KR101838444B1 - Vacuum type gripper for transferring containers packaging packaged a processed goods - Google Patents

Abstract

The present invention relates to a vacuum adsorption type gripper, and relates to a vacuum adsorption type gripper for stably gripping a single packaged container packed with relatively fragile processed foods. The present invention comprises: a body; first and second grip plates supporting a side surface of the packaged container packed with the processed food by performing linear reciprocation while performing vacuum adsorption at the same time; and first and second cylinders mounted on the body for linearly reciprocating the first and second grip plates. The vacuum adsorption type gripper has a simple structure and stably grips a single packaged container such that damage of the processed food contained in the single packaged container during a process of gripping the single packaged container can be minimized.

Description

TECHNICAL FIELD [0001] The present invention relates to a vacuum adsorption type gripper for transporting a packaged food product,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vacuum adsorption type gripper, and more particularly, to a vacuum adsorption type gripper for stably gripping a single package container packed with a relatively brittle food product.

Generally, various food processing technologies have been developed due to the development of industrial technology. Processed food refers to foods that are processed with natural food ingredients such as agricultural products, livestock products, aquatic products, etc. as they are or with additives, which are easily digested and absorbed and stored for a long time. Various types of processed foods including snacks, biscuits, and chocolates, as well as noodles including confectionery, ramen and spaghetti, as well as breads, coffee, instant food, and the like are currently being developed and marketed.

These various processed foods are produced in bulk at a food processing factory through a series of processing steps according to the types of processed foods, and are then packaged in a single packaging container which is sterilized by a sanitary facility so that no deterioration occurs in the processed food during the distribution period The first packaging is performed. In order to solve the problem of breakage when the external impact is applied, the single package container containing the processed food is loaded on the transportation box in order to provide the convenience of the distribution, .

A transfer system for loading a single package container into a shipping box includes a gripper for gripping and transporting the product. Such a gripper is typified by a magnet type gripper using magnet, a grip type gripper using pneumatic force, a grip type gripper using vacuum, and a suction type gripper using vacuum according to its operation principle. The suction type gripper using double vacuum is widely applied to various industrial fields because of its excellent stability due to deformation and scratching factors according to the external environment of the product.

The vacuum suction type gripper according to the related art includes a body having a central opening communicated with a vacuum pump (or a vacuum blower) through a vacuum hose and having an upper portion and a lower portion communicated with each other, As shown in Fig. When the high-pressure compressed air passes through the vacuum pump in a state where the pad is first in contact with the object, the air in the pad is attracted to the outside of the vacuum pump together with the compressed air via the body and the hose At this time, a negative pressure is generated in the pad, and the object is adsorbed and fixed to the pad by the negative pressure. The gripped object is then transported to a predetermined place, for example, a product packaging line, by means of an automation facility or the like.

Such a vacuum suction type gripper according to the related art uses a vacuum pressure so that the gripper grips by gripping and grasping an object directly, such as a gripper gripper using a pneumatic force or a gripper gripper using a vacuum, The packaged packaging container can be stably transported. However, when the vacuum pressure supplied to the gripper is instantaneously dropped or blocked as the object is suctioned depending on the vacuum of the adsorption pad, the object to be transported through the gripper It may fall down and become damaged.

In order to solve such a problem, Korean Patent Laid-Open Publication No. 10-2008-0071347 (published on 2008.08.04) discloses a method of adsorbing a reticle using vacuum pressure, side adsorption of a reticle using vacuum pressure, and a pair of guides By providing a reticle gripper that can hold the reticle with the side support of the reticle, etc., the gripper stably holds the reticle even if the vacuum pressure applied to the reticle gripper is momentarily dropped or blocked for various reasons, .

However, the gripper proposed in Korean Patent Laid-Open No. 10-2008-0071347 may be effective for gripping a reticle having a certain rigidity, but it is applicable to a processed food field that transports a single package container packed with relatively fragile processed food . Furthermore, in Korean Patent Laid-Open No. 10-2008-0071347, since the first and second adsorption pads are independently manufactured and mounted on the guide, the structure is complicated and difficult to manufacture.

For reference, a single packaging container containing processed foods is made of a soft synthetic resin film such as polypropylene, so that the outer shape can not be maintained constant due to the nature of the processed food contained therein, and can easily be broken when an external impact is applied. Therefore, when a side of a single packaging container is gripped using a pair of guides as disclosed in Korean Patent Laid-Open No. 10-2008-0071347, a pair of guides is directly brought into contact with the processed food contained in the single packaging container, There is a problem that the processed food is easily damaged.

KR 10-2008-0071347 A, 2008. 08. 04.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in order to solve the problems of the prior art, and it is an object of the present invention to provide a method of gripping a single package container with various processed foods, Which can minimize the damage of the processed food contained in the vacuum suction gripper.

According to one aspect of the present invention, First and second grip plates provided on both sides of the body so as to face each other and to reciprocate linearly to support the side surface of the packaging container packed with processed food and vacuum suction; And first and second cylinders mounted on the body for linearly reciprocating the first and second grip plates.

The first and second rod anti-rotation blocks may further include first and second rod anti-rotation blocks for preventing the rod of the first and second cylinders from rotating or twisting in a linear reciprocating motion when the first and second cylinders are driven .

Preferably, the first and second rod anti-rotation blocks may include a fixing plate mounted on both sides of the body, respectively; And a pair of bearings inserted into the grooves formed at both side portions of the fixing plate and in which a pair of horizontal bars protruded from the inside of the first grip plate are inserted, respectively.

Preferably, the non-slip pad is attached to the inner surfaces of the first and second grip plates, respectively.

Preferably, the non-slip pad has a plurality of suction holes corresponding to a plurality of suction holes formed in the first and second grip plates.

The apparatus may further include a push plate coupled to a lower portion of the body, the push plate pushing the upper portion of the packaging container by linearly reciprocating up and down by a third cylinder mounted on the upper portion of the body.

Preferably, the body has a plurality of air injection holes for discharging air to an upper portion of the packaging container disposed at the lower portion.

As described above, according to the present invention, according to the present invention, there is provided a packaging machine comprising: a body; first and second grip plates supporting the sides of the packaging container wrapped with the processed food in a linear reciprocating motion and vacuum- 1 is a perspective view of a vacuum suction gripper according to a first embodiment of the present invention; FIG. 2 is a perspective view of a vacuum suction gripper according to a first embodiment of the present invention; It is possible to minimize damage to the processed food contained in the inside of the packaging container.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an assembled perspective view showing a vacuum suction gripper for transportation according to an embodiment of the present invention; Fig.
Fig. 2 is an assembled perspective view of the vacuum adsorption gripper shown in Fig. 1 viewed from the other side. Fig.
Fig. 3 is an exploded perspective view of the vacuum adsorption gripper shown in Fig. 1. Fig.
Fig. 4 shows the first and second grip plates shown in Fig. 3; Fig.
5 shows the first and second rod anti-rotation blocks shown in Fig. 3; Fig.
Figure 6 shows the anti-slip pad shown in Figure 3;
7 is a view for explaining the operating characteristics of a vacuum adsorption gripper according to an embodiment of the present invention.
8 is a view showing a process of gripping a packaging container of a vacuum adsorption gripper.
9 is a view for explaining another example of a vacuum adsorption gripper according to an embodiment of the present invention.
10 is a view for explaining another example of a vacuum adsorption gripper according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish them, will become apparent by reference to the embodiments described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below, but may be embodied in various other forms.

The present embodiments are provided so that the disclosure of the present invention is thoroughly disclosed and that those skilled in the art will fully understand the scope of the present invention. And the present invention is only defined by the scope of the claims. Thus, in some embodiments, well known components, well known operations, and well-known techniques are not specifically described to avoid an undesirable interpretation of the present invention.

In addition, like reference numerals refer to like elements throughout the specification. Moreover, terms used herein (to be referred to) are intended to illustrate the embodiments and are not intended to limit the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. Also, components and acts referred to as " comprising (or comprising) " do not exclude the presence or addition of one or more other components and operations.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless they are defined.

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

FIG. 1 is an assembled perspective view illustrating a vacuum suction gripper for transfer according to an embodiment of the present invention. FIG. 2 is an assembled perspective view of the vacuum suction gripper shown in FIG. 1, 1 is an exploded perspective view of a vacuum adsorption type gripper.

1 to 3, the vacuum suction gripper 10 according to the embodiment of the present invention grips one or a plurality of single package containers, which are mounted on a transfer robot and are easily brittle, For example, a parallel robot capable of ultra-high-speed feeding.

3, the vacuum suction type gripper 10 is rotatably mounted to an effector provided at an end portion of an arm or arm of the transfer robot via a joint 11, and includes a body 12, first and second grips Plates 13 and 13 ', and first and second cylinders 14 and 14'.

The body 12 is attached to the lower portion of the joint 11 and rotates in conjunction with the joint 11, as shown in Fig. For example, the body 12 may have a plate-like structure, and a coupling hole 12a through which the lower portion of the joint 11 is mounted is formed at a central portion thereof. The fastening portions 12b of the stepped structure are formed on both sides in the width direction so that the fastening plates 151 and 151 'of the first and second rod anti-rotation blocks 15 and 15' are stably fastened through the bolts .

Fig. 4 is a view for explaining the first and second grip plates shown in Fig. 3, wherein Fig. 4 (a) is a perspective view of the grip plate and Fig. 4 (b) is a sectional view of the grip plate.

3 and 4, the first and second grip plates 13 and 13 'are provided so as to face each other on both sides of the body 12 and linearly reciprocate in a direction close to or away from each other, Thereby supporting and releasing the side surface of the packed container.

The first and second grip plates 13 and 13 are installed on both sides of the body 12 and are linearly reciprocated in the direction of approaching or moving away from each other by the first and second cylinders 14 and 14 '. As shown in FIG. 4, the hose coupling portions 131 and 131 ', which are installed at the upper portion and coupled with the vacuum hose (not shown), and the vacuum pressure supplied through the hose coupling portions 131 and 131' And a vacuum pressure supply path 132, 132 'for transferring the vacuum to the suction holes 133, 133' formed on the inner side.

As shown in FIG. 4 (b), the vacuum pump supply passages 132 and 132 'include a plurality of vertical passages connected to the hose engaging portions 131 and 131' And the horizontal path is formed in communication with the plurality of suction holes 133 and 133 '. The vacuum pressure supplied from the hose coupling portions 131 and 131 'is uniformly supplied to the plurality of suction holes 133 and 133' through the vacuum pressure supply passages 132 and 132 '.

1 and 2, the first and second cylinders 14 and 14 'are mounted on the upper portion of the body 12, respectively. 3, the rod is fastened to the first grip plate 13 and the second cylinder 14 'is fastened to the first and second grip plates 13' And the second grip plates 13 and 13 'are linearly reciprocated in directions opposite to each other. The first and second cylinders 14 and 14 'according to the present invention preferably use air cylinders.

3, the vacuum adsorption gripper 10 according to the embodiment of the present invention may further include first and second rod anti-rotation blocks 15 and 15 '. The first and second rod anti-rotation blocks 15 and 15 'hold the loads of the first and second cylinders 14 and 14' stably when the first and second cylinders 14 and 14 'are driven Thereby preventing the main rod from rotating or twisting in the course of linear reciprocating motion, thereby making it possible to stably reciprocate linearly in a horizontal state.

5 is a view for explaining the first and second rod anti-rotation blocks shown in FIG.

3 and 5, the first and second rod anti-rotation blocks 15 and 15 'include fixing plates 151 and 151' mounted on both sides of the body 12, fixing plates 151 and 151 ' A pair of horizontal bars 134, 134 'inserted into the grooves 151a, 151a' formed on both sides of the first and second grip plates 13, 13 'and protruding and extending from the inside of the first and second grip plates 13, 13' And a pair of bearings 152, 153, 152 '153', respectively, through which the bearings 134 'are inserted.

3, the lower portions of the fixing plates 151 and 151 'are bolted to the fastening portions 12b of the body 12 and the bearings 152, 153 and 152' 153 ' The first and second cylinders 14 and 14 'are mounted on one surface of the first and second cylinders 14 and 14' opposite to the first and second cylinders 14 and 14 ' Through holes 151b and 151b 'through which the rods of the first and second cylinders 14 and 14' pass are formed between the first and second cylinders 151 and 151a '.

The bearings 152, 153, 152 ', and 153' are inserted into and fixed to the grooves 151a and 151a 'of the fixing plates 151 and 151', and horizontal bars 134 and 134 ' . Accordingly, when the first and second cylinders 14 and 14 'are driven, the rods of the first and second cylinders 14 and 14' are rotated or twisted in a linear reciprocating motion Are prevented from being held in parallel through the pair of horizontal bars 134, 134 '.

As described above, according to the present invention, when the first and second cylinders 14 and 14 'are driven through the first and second rod anti-rotation blocks 15 and 15', the first and second cylinders 14 and 14 ' So that the load can be stably and linearly reciprocated in a horizontal state.

As shown in FIG. 3, the vacuum suction gripper 10 according to the embodiment of the present invention includes the non-slip pads 16 and 16 'attached to the inner surfaces of the first and second grip plates 13 and 13' As shown in FIG.

FIG. 6 is a view for explaining the anti-slip pad shown in FIG. 3. FIG.

3 and 6, the non-slip pads 16, 16 'are attached to the inner side surfaces of the first and second grip plates 13, 13', and the first and second grip plates 13, 13 ' A plurality of suction holes 16a and 16a 'are formed corresponding to the plurality of suction holes 133 and 133'

These non-slip pads 16 and 16 'are not attached to cover the entire inner surface of the first and second grip plates 13 and 13' but also to the inner surfaces of the first and second grip plates 13 and 13 ' And is attached so as to cover a portion corresponding to the suction holes 133 and 133 '. The first and second grip plates 13 and 13 'may be made of a soft silicone material or a rubber material so as to prevent damage to the processed food contained in the packaging container during its supporting process.

In addition, in order to maximize the non-slip effect of the packaging container, the non-slip pads 16 and 16 'may be further provided with a plurality of irregularities on the surface contacting the packaging container. In addition, a sensor (not shown) may be further installed on the non-slip pads 16 and 16 'to sense the interval between the non-slip pads 16 and 16' The packaging container can be gripped to prevent the processed food from being damaged.

As such, the anti-slip pads 16, 16 'are attached to the inner sides of the first and second grip plates 13, 13' to prevent the packaging container from slipping and falling when gripping the packaging container have.

FIG. 7 is a view for explaining the operation characteristics of the vacuum adsorption gripper according to the embodiment of the present invention.

3 and 7, the vacuum suction type gripper 10 according to the embodiment of the present invention is moved downward by the transfer robot, and then moved through the first and second cylinders 14 and 14 ' The first and second grip plates 13 and 13 'are linearly moved in a direction close to each other to apply vacuum pressure to the suction holes 133 and 133' Is vacuum-adsorbed.

8 is a view showing a process of gripping a packaging container of a vacuum adsorption gripper.

3 and 8 (a), the first and second grip plates 13 and 13 'are fitted to the first and second cylinders 14 and 14' in correspondence with the width of the packaging container 1, And then the vacuum adsorption type gripper 10 is lowered in the downward direction. At this time, in the vacuum adsorption type gripper 10, the lower part of the body 12 presses the upper part of the packaging container 1, and the air filled in the packaging container 1 is densely packed to the side so that both sides of the packaging container 1 are expanded .

As described above, according to the present invention, the vacuum gripping gripper 10 is lowered to cause the body 12 to press the upper portion of the packaging container 1 to expand both sides of the packaging container 1 outward, The force applied from the first and second grip plates 13 and 13 'when gripping the packaging container 1 through the first and second grip plates 13 and 13' is directly transmitted to the processed food contained in the packaging container 1 So that the processed food can be prevented from being damaged.

The first and second grip plates 13 and 13 'are linearly moved in the direction of approaching each other through the first and second cylinders 14 and 14' as shown in FIG. 8 (b) 13 'by supplying vacuum pressure to the suction holes 133, 133' of the first and second grip plates 13, 13 'in a state in which the first and second grip plates 16, 16' are in close contact with both sides of the packaging container 1, Is gripped by vacuum suction.

Thereafter, the gripped packaging container 1 is transported to a desired destination, and the vacuum pressure supplied to the suction holes 133 and 133 'of the first and second grip plates 13 and 13' is blocked, The first and second grip plates 13 and 13 'are moved away from each other through the first and second cylinders 14 and 14' to separate the packaging container 1 from the vacuum adsorption gripper 10 .

On the other hand, when separating the packaging container 1 from the vacuum suction type gripper 10, air is sprayed through the suction holes 133 and 133 'so that the packaging container 1 is separated from the non-slip pads 16 and 16' It can be easily separated.

9 is a view for explaining another example of the vacuum adsorption type gripper according to the embodiment of the present invention.

9, the vacuum suction type gripper 10 further includes a plurality of air injection holes 12c formed in the body 12 to jet air to the upper portion of the packaging container 1 when the packaging container 1 is separated, So that the packaging container 1 can be stably separated from the vacuum suction type gripper 10.

Since the packaging container 1 is made of a vinyl material, when the moisture is present on the outer surface, both sides of the packaging container 1 are adhered to the non-slip pads 16 and 16 ' It may be difficult to separate them from each other. In order to solve this problem, an air injection hole 12c is formed in the body 12, so that the packaging container 1 can be more easily separated.

10 is a view for explaining another example of the vacuum adsorption gripper according to the embodiment of the present invention.

10, the vacuum adsorption type gripper 10 includes a pressure plate 17 which passes through the body 12 by a third cylinder (not shown) mounted on the upper part of the body 12 and reciprocates linearly upward and downward . As shown in Fig. 10 (a), the pressure plate 17 can press the upper portion of the packaging container 1 to expand both sides of the packaging container 1 outwardly. 10 (b), the packaging container 1 can be stably separated by pushing the upper portion of the packaging container 1 downward.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: Packaging container
10: Vacuum adsorption type gripper
11: Joint
12: Body
13, 13 ': first and second grip plates
14, 14 ': first and second cylinders
15, 15 ': first and second rod anti-rotation blocks
16, 16 ': non-slip member
17: Pressure plate

Claims (7)

Body;
First to third cylinders mounted on the body;
Wherein the first and second cylinders are reciprocated left and right so as to face each other by the first and second cylinders so as to support both sides of the packaging container packed with the processed food, First and second grip plates;
A plurality of suction holes formed corresponding to a plurality of suction holes respectively formed on the first and second grip plates and attached to inner surfaces of the first and second grip plates, A non-slip pad provided with a sensor; And
A step of vertically reciprocating up and down by the third cylinder mounted on the upper part of the body to press the upper part of the packaging container through the first and second plates so as to be vacuum- A pushing plate for expanding both sides of the packaging container to the outside so as to prevent damage to the processed food stored in the packaging container; ≪ / RTI >
When the packaging container is to be gripped, the pressure plate is lowered through the third cylinder to press the upper portion of the packaging container to expand both sides of the packaging container to the outside so that the processed food stored in the packaging container is not damaged And vacuum pressure is applied to the first and second grip plates in a state in which the first and second grip plates are linearly moved in a direction close to each other through the first and second cylinders to vacuum- When the packaging container gripped by the first and second grip plates is to be separated from the first and second grip plates, air is sprayed through the suction holes of the first and second grip plates, Gt; to < / RTI > easily separate from the non-slip pad,
A vacuum adsorption type gripper for transporting a packaged food container packed with processed foods.
The method according to claim 1,
Further comprising first and second rod anti-rotation blocks for preventing the rod of the first and second cylinders from rotating or twisting in the course of linear reciprocating movement of the first and second cylinders when the first and second cylinders are driven,
The first and second rod anti-
A fixing plate mounted on both sides of the body; And
A pair of bearings inserted into the grooves formed at both sides of the fixing plate and having a pair of horizontal bars projecting from the inside of the first grip plate, respectively;
And a vacuum suction gripper for feeding the packaging container packed with the processed food.
delete delete delete delete The method according to claim 1,
Wherein the body is formed with a plurality of air injection holes for discharging air to an upper portion of the packaging container disposed at a lower portion thereof.

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