KR101698899B1

KR101698899B1 - Work clamping unit and Work loading device containing the same

Info

Publication number: KR101698899B1
Application number: KR1020160093607A
Authority: KR
Inventors: 백갑수
Original assignee: 백갑수
Priority date: 2016-07-22
Filing date: 2016-07-22
Publication date: 2017-02-01
Also published as: WO2018016769A1

Abstract

An object clamping unit and an object loading apparatus including the same are disclosed. An object clamping unit according to an aspect of the present invention is an object clamping unit applied to an object loading apparatus for moving a moving object, for example, a transmission case or a housing to a specified position or another work place, including an holder unit having a plurality of storage chambers And a clamping shaft is provided for slidably moving the clamping shafts in such a manner that the clamping shafts are slidably housed in the respective receiving chambers of the holder portion. An arbitrary pressing element for pulling each of the clamping shafts from the corresponding chambers is provided in each of the accommodating chambers A plurality of clamping shafts are independently moved forward and backward in correspondence with the contour of the object by the pressing element and are brought into close contact with the outer surface of the object with an appropriate pressure so that the object can be caught and moved more securely and firmly To be a point.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object clamping unit and an object loading apparatus including the same.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object clamping unit and an object loading apparatus including the object clamping unit, and more particularly, to an object clamping unit for safely and robustly catching and moving a moving object to a designated position or another work place, To an object loading apparatus.

Typically, an object loading device is used in a product production line to move a target object to which a predetermined process or operation has been performed to a designated location or another work space for continuous processing for each process or to reverse the direction of an object for additional work Various types of loading devices are already known for such object loading devices.

In particular, when a target object is a weight having a considerable weight, such as a transmission case or a housing, a rail-type object loading apparatus configured to move an arm that catches an object along a guide rail disposed at an upper portion of a work site Or an object loading device of a multi-joint robot structure in which an arm is inverted by catching and inverting through an additional device on the left, right, upper, and lower sides of the object, or having three or more rotating joints.

The method of capturing an object in the object loading performed by the object moving apparatus for moving a weight includes a method of capturing an object such as a groove 310 or a protrusion (not shown) corresponding to the outer shape of the object to be caught 320 or a method of using a hard urethane jaw having a catch surface formed with grooves and projections (jaw or clamp pad).

However, it is not easy to process the catch surface according to various shapes and sizes of objects. Since the object can not be accurately caught even if there is a slight error and the object may come off and fall from the loading device, The worker had to work on the part that did not fit exactly during the work.

In addition, if the shape of an object is changed at least, or when an object is added, it must be replaced with a new jaw having a catch surface corresponding to the shape, and if the catch surface is deformed or worn by repeated operations, correction or correction must be performed When additional objects of different sizes were added, a separate loading device would have to be added. In addition, due to the necessity of replacing the loading device that matches the size of the object, it was necessary to stop the work inevitably, which would entail a time and economic loss .

Also, in the related art, a clamp pad using a cylinder stroke is formed on a chuck base, and the clamp pad may be configured to control one to three stages using a separate cylinder in order to escape or catch the clamp pad according to the shape of the object. If a product that is out of the stroke that can be clamped is supplied, there is a disadvantage that it must be replaced with a jewel prepared in advance.

Korean Registered Patent No. 10-1416379 (Registration date 2014. 07. 08)

A problem to be solved by the present invention is to provide a structure in which a plurality of clamping shafts are capable of catching an object while moving forward and backward and can be commonly used for various objects without changing jaws or additional processing, Object clamping unit.

Another object of the present invention is to provide an object loading apparatus capable of catching a target object more securely and robustly and moving it to a designated position or a work place.

According to an aspect of the present invention,
An object clamping unit applied to an object loading apparatus (1) for moving a target object to a specified position or work place,
A holder portion having a plurality of storage chambers formed therein;
A clamping shaft which is slidably received in each of the storage chambers of the holder portion and moves forward and backward individually;
And an arbitrary pressing element which is provided in each of the accommodating chambers and in which each of the clamping shafts is drawn out from the accommodating chamber and brought into close contact with an outer surface of the object,
Wherein the plurality of clamping shafts are brought into close contact with the outer surface of the object while independently moving forward and backward in correspondence with the contour of the object by the pressing element during object catching.

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The holder unit applied to the object clamping unit according to one aspect of the present invention includes a base fixedly attached to an end of an arm of the object loading device, a plurality of storage chambers mounted on one surface of the base, And a cylinder block formed thereon.

Preferably, each of the clamping shafts extending outwardly from the housing chamber is provided with a rigid elastic pressing portion which is elastically deformed by contacting the surface of the object at the time of object catching.

May be the case, the elastic pressing District, urethane (Urethane), a hard rubber (Rubber) or silicone (Silicone), also a sponge blocks made of a high hardness of the hard synthetic resin (Sponge block). However, the present invention is not particularly limited to this, and it may be a material that does not leave scratches, abrasions, or marks on the object.

In the object clamping unit according to one aspect, the pressure element may preferably be a high-pressure fluid pressure or pressure gas generated by an external hydraulic or pneumatic generator and filled in the compartment.

As another example, the pressing element may be provided in the accommodating chamber such that one end and the other end of the pressing member are supported by the bottom surface of the accommodating chamber and the spring sheet on the clamp shaft, and a coil spring Lt; / RTI >

As another example, the pressing element may be a high-hardness sponge block made of a synthetic resin material, which is interposed between the bottom surface of the compartment and the clamp shaft, and has elasticity with respect to a direction in which the clamp shaft is drawn out from the compartment.

Further, the pressing element may be a pair of permanent magnets provided so as to face the same poles on the storage chamber and the clamp shaft, respectively.

Alternatively, the pressing element may be an electromagnet provided in pairs in correspondence with the storage chamber and the clamp shaft, respectively.

The pressing element is composed of a motor mounted on a holder portion on the back side of each storage chamber and a power transmitting member rotatably mounted on the holder portion and rotatable by the motor, Driven type in which the clamp shaft is screwed to the power transmitting member so that axial movement occurs in response to the rotation of the power transmitting member.

The object clamping units along one side may be arranged to face each other with the objects therebetween.

As another example, the movable die may be disposed so as to form a fixed portion in which the object clamping unit is disposed only on one side of the object and a part of the object is fixed on the opposite side.

According to another aspect of the present invention as a solution to the problem,

An arm of a multi-joint structure having a rail-like structure or a rotational degree of freedom with respect to a multi-axis direction, which is moved along a rail which forms a movement path for a specific direction; And

And an object clamping unit attached to the distal end of the arm according to the above-mentioned one side.

According to the object clamping unit and the object loading apparatus according to the embodiments of the present invention, the clamping shafts constituted by a plurality of holders in the holder part are brought into close contact with the outer surface of the target object, The object can be loaded with a weak intensity by adjusting the number of shafts at the time of design according to the strength of the object and controlling the pressure, and even when the shape and size of the object are changed, Can be used in common.

In the case of the conventional art, two or three jaws should be prepared when the sizes of the objects are different. However, the present invention is economical because there is no need to replace the jaws. By allowing the process to load the product with left and right clamping only, the time can also be shortened.

Further, since the plurality of clamping shafts independently move to form a catch surface that exactly matches the contour of the target object, even if the object has a complex shape, it is possible to instantly implement the catch surface corresponding to the shape, In the case of a lightweight object, it is possible to catch a target object more securely and firmly by a small amount (about three) of clamping shafts, and to move to a designated position or a work place.

FIG. 1 is a photograph showing a clamp pad used in a conventional object loading apparatus. FIG.
2 is a side cross-sectional view of an object clamping unit according to an aspect of the present invention;
3 is a front view of the object clamping unit shown in Fig.
Figures 4-9 illustrate various embodiments of an object clamping unit to which various embodiments of the pressing element are applied.
Figure 10 shows a preferred embodiment of the use of an object clamping unit according to an aspect of the invention.
11 shows another preferred embodiment of use of an object clamping unit according to an aspect of the present invention.
Figure 12 shows another preferred embodiment of the use of an object clamping unit according to an aspect of the present invention.
Figures 13 to 15 show preferred embodiments of an object loading apparatus comprising an object clamping unit.

Hereinafter, preferred embodiments of the present invention will be described in detail.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It is to be understood that the terms "comprises", "having", and the like in the specification are intended to specify the presence of stated features, integers, steps, operations, elements, parts or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Also, the terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

In addition, the terms " part, "" unit," " module, "and the like, which are described in the specification, refer to a unit for processing at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software .

In the following description with reference to the accompanying drawings, the same reference numerals are given to the same constituent elements, and a duplicate description thereof will be omitted. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Fig. 2 is a side cross-sectional view of the object clamping unit according to one aspect of the present invention, and Fig. 3 is a front view of the object clamping unit shown in Fig.

2 and 3, an object clamping unit 20 according to an aspect of the present invention is a unit applied to an object loading apparatus 1 that catches an object and moves it to a designated position or a work place, And a clamping shaft 26 which is slidably mounted on each of the storage chambers 25 of the holder portion 22 so as to individually move back and forth.

The holder portion 22 may be composed of a base 23 and a cylinder block 24. [ The base 23 can be attached and fixed to the front end of the arm 10 of the object loading apparatus 1 to be described later and the cylinder block 24 is provided with a plurality of receiving chambers 25 are formed. The base 23 and the cylinder block 24 may be detachably coupled through a fastening member such as a bolt B as shown in the drawing.

The housing chamber 25 of the cylinder block 24 may be a cylindrical structure having a long and elongated circular cross section and having a predetermined height. Preferably, as shown in the example of Fig. 2, a plurality of rows of the accommodating chambers 25 in which two neighboring accommodating chambers 25 are in contact with each other are formed, and the accommodating chambers 25 of the rows of the accommodating chambers 25, They can be arranged to be in contact with the two storage chambers 25 of the row of the chambers 25 at the same time so as to form a tight honeycomb structure.

Of course, the present invention is not limited to the honeycomb arrangement shown in Fig. The arrangement can be changed as much as the shape, size, and catch position of the object including the matrix of matrix of N * M, the array of concentric arcs, etc. That is, it may be an arrangement that can accurately and firmly catch objects according to the shape, size, and catch position of the object.

The clamping shaft 26 is slidingly assembled in such a manner that a part of the clamping shaft 26 is accommodated in each of the accommodating chambers 25 of the holder portion 22. More specifically, as shown in the enlarged view of the main part of Fig. 1, a part of each of the storage chambers 25 is housed and the other part is exposed outside the housing chamber 25, And linear movement along the longitudinal direction of the housing chamber 25).

Elastic pressing members 27 can be attached to the tips of the respective clamping shafts 26 extending out of the housing chamber 25. [ The elastic pressing part 27 elastically deforms when it touches the object surface due to the pressing force of the clamping shaft 26 during the object catching, thereby increasing the contact area with the object, thereby preventing stable scratching of the object surface Function.

Obtain elastic pressing (27) may be used such as a hard elastomer, preferably polyurethane (Urethane), rubber (Rubber) or silicone (Silicone) of rigid, high hardness made of a hard synthetic resin is also a sponge block (Sponge block), And can be coupled to the clamping shaft 26 in a screwed or interference fit manner so that only the elastic pressing members 27 can be replaced when damaged or worn due to frequent use.

Each of the clamping shafts 26 is pulled out of the corresponding compartment 25 through any pressing element 30 provided or provided in each of the compartment chambers 25 and operated in a direction to come into close contact with the object. Accordingly, the plurality of clamping shafts 26 can be brought into close contact with the outer surface of the object at a proper pressure while independently moving back and forth corresponding to the contour of the object by the pressing element 30 at the time of object catching.

4-9 illustrate various embodiments of an object clamping unit to which various embodiments of the pressing element are applied.

The pressing element 30 which draws out each clamping shaft 26 from the receiving chamber 25 is preferably generated by an external hydraulic or pneumatic generator 40 as in the embodiment of Fig. Pressure fluid or pressurized gas 30-1 which is separately supplied and filled in the pressurized fluid. I.e. the mechanism of the hydraulic or pneumatic cylinder, the clamping shaft 26 can move.

As another example, the pressing element 30 may be configured so that one end and the other end thereof are supported by the bottom surface 250 of the housing chamber 25 and the spring seat 260 on the clamping shaft 26, They may be coil springs 30-2 which are provided one by one in the thread 25 and have elasticity with respect to a direction in which the clamping shaft 26 is pulled out from the housing chamber 25. [

As another example, the pressing element 30 is disposed in each of the accommodating chambers 25 so as to be interposed between the bottom surface of the accommodating chamber 25 and the end of the clamping shaft 26 facing the bottom surface, And a high-hardness sponge block 30-3 made of a synthetic resin material having elasticity with respect to a direction in which the clamping shaft 26 is pulled out from the housing chamber 25. [

Alternatively, the pressing element 30 may be a pair of permanent magnets 30-4 arranged to face the same in the housing chamber 25 and the clamping shaft 26 as shown in Fig. 7, 8, a pair of coils and iron cores are provided corresponding to the housing chamber 25 and the clamping shaft 26, respectively. The clamping shaft 26 and the clamping shaft 26 are fixed to each other by a repulsive force or an attractive force generated according to a current- Or an electromagnet 30-5 for moving the electromagnet 30-5.

9, a motor 32 mounted on the holder 22 on the rear surface of each housing chamber 25, and a motor 32, which is partly rotatably mounted on the holder 22, And a clamping shaft 26 is screwed to the power transmitting member 34 so that axial movement occurs in correspondence with the rotation of the power transmitting member 34 The pressing element 30 may be applied in a motor-driven manner.

Fig. 10 is a preferred embodiment of the object clamping unit according to an aspect of the present invention, wherein the object clamping unit 20 can be arranged so as to face each other with the object 3 interposed therebetween. In this case, each of the clamping shafts 26 of the opposing clamping units can be protruded by different lengths in conformity with the contour of the object by the pressing element 30, and can be brought into close contact with the outer surface of the object with an appropriate pressure.

11 is another preferred embodiment of an object clamping unit according to an aspect of the present invention, wherein the object clamping unit 20 can be arranged to be located only on one side of the object, A movable die 40 having a fixing part 42 to which a part of the object is fixed may be disposed on the opposite side of the movable die 20.

In addition, as shown in Fig. 12 showing another preferred embodiment of the object clamping unit, the number of clamping shafts 26 that are independently advanced and retracted when the object to be moved is light in weight can be significantly reduced.

13 and 14 show a preferred embodiment of an object loading apparatus including an object clamping unit according to the above-mentioned one aspect. The object loading apparatus 1 includes a rail 8 forming a movement path for a specific direction, (Fig. 13) or a multi-jointed arm (10, Fig. 14) having a rotational degree of freedom with respect to a multi-axis direction and an object clamping Unit 20 as shown in FIG.

In the case of the embodiment shown in FIG. 14, the object clamping unit (not shown) is provided with respect to the arm 10 so that the direction of the object can be reversed in accordance with the work type in moving the object, 20 may be connected in a motor drive manner so as to be capable of forward / reverse rotation. In this case, the number of joints or arms 10 is not particularly limited.

Fig. 15 is a still another preferred embodiment of the object loading apparatus. The elevating unit 5 includes a platform 5 for raising an object 3 moved along a path designated by the belt-type transfer device at a predetermined working position, And a left and right object clamping 20 for catching the object 3 raised by the lift unit 5 on the right and left sides.

In this case, the left and right object clamping units 20 can be configured to be able to rotate 360 degrees by a forward / reverse driven motor so that the orientation of the object can be reversed to match the work, as in the embodiment of Fig.

While the present invention has been described with reference to the exemplary embodiments of the present invention, it is to be understood that the present invention is not limited thereto. For example, the present invention may be applied to an object loading / Any object that needs to be moved solidly can be targeted.

According to the embodiments of the present invention described above, the clamping shafts constituted by a plurality of holders are independently moved back and forth corresponding to the outline of the object, and are brought into close contact with the outer surface of the object at a proper pressure, Even if the shape and size of the object are changed, it is possible to commonly use the object without replacing or modifying the jaw as in the conventional art.

Further, since the plurality of clamping shafts independently move to form the catch surface that exactly corresponds to the contour of the target object, even if the object has a complicated shape, immediate implementation of the catch surface corresponding to the shape is possible, The target object can be more securely and firmly caught and moved to a designated position or work place.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

1: Object loading device
3: Objects
10: arm
20: object clamping unit
22:
23:
24: Cylinder block
25: compartment
26: Clamping shaft
27: Elastic pusher
30: pressing element
40: movable die
42:
260: spring seat

Claims

An object clamping unit (20) applied to an object loading apparatus (1) for moving a target object to a specified position or work place,
A holder portion 22 formed with a plurality of storage chambers 25;
A clamping shaft 26 which is slidably received in the housing chambers 25 of the holder 22 so as to be housed in each of the housing chambers 25 and moves back and forth individually;
And an arbitrary pressing element 30 provided in each of the accommodating chambers 25 so that each of the clamping shafts 26 is drawn out from the accommodating chamber 25 and brought into close contact with the outer surface of the object,
Wherein the plurality of clamping shafts (26) are brought into close contact with the outer surface of the object while independently moving back and forth corresponding to the contour of the object by the pressing element (30) during object catching.

The method according to claim 1,
The holder part (22)
A base 23 attached and fixed to the distal end of the arm 10 of the object loading apparatus 1;
And a cylinder block (24) mounted on one surface of the base (23), the cylinder block (24) having a plurality of storage chambers (25) with one side opened and having a specific arrangement.

The method according to claim 1,
Wherein an end of each of the clamping shafts (26) extending out of the housing chamber (25) is attached with a rigid elastic pressing part (27) elastically deformed by touching the object surface at the time of object catching.

The method of claim 3,
The elastic pressure sphere 27 is polyurethane (Urethane), a hard rubber (Rubber) or silicone (Silicone), a high hardness made of a hard synthetic resin is also a sponge block (Sponge block) from any one object, a clamping unit, characterized by configured .

The method according to claim 1,
The pressing element (30)
Pressure fluid or pressure gas generated by an external hydraulic pressure generator or pneumatic generator (40) and filled in said storage chamber (25).

The method according to claim 1,
The pressing element (30)
The clamping shaft 26 is installed in the accommodating chamber 25 so as to support one end and the other end of the spring seat 260 on the bottom surface of the accommodating chamber 25 and the clamping shaft 26, Is a coil spring having elasticity with respect to a direction of pulling out the object.

The method according to claim 1,
The pressing element (30)
And is a high-hardness sponge block made of a synthetic resin material which is interposed between the bottom surface of the compartment chamber 25 and the clamping shaft 26 and has elasticity with respect to a direction in which the clamping shaft 26 is drawn out from the compartment 25 The object clamping unit.

The method according to claim 1,
The pressing element (30)
And a pair of permanent magnets installed on the housing chamber (25) and the clamping shaft (26) so as to face the same poles, respectively.

The method according to claim 1,
The pressing element (30)
And an electromagnet installed in pairs in the housing chamber (25) and the clamping shaft (26), respectively.

The method according to claim 1,
The pressing element (30)
A motor 32 mounted on a holder portion 22 on the back surface of each housing chamber 25;
And a power transmitting member 34 partly rotatably mounted on the holder 22 and rotating by the motor 32,
And the clamping shaft (26) is screwed to the power transmitting member (34) so that axial movement occurs in response to rotation of the power transmitting member (34).

The object loading apparatus according to any one of claims 1 to 10, wherein the object clamping unit (20) is arranged so as to face each other with the object (3) interposed therebetween.

An object clamping unit (20) according to any one of claims 1 to 10, arranged on one side of an object; And
And a movable die (40) having a fixing portion (42) disposed on the opposite side of the object clamping unit (20) and on which a part of the object is fixed.

An arm 10 having a multi-joint structure having a rail-like structure that is moved along a rail forming a movement path for a specific direction or a rotational degree of freedom with respect to a multi-axis direction;
An object loading apparatus comprising: an object clamping unit (20) according to any one of claims 1 to 10 attached to a front end of the arm (10).