

In other words, when the push rod 140 is pressed in the A direction (see Fig. 14), the plurality of chucks 120 can be chucked tightly against the inner wall of the hollow article while linearly moving radially outward. As described above, in the case of the present embodiment, since it is easy to secure the straightness during the chucking operation, it is possible to smoothly chuck the hollow article to be delivered.

In the present embodiment, a plurality of linear motion transmission parts 150 are arranged along the longitudinal direction of the unit body 110. This is because the length of the chucks 120 as well as the unit body 110 is long. If the unit body 110 and the chucks 120 are short, only one rectilinear motion transfer unit 150 may be applied.

The rectilinear motion transfer unit 150 may include a cam follower 151, a first link member 152, a linkage support member 153, and a second link member 154.

The cam follower 151 is a structure connected to the push rod 140 and operated together with the push rod 140. The unit body 110 may be formed with an exposure hole 112 through which the cam follower 151 is exposed.

The cam follower 151 is partially exposed to the outside of the unit body 110. [ That is, the protrusion 151a of the cam follower 151 and the guide roller 151b are partially exposed to the outside of the unit body 110.

In this embodiment, since three chucks 120 are used, three pairs of protruding portions 151a and guide rollers 151b may be provided.

The protrusion 151a forms a place where one end of the first link member 152 is rotatably connected.

The guide roller 151b is moved together with the push rod 140 to guide the movement of the push rod 140. [ The unit body 110 is formed with a roller rail 111 on which a guide roller 151b is rotatably supported. At this time, the roller rail 111 may be formed by a cutout portion cut in a side wall of the unit body 110. [

The first link member 152 is a rod-shaped member whose both ends are pivotally connected to the chuck 120 and the projection 151a of the cam follower 151, respectively.

The link support member 153 is a kind of bracket coupled to the outer surface of the unit body 110 to support the second link member 154.

The second link member 154 is a rod-like member whose both ends are pivotally connected to the first link member 152 and the linkage support 153, respectively.

The chucking sensing unit 170 is provided in the chucking unit 100 and detects whether or not the hollow article is chucked in the chucking unit 100. [ At this time, it is possible to detect the presence or absence of the hollow article to be conveyed and to detect the operation of the rectilinear motion transfer unit 150.

Finally, the controller 180 can control the operation of the chucking unit 100 and the unit moving unit 190 based on the information from the chucking sensing unit 170. [

The controller 180 performing such a role may include a central processing unit 181 (CPU), a memory 182 (MEMORY), and a support circuit 183 (SUPPORT CIRCUIT).

The central processing unit 181 controls the operation of the chucking unit 100 and the unit moving unit 190 based on information from the chucking sensing unit 170 in this embodiment by various industrial computer processors Lt; / RTI >

The memory 182 (MEMORY) is connected to the central processing unit 181. The memory 182 may be a computer readable recording medium and may be located locally or remotely and may be any of various types of storage devices, including, for example, random access memory (RAM), ROM, floppy disk, hard disk, At least one or more memories.

The support circuit 183 (SUPPORT CIRCUIT) is coupled with the central processing unit 181 to support the typical operation of the processor. The support circuit 183 may include a cache, a power supply, a clock circuit, an input / output circuit, a subsystem, and the like.

In this embodiment, the controller 180 controls the operation of the chucking unit 100 and the unit moving unit 190 based on the information from the chucking sensing unit 170. At this time, a series of processes or the like in which the controller 180 controls the operation of the chucking unit 100 and the unit moving unit 190 based on the information from the chucking sensing unit 170 can be stored in the memory 182 have. Typically, a software routine may be stored in the memory 182. The software routines may also be stored or executed by other central processing units (not shown).

Although processes according to the present invention are described as being performed by software routines, it is also possible that at least some of the processes of the present invention may be performed by hardware.

As such, the processes of the present invention may be implemented in software executed on a computer system, or in hardware such as an integrated circuit, or in combination of software and hardware.

Hereinafter, the operation of the gantry machine for conveying hollow articles according to the present embodiment will be described.

First, the X-axis moving part 192 and the Y-axis moving part 193 are operated as shown in FIG. 1 to move the chucking unit 100 to the upper part of the hollow article to be placed on the first side of the floor.

Next, as shown in FIG. 2, the Z-axis moving unit 194 is operated to cause the chucking unit 100 to be downwardly inserted into the hollow conveyed object.

Once the chucking unit 100 is inserted into the hollow delivery, the pushrod 140 is urged by the controller 180 in direction A (see FIG. 14).

When the push rod 140 is pressed in the A direction (see FIG. 14), the chucks 120 are rectilinearly moved radially outward by the action of the rectilinear motion transmitting portion 150, that is, the first and second link members 152 and 154 are unfolded so that the chucks 120 are linearly moved outward in the radial direction so as to be closely attached to the inner wall of the hollow article to be chucked (see FIG. 3).

When the chucking unit 100 chucks the hollow article in the hollow conveyed object as described above, when the Z-axis moving unit 194 is operated to operate the chucking unit 100 up (See FIG. 4). Thereafter, the X-axis moving unit 192 and the Y-axis moving unit 193 are operated again to move the chucking unit 100 to the second position (see FIGS. 5 and 6).

Then, the Z-axis moving section 194 is operated to chuck the hollow article to be picked down (see FIG. 7), and then the chucking is released (see FIG. 8) Returning to its original position and then chucking the next hollow delivery.

According to the present embodiment having such a structure and action, since it has a more compact and slim structure than the conventional one, it can be commonly applied to hollow-shaped deliveries of various sizes, and even if the hollow- In particular, it is easy to secure the straightness during the chucking operation, so that the hollow conveyed material can be smoothly chucked.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: chucking unit 110: unit body
111: roller rail 112: exposed roller
115: load guide 120: chuck
121: pressure chucking part 122: skirt part
123: stopper 130: chuck drive part
140: push rod 141: pressure block
150: linear motion transfer unit 151: cam follower
151a: protruding portion 151b: guide roller
152: first link member 153: linkage region
154: second link member 170:
180: controller 190:
191: Gantry 192: X-axis moving part
193: Y-axis moving unit 194: Z-axis moving unit

Claims (15)

A chucking unit partially insertable into the hollow delivery to chuck the hollow delivery; And
And a unit moving unit connected to the chucking unit and for moving the chucking unit,
The chucking unit includes:
Unit body;
A plurality of chucks disposed outside of the unit body and approaching or spaced from the unit body and chucked to the inner wall of the hollow deliveries when spaced from the unit body; And
And a chuck driver connected to the unit body and the plurality of chucks to drive the plurality of chucks so that the plurality of chucks are linearly moved in a radial direction in the hollow article,
The chuck driver,
A push rod movably disposed within the unit body along a direction in which the chucking unit is inserted into the hollow deliveries;
A linear motion transmitting portion connected to the push rod, the unit body and the plurality of chucks to cause the plurality of chucks to linearly move in a direction crossing the pushing direction of the push rod when the push rod is pressed; And
And a rod guide disposed between the push rod and the unit body and guiding movement of the push rod. delete The method according to claim 1,
The rectilinear motion transmission unit includes:
A cam follower connected to the push rod and partially exposed to the outside of the unit body;
A first link member rotatably connected at both ends to protrusions of the chuck and the cam follower;
A linkage provided on an outer surface of the unit body; And
And a second link member having both ends rotatably connected to the first link member and the linkage support, respectively. ≪ Desc / Clms Page number 19 > The method of claim 3,
Wherein the cam follower is further provided with a guide roller which moves together with the push rod. 5. The method of claim 4,
Wherein the unit body is formed with a roller rail on which the guide roller is rotatably supported. ≪ Desc / Clms Page number 19 > 6. The method of claim 5,
Wherein the roller rail is formed by a cut-out portion cut in the side wall of the unit body. ≪ RTI ID = 0.0 > 21. < / RTI > The method of claim 3,
Wherein the unit body is formed with an exposure hole through which the cam follower is exposed. ≪ RTI ID = 0.0 > 21. < / RTI > delete The method according to claim 1,
Wherein a plurality of the linear motion transfer units are disposed along the longitudinal direction of the unit body. The method according to claim 1,
Wherein a push block is coupled to the exposed end of the push rod. ≪ Desc / Clms Page number 13 > The method according to claim 1,
Wherein the plurality of chucks are arranged in a triangular configuration with respect to the unit body. The method according to claim 1,
The chuck may include:
A pressurizing chucking portion which is chucked while being pressed against the inner wall of the hollow article; And
And a pair of skirt portions bent at opposite ends of the pressure chucking portion so as to intersect the pressing chucking portion. 13. The method of claim 12,
The chuck may include:
Further comprising a stopper provided on at least one of the pressure chucking portion and the skirt portion to prevent a fall of the hollow conveyed object. The method according to claim 1,
A chucking sensing unit provided in the chucking unit for sensing whether the hollow article is chucked in the chucking unit; And
Further comprising a controller for controlling operations of the chucking unit and the unit moving unit based on information from the chucking sensing unit. The method according to claim 1,
The unit moving unit includes:
An X-axis moving unit movably provided on a pair of gantries arranged along the X-axis direction and moved along the X-axis direction;
A Y axis moving unit connected to the X axis moving unit and moving along a Y axis direction intersecting with the X axis; And
And a Z-axis moving unit that supports the chucking unit and is connected to the Y-axis moving unit and moves the chucking unit along a vertical Z-axis direction,
Wherein the hollow article is a tire. ≪ RTI ID = 0.0 > 21. < / RTI >

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