KR101800713B1

KR101800713B1 - Transferring apparatus having enhanced fixing force

Info

Publication number: KR101800713B1
Application number: KR1020160027713A
Authority: KR
Inventors: 김현수; 노승국; 김병섭
Original assignee: 한국기계연구원
Priority date: 2016-03-08
Filing date: 2016-03-08
Publication date: 2017-11-24
Also published as: KR20170104822A

Abstract

The moving body includes a body portion, a plurality of extensions, a plurality of pad modules, a plurality of adhesive modules, and a transfer portion. The extensions extend from the side of the body portion. The pad modules are fixed to the extension portions and are detachably attached to a fixed object located in a lower direction of the body portion and the extension portions. The adhesive modules are placed between the body part and the pad modules and detachably attached to the fixed object. The transfer part moves the body part.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a moving object having an improved fixing force,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object, and more particularly, to a moving object which performs a predetermined operation while being stationary and fixed at a predetermined position and moves a specific object or moves its own position.

Conventionally, in the case of a moving object in which a specific object or object is moved, or a position is moved by itself, the object must be kept stationary or fixed during the process of moving the object or moving itself, It is necessary to provide a fixed unit for maintenance.

As such a fixed unit, in general, when a fixed object does not have magnetism, a vacuum pad structure in which a rubber pad is held in vacuum at a position where it is required to be held in a vacuum and is sucked has been widely used. In addition, in the case of such a rubber pad or a vacuum pad structure, in addition to being used for fixing a moving body at a specific position, as disclosed in Korean Patent Laid-Open Nos. 10-2013-0008432 and 2013-74197, Or in a state in which the plate-like material is fixed.

However, in the case of the fixed unit using the rubber pad or the vacuum pad as described above, the fixation force in the vertical direction to the fixed object is high, but the fixation force in the relatively horizontal direction is low. There is a problem that the fixation force is reduced and the fixation of the moving body is not smooth.

Thus, there is a problem that it is not easy to fix the moving body, especially when the moving body is to be fixed at a position such as a vertical wall or the like.

Korean Patent Publication No. 10-2013-0008432

Japanese Patent Application Laid-Open No. 2013-74197

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a moving object having an improved fixing force, in particular, an improved fixing force in the horizontal direction.

According to an aspect of the present invention, a mobile object includes a body portion, a plurality of extension portions, a plurality of pad modules, a plurality of adhesive modules, and a transfer portion. The extensions extend from the side of the body portion. The pad modules are fixed to the extension portions and are detachably attached to a fixed object located in a lower direction of the body portion and the extension portions. The adhesive modules are placed between the body part and the pad modules and detachably attached to the fixed object. The transfer part moves the body part.

In one embodiment, each of the pad modules is disposed symmetrically with respect to the body portion, and each of the adhesive modules may be disposed symmetrically with respect to the body portion.

In one embodiment, each of the pad modules is located at an end of each of the extensions, and each of the adhesive modules may be located below each of the extensions.

In one embodiment, each of the pad modules includes: a shaft portion extending in a direction perpendicular to an extending direction of each of the extending portions; a plurality of pad modules fixed to the shaft portion, rotated about the shaft portion, And a vacuum pad which is fixed to an end of the shaft and is detachably attached to the fixed object.

In one embodiment, the transfer part protrudes downward from the vacuum pad to move the body part, and the vacuum pad may be attached to the fixed object as the shaft part is moved toward the fixed object.

In one embodiment, each of the adhesive modules includes a bonding portion detachably attached to the fixed object, a first roller portion positioned above the bonding portion to supply the bonding portion, and a second roller portion positioned in parallel with the first roller portion, A third roller portion for applying a tensile force to the bonding portion at a lower portion of the first roller portion and switching a feeding direction of the bonding portion, and a third roller portion for applying a tensile force to the bonding portion at a lower portion of the second roller portion, And a fourth roller portion for switching the recovery direction of the adhering portion.

In one embodiment, each of the adhesive modules includes a plate portion for attaching the adhesive portion to the stationary object at an upper portion of the adhesive portion, and a plate portion for attaching the adhesive portion to the stationary object, The guide frame may further include a guide frame for guiding it to be transported.

In one embodiment, the first roller portion includes a first roller for supplying the adhering portion, and a lock portion for locking the rotation of the first roller, the second roller portion includes a second roller for recovering the adhering portion, 2 < / RTI > roller only in one direction.

In one embodiment, the bond portion may be an adhesive tape including a filament.

According to the embodiments of the present invention, in addition to maintaining the adhesive force to the fixed object by the pad modules, the adhesive modules can further apply the adhesive force to the fixed object, thereby improving the fixation force of the movable object to the fixed object.

Also, since the pad modules are positioned at the ends of the extension portions with respect to the body portion of the mobile body, and the adhesive modules are positioned between the body portion and the ends of the extension portions, the fixing force to the fixed object as a whole is uniformly distributed, Can be improved.

Particularly, each of the pad modules includes a pivot bearing, so that the vacuum pad can be rotated as well as up and down, and the pendulum can be flexed with respect to the shaft. Therefore, even when the fixed object is a predetermined curved surface, Can be improved.

Further, since the transferring part is protruded downward from the pad module or the adhesive module, the transfer of the moving object is performed smoothly, and when the pad module and the adhesive module are required to be fixed for stopping, The movement and the fixation of the wafer W can be effectively performed.

In addition, since the bonding module adheres to the fixed object and maintains the fixed force, the fixing module can improve the fixing force of the fixed object in the horizontal direction, and the fixing force of the fixed object in the vertical direction can be maintained And the fixation force to the fixed object can be improved.

In this case, since the adhering portion is detached and then fed and collected by the roller portions, the adhesive force or the fixing force by the adhering portion can be kept constant.

In particular, the roller portions include a locking portion for locking the rotation and a unidirectional bearing, thereby guiding the adhesion portion to be more effectively bonded to the fixed object.

1 is a perspective view illustrating a moving body according to an embodiment of the present invention.
2 is a bottom view showing the moving body of Fig.
3 is a side view showing a part of the moving body of Fig.
4 is a perspective view illustrating the first pad module of FIG.
Figs. 5 to 7 are perspective views showing the adhesive module of Fig. 2 in various directions.
8 is a side view schematically showing a state in which the adhesive portion of the adhesive module of Fig. 5 is adhered.
FIG. 9 is a side view schematically showing a state in which the adhesive portion of the adhesive module of FIG. 5 is detached.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. 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. The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

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

1 is a perspective view illustrating a moving body according to an embodiment of the present invention. 2 is a bottom view showing the moving body of Fig. 3 is a side view showing a part of the moving body of Fig.

1 to 3, the moving body 10 according to the present embodiment includes a body 100, an extension 200, a pad module 300, an adhesive module 400, and a transfer unit 500 .

The moving body 10 is moved by itself and performs an operation of fixing or stopping at a specific position as necessary, and may be, for example, an automatic transfer robot.

The body 100 includes the upper frame 120, the lower frame 130, and the upper structure 110 to constitute the central body of the moving body 10.

The upper frame 120 and the lower frame 130 are respectively located at upper and lower portions to form a central body in a frame shape and may have a rectangular plate shape as shown in the figure. In this case, the shapes of the upper and lower frames 120 and 130 may have a polygonal shape such as a triangle, a pentagon, or a circular plate.

The upper structure 110 is connected to the upper frame 120 so as to protrude from the upper portion of the upper frame 120. If there is a separate task performed by the moving body 10, And the upper structure 110 may be replaced with the structure.

The extension 200 extends outwardly from the upper frame 120 or the lower frame 130.

In this case, when the upper and lower frames 120 and 130 are in the shape of a rectangular plate as shown, the extension 200 extends from four corners, and a pair of first and second The two extension frames 210 and 220 can be extended.

Therefore, it is apparent that the number of the extension portions 200 can be changed according to the shapes of the upper and lower frames 120 and 130.

The pad module 300 is fixed to the extension part 200 and is attached to and detached from the fixed object 11 to fix the movable body 10.

A plurality of the pad modules 300 are fixed to each of the extending portions 200 in a direction perpendicular to the extending direction of each of the extending portions 200, that is, toward the fixed object 11.

In this case, the pad module 300 also has a pair of first and second pad modules 310 and 320 fixed to the ends of the pair of first and second extension frames 210 and 220, respectively.

Thus, when the lower and upper frames 130 and 120 have a rectangular frame shape, a total of eight pad modules 300 may be fixed.

In this case, the structure and shape of each of the pad modules 300 will be described later with reference to FIG.

The adhesive module 400 is positioned between the body 100 and the pad module 300 and detachably attached to the fixed object 11 to improve the fixing force of the movable body 10.

The adhesive module 400 is fixed to the lower part of the extension part 200. Specifically, the adhesive module 400 is attached to the extension part 200 such that both ends of the first and second extension frames 210 and 220 are positioned. And extends and fixed in a direction perpendicular to the extending direction.

In this case, a plurality of the adhesive modules 400 may be fixed to one extended portion 200, respectively.

Thus, as shown, when the lower and upper frames 130 and 120 have a rectangular frame shape, four of the adhesive modules 400 may be fixed. The specific structure and shape of the adhesive module 400 will be described later.

As described above, the pad modules 300 and the adhesive modules 400 are arranged symmetrically with respect to the body 100, so that a constant fixing force is applied to the moving body 10 as a whole .

The transfer part 500 may transfer the body part 10 and may include a wheel structure as shown in FIG. 3. Alternatively, the transfer part 500 may be modified into various structures capable of transferring the body part 10 .

3, the transfer unit 500 is fixed to the lower frame 130 so as to protrude downward from the pad module 300 and the adhesive module 400, As shown in Fig.

The pad module 300 and the adhesive module 400 may be fixed to the fixed object 11 while the transfer unit 500 remains in contact with the fixed object 11 when the movable object 10 is moved, 11 by a predetermined distance. Accordingly, when the moving body 10 moves, interference by the pad module 300 and the adhesive module 400 is minimized.

When the movable body 10 is fixed or stopped, the pad module 300 and the adhesive module 400 are moved downward toward the fixed object 11, The adhesive module 400 is brought into contact with the fixed object 11 to fix the movable object 10 to the fixed object 11. [ A detailed description thereof will be described later.

4 is a perspective view illustrating the first pad module of FIG.

Although the first pad module 310 is illustrated in FIG. 4, since each of the previously described pad modules 300 has the same structure as the first pad module 310 of FIG. 4, a duplicate description will be omitted .

Referring to FIG. 4, the first pad module 310 includes a shaft 311, a caulking bearing 312, and a vacuum pad 313.

The shaft portion 311 extends in a direction perpendicular to the extension direction of the extension portion 200 and faces the fixed object 11. [

The vacuum pad 313 is fixed to an end of the shaft 311, has a wide pad shape, and may include a rubber material.

Thus, when the vacuum pad 313 is attached to the fixed object 11, the vacuum pad 313 absorbs the air inside the vacuum pad 313 and maintains the vacuum state to maintain the fixing force with the fixed object 11. On the other hand, when the vacuum pad 313 is detached from the fixed object 11, air is blown into the vacuum pad 313 to remove the vacuum state.

For this, a control unit for controlling the air applied to the vacuum pad 313 may be provided, though not shown, and the air may be discharged or provided through the inside of the shaft 311.

The caulking bearing 312 is fixed to the center of the shaft portion 311 and the outer circumferential surface of the caulking bearing 312 is fixed to the end of the extending portion 200. Accordingly, the first extension module 310 can be rotated with respect to the extension part 200.

In this case, the caution-type bearing 312 rotates the shaft portion 311 with respect to the extension portion 200, and also rotates the shaft portion 311 in the vertical direction, that is, in the direction toward the fixed object 11 And can be moved in a direction away from the stationary object 11. [

Furthermore, the caulking bearing 312 may allow the shaft portion 311 to bend in a side direction with respect to the extending direction of the shaft portion 311. Accordingly, the shaft portion 311 may extend in a direction tilted with respect to the extending direction, in addition to a direction perpendicular to the extending direction of the extending portion 200.

The shaft 311 and the vacuum pad 313 are rotated, moved in the vertical direction, and moved in the side direction It is possible to maintain the clamping force even if the fixed object 11 has various shapes such as a curved shape.

Alternatively, the cage-like bearing 312 may be replaced by a flexible paper sheet that can perform the same function as the cage-type bearing 312 described above.

Figs. 5 to 7 are perspective views showing the adhesive module of Fig. 2 in various directions.

5 to 7 illustrate one of the adhesive modules 400. The plurality of adhesive modules provided on the moving body 10 are the same as the adhesive module 400 shown in Figs. 5 to 7.

5 to 7, the adhesive module 400 includes a fixing frame 410, first to fourth roller portions 420, 430, 440 and 450, a plate portion 460, a bonding portion 470, And includes first and second guide frames 480, 490.

The fixing frame 410 fixes the adhesive module 400 to the lower frame 130 and the extension 200 of the body 100 and includes a pair of first and second protrusions And second upper side frames 411, 412.

The first roller unit 420 is fixed to the first upper frame 411 and the second roller unit 430 is fixed to the second upper frame 412.

The third and fourth roller portions 440 and 450 and the plate portion 460 are fixed to the fixed frame 410.

Thus, the first and second roller portions 420 and 430 are positioned above the third and fourth roller portions 440 and 450, respectively.

The adhesive portion 470 is supplied or recovered by the first to fourth roller portions 420, 430, 440 and 450 and is adhered to or detached from the stationary object 11.

In this case, the adhesive portion 470 may be an adhesive tape including, for example, a filament. Therefore, it is difficult to reuse the adhesive portion 470 when the adhesive portion 470 is detached after being adhered to the fixed object 11, and a new adhered portion is continuously formed by the first to fourth roller portions 420, 430, 440 and 450 And the adhesive force is maintained.

The plate portion 460 is positioned on the upper portion of the adhesive portion 470 and pushes the adhesive portion 470 downward to increase the adhesive force of the plate portion 460 to the fixed object 11 located under the adhesive portion 470 .

Although the plate portion 460 is shown in the form of a plate in the present embodiment, in order to increase the adhesive force of the adhesive portion 470 to the fixed object 11 instead of the plate portion 460, It may be replaced by a roller plate or roller.

The first and second guide frames 480 and 490 are fixed to the rear portions of the first and second upper frames 411 and 412 respectively and the adhesive module 400 is attached to the extension portion 200 I.e., in the direction toward the stationary object 11 or in the direction away from the stationary object 11. As shown in Fig.

Accordingly, when the moving body 10 is moved, the bonding module 400 is located at a higher position than the feeding unit 500, and when the moving body 10 is stopped or fixed, And may be moved to a lower position than the transfer unit 500 and adhered to the fixed object 11.

Alternatively, the first and second guide frames 480 and 490 may be detachably coupled to the rear portions of the first and second upper frames 411 and 412. When the first and second guide frames 480 and 490 are detached from the first and second upper frames 411 and 412, the first to fourth roller portions 420, 430 and 440 The first and third roller portions 420 and 440 and the second and fourth roller portions 430 and 450 can move independently of each other. It may be more effective when it is adhered to a curved surface or the like.

8 is a side view schematically showing a state in which the adhesive portion of the adhesive module of Fig. 5 is adhered. FIG. 9 is a side view schematically showing a state in which the adhesive portion of the adhesive module of FIG. 5 is detached.

5 to 9, the bonding portion 470 is held on the first roller portion 420, and as the first roller portion 420 rotates counterclockwise, for example, (470) is provided.

The adhesive portion 470 provided from the first roller portion 420 is supplied toward the surface of the fixed object 11 while changing the providing direction as the third roller portion 440 rotates clockwise.

Meanwhile, the adhesive portion 470 provided through the third roller portion 440 is changed in direction as the fourth roller portion 450 rotates clockwise, and is recovered to the second roller portion 430.

That is, as the second roller portion 430 rotates in the counterclockwise direction, the adhesive portion 470 is recovered and held.

The adhesive portion 470 is supplied and recovered by the first to fourth roller portions 420, 430, 440 and 450, and adhesion and detachment of the adhesive portion 470 to and from the fixed object 11 are performed.

8, the first roller portion 420 includes a first roller 421 and a lock portion 422, and the second roller portion 430 includes a second roller 431 and a one- And a bearing 432.

The first roller 421 supplies the adhesive portion 470 and the locking portion 422 locks the rotation of the first roller 421.

The second roller 431 recovers the adhering portion 470, and the one-way bearing 432 controls the second roller 431 to rotate only in a counterclockwise direction.

8, when the adhesive portion 470 is supplied, the locking portion 422 locks the rotation of the first roller 421 when a certain amount of the adhesive portion 470 is supplied. Thereafter, when the second roller 431 is rotated counterclockwise by the one-way bearing 432, a tensile force is applied to the bonding portion 470 so that the adhesive force of the bonding portion 470 to the fixed object 11 The adhesive strength can be improved, and a more uniform adhesive force can be provided.

When the adhesive portion 470 is detached from the stationary object 11, the lock portion 422 is unlocked and the adhesive module 400 is released from the unidirectional rotation of the unidirectional bearing 432, That is, in the direction opposite to the stationary object 11, as shown in Fig.

9, the adhesive portion 470 is detached from the stationary object 11 in a shape similar to a 'V', and at the same time, the first roller 421 is rotated counterclockwise, And the second roller 431 rotates clockwise.

Thereafter, when the rotation of the first roller 421 is locked through the lock portion 422 and the rotation of the second roller 431 is maintained in the counterclockwise direction via the one-way bearing 432, (470) is detached from the stationary object (11) naturally.

Thereafter, while the first roller 421 and the second roller 431 are all rotated in the counterclockwise direction, the adhesive portion 470 is supplied again to prepare for fixing at a new position.

As described above, by controlling the rotation of the first and second roller portions 420 and 430 through the lock portion 422 and the one-way bearing 432, the adhesive portion 470 can be more easily supplied and recovered So that detachment from the fixed object 11 can be more easily induced.

In addition, since the bonding module adheres to the fixed object and maintains the fixing force, the fixing module can improve the fixation force of the fixed object in the horizontal direction, and the fixing force of the fixed object in the vertical direction can be maintained And the fixation force to the fixed object can be improved.

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 present invention as defined by the following claims. It can be understood that it is possible.

INDUSTRIAL APPLICABILITY The moving body according to the present invention has the industrial applicability that can be used as a moving module of an unmanned robot moving body by fixing and stopping and moving by itself.

10: Moving body 100: Body part
200: extension part 300: pad module
400: Adhesive module 410: Fixing frame
420: first roller portion 430: second roller portion
440: third roller portion 450: fourth roller portion
460: plate portion 470:
480: first guide frame 490: second guide frame

Claims

A body portion;
A plurality of extensions extending from a side of the body portion;
A plurality of pad modules fixed to the extension portions and detachably attached to a fixed object positioned below the body portion and the extension portions;
A plurality of adhesive modules positioned between the body part and the pad modules and detachably attached to the fixed object; And
And a transporting part for moving the body part,
Each of the pad modules includes a shaft portion extending perpendicularly to the extending direction of the extending portions, and a vacuum pad fixed to an end of the shaft portion and detachably attached to the fixed object,
Wherein the transfer part protrudes downward from the vacuum pad, and the vacuum pad is attached to the fixed object as the shaft part is moved toward the fixed object.

The method according to claim 1,
Wherein each of the pad modules is disposed symmetrically with respect to the body portion, and each of the adhesive modules is disposed symmetrically with respect to the body portion.

3. The method of claim 2,
Wherein each of the pad modules is positioned at an end of each of the extending portions, and each of the adhesive modules is positioned below each of the extending portions.

2. The apparatus of claim 1, wherein each of the pad modules comprises:
Further comprising a coarse bearing fixed on the shaft portion and rotated with respect to the shaft portion and being moved relative to the shaft portion along the extending direction of the shaft portion and being bent with respect to the extending direction of the shaft portion, .

delete

2. The method of claim 1,
An adhesive portion detachably attached to the fixed object;
A first roller unit positioned above the adhesive unit to supply the adhesive unit;
A second roller portion positioned parallel to the first roller portion to recover the adhering portion;
A third roller portion for applying a tensile force to the adhesion portion at a lower portion of the first roller portion and switching a feeding direction of the adhesion portion; And
And a fourth roller portion for applying a tensile force to the adhesion portion at a lower portion of the second roller portion and switching the collection direction of the adhesion portion.

7. The method of claim 6,
A plate portion for attaching the adhering portion to the fixed object at an upper portion of the adhering portion; And
Further comprising a guide frame for guiding each of the adhesive modules so as to be transported in a direction toward the fixed object or in a direction opposite to the fixed object outward.

The method according to claim 6,
Wherein the first roller portion includes a first roller for supplying the bonding portion and a lock portion for locking rotation of the first roller,
Wherein the second roller portion includes a second roller that recovers the adhesive portion, and a one-way bearing that rotates the second roller only in one direction.

The method according to claim 6,
Wherein the adhesive portion is an adhesive tape including a filament.