KR101906474B1 - Gripper for transfer robot - Google Patents

Abstract

The present invention relates to a gripper for a transfer robot and, more specifically, relates to a gripper for a transfer robot for a grip and adhesion, which is mounted in an end effector of a transfer robot to grip each packaging container in which processed food is packaged to be loaded in a transportation box. Moreover, a slip sheet vertically separating each packaging container loaded in the transportation box is adsorbed to load each packaging container.

Description

{GRIPPER FOR TRANSFER ROBOT}

The present invention relates to a gripper for a transfer robot, more specifically, to a gripper for a transfer robot, which is mounted on an end effector of a transfer robot, grips a single packaging container packed with processed foods and loads the container into a shipping box, To a gripper for picking up and loading a gantry for separating and partitioning a packaging container up and down, and a gripper for a transfer robot capable of being adsorbed.

In general, various food processing technologies have been developed due to the development of industrial technology, and various processed foods have been developed. 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 that the external shape is not kept constant due to the nature of the contents and the problem of breakage when the external impact is applied, the single package container containing the processed food is loaded on the transportation box for convenience of distribution Distribution is done.

The transportation box is made of thick cardboard or cardboard or the like, usually composed of a box main body and an upper cover. And, the box body is loaded with lids for partitioning and supporting various articles housed therein, that is, a single packaging container. The laminates are usually made of flat paperboard, and are stacked, partitioned and supported between individual packaging containers stacked in the box body with a certain number of unit bundles.

A transfer robot is used to load the individual packaging containers in the transportation box. The end effector of the transfer robot is equipped with a gripper for transporting the individual packaging containers to the transportation box. The gripper is known as a grip method in which a certain number of individual packaging containers are gripped physically by a bundle, and an adsorption method in which individual packaging containers are adsorbed using air. However, in order to shorten the working time, Grip type grippers are mainly used by loading individual packing containers in a bundle.

In the process of loading individual packing containers into the transportation box using the transfer robot, first grip the individual packing containers by the grip type gripper and load them in the transportation box. Then, when the loading of the individual packaging containers is completed in the transportation box, the operator loads the kanji into the upper part of the loaded packaging containers, and then loads the individual packaging containers in the bundle unit on the upper side of the kanji using the grip type gripper .

In order to load the individual packaging containers into the transportation box, the operator has to load the kanji directly into the individual packaging containers loaded in the transportation box. Therefore, in the majority of the packaging lines, a large number of labor is inputted, and the single packaging container supplied through the transfer device is manually wrapped.

Practically, at the current food processing factory, about 3 ~ 4 people are put into the packing line for the general snack confectionery, resulting in high labor costs and difficulty in manpower management. Moreover, production efficiency is low, which is about 50 ~ 60pack / min per packaging line, and problems such as production line expansion are continuously being raised. Accordingly, it is urgently required to implement an automated facility capable of maximizing the packaging efficiency.

Of course, it is possible to automate the packing facility by loading the kanji into the transportation box by using the transfer robot equipped with the suction type gripper. In this case, in addition to the transfer robot equipped with the grip type gripper, the transfer robot equipped with the suction type gripper In order to prevent the interference between the transfer robot equipped with the grip type gripper and the transfer robot equipped with the suction type gripper, it is necessary to secure a sufficient mounting space considering the movement radius of the transfer robot. There is a problem that the mounting space is large.

KR 20-0210775 Y1, 2001. 01. 15. 2-3 pages KR 20-0401268 Y1, Nov. 15, 2005 2-4 pages KR 10-0725585 B1, 2007. 06. 08. 2-5 KR 10-0355709 B1, 2002. 09. 25. 2-5 pages KR 10-1116191 B1, 2012. 02. 07. 7-8

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 transfer robot capable of shortening the working time and maximizing the work efficiency by stacking the single packaging container and the separator in a transportation box using a single transfer robot The purpose is to provide a gripper.

According to an aspect of the present invention, there is provided a gripper for a transfer robot including a base for a transfer robot, first drive units mounted inside the base of the transfer robot, and first and second drive units connected to the first drive units, A transfer robot mounted on a transfer robot including robot arms each rotating in association with the first drive units, an end effector mounted on the robot arms, and a second drive unit mounted on the end effector, A turning gripper comprising: a joint portion mounted on the end effector; A grip portion mounted on a lower portion of the joint portion and gripping the plurality of single packaging containers in a bundling unit; A suction unit mounted on a lower portion of the joint unit and adapted to suction the gills; And a pushing portion for pushing the bundle of individual packaging containers gripped in the grip portion to the inside of the transportation box and pushing the separator adsorbed on the absorption portion into the transportation box, First and second adsorption cylinders mounted on the first and second adsorption columns; An adsorption connection block coupled to a lower portion of a rod of the first and second adsorption cylinders and having a coupling hole for coupling a vacuum hose to one side thereof to receive compressed air from the vacuum hose; And a second adsorption cylinder connected to a lower portion of the adsorption connection block and linearly moving in the up and down direction according to the operation of the first and second adsorption cylinders and using the compressed air supplied through the adsorption connection block, Wherein the pushing portion includes: first and second pushing cylinders mounted on the joint portion; And a single packing bag bundle coupled to the lower portions of the rods of the first and second pushing cylinders and moved in the vertical direction according to the operation of the first and second pushing cylinders to grip the grip portions, And a pushing pad for pushing the separated gills to the inside of the transportation box, wherein the pushing pads are located on the same line in the vertical direction with respect to the first and second adsorption pads, and the first and second adsorption And a through hole is formed in a slot through which the first and second adsorption pads pass when the first and second adsorption pads move linearly up and down corresponding to the positions of the pads.

The joint unit may include a housing having an upper portion mounted on the second drive unit and rotated by the second drive unit; A 'C' -shaped connector mounted on a lower portion of the housing; And a base coupled to the ' C ' -shaped connector, the elongated plate being elongated in the longitudinal direction.

The grip portion may include first and second gripping cylinders mounted on both lower sides of the base; First and second grip connecting blocks coupled to both ends of the rod of the cylinder for the first and second grips; And first and second grip pads attached to the first and second grip connecting blocks to vary the spacing according to the operation of the first and second grip cylinders to grip the single pack container bundle. have.

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As described above, the gripper for a transfer robot according to the present invention is a gripper for a transfer robot, which is mounted on an end effector of a transfer robot and includes a grip portion and a suction portion, Gripping and loading the product into the transportation box, and at the same time, by stacking the individual sheets on the single packing container bundle loaded in the transportation box, it is possible to automate the packaging facility while minimizing the initial facility construction cost and installation space, Time can be shortened.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top view of a gripper for a transfer robot according to an embodiment of the present invention. FIG.
Fig. 2 is a bottom view of the gripper for the transfer robot shown in Fig. 1; Fig.
Fig. 3 is an exploded view showing the gripper for the transfer robot shown in Fig. 1 separated; Fig.
4 is a view illustrating a process of gripping a single packaging container using a gripper for a transfer robot according to an embodiment of the present invention.
5 is a view illustrating a process of sucking a kanji using a gripper for a transfer robot according to an embodiment of the present invention.

The gripper for the transfer robot according to the present invention is mounted on the transfer robot. At this time, the transfer robot is a transfer robot disclosed in Korean Registered Patent No. 10-1140589 filed by the present applicant (Registered on Apr. 20, 2012), Korean Registered Patent No. 10-1116191 (Registered on Feb. 07, 2012) Like the transfer conveyor or the base frame through which the object passes, and may include a base of the transfer robot, a robot arm, and an end effector mounted at the end of the robot arm. In addition, it can be mounted on a transfer robot having various known structures.

The gripper for a transfer robot according to the present invention is preferably mounted on an end effector as described in Korean Patent No. 10-1140589 and Korean Patent No. 10-1116191 but is not limited to an end effector, It may be mounted directly on the end portion.

For example, three first driving units including a driving motor and a speed reducer may be equally spaced in the base of the transfer robot, and the upper arm of the robot arm may be connected to the first driving unit, 1 drive unit can be rotated in association with each other. The lower arms may be formed as a pair, and may be respectively connected to the outer ends of the upper arms so as to rotate in correspondence with the upper arms. The end effector may be connected to the outer side of the lower arm so that the lower end of the lower arm is rotatable. At least one side of the end effector may be equipped with a second driving unit including a driving motor and a speed reducer to drive the gripper according to the present invention.

Hereinafter, a specific embodiment of a gripper for a transfer robot according to the present invention will be described.

FIG. 1 is a view of a gripper for a transfer robot according to an embodiment of the present invention, and FIG. 2 is a view of the gripper for a transfer robot shown in FIG. 1, Fig. 6 is an exploded view showing a gripper for a transfer robot shown in Fig.

1 to 3, a gripper 1 for a transfer robot according to an embodiment of the present invention includes a joint portion 10, a grip portion 20, a suction portion 30, a pushing portion 40 ).

The joint unit 10 is mounted on an end effector interconnecting the robot arms of the transfer robot.

3, the joint unit 10 includes a housing 11 having an upper portion coupled to the second drive unit and rotated by the second drive unit, and a U- And a base 13 to which the both sides of the connector 12 are coupled to the 'C' -shaped connector 12.

The housing 11 has a cylindrical structure and is rotatably coupled to the driving motor and the speed reducer of the second driving unit and rotates according to the operation of the second driving unit.

The U-shaped connecting port 12 is for mounting the base 13 to the lower portion of the housing 11 and is bolted to both sides in the width direction of the base 13 integrally with the lower portion of the housing 11.

1, the base 13 may be a flat plate elongated in the longitudinal direction, and a grip portion 20, a suction portion 30, and a cylinder of the pushing portion 40 are mounted on a lower portion thereof.

As shown in Figs. 1 and 2, the grip portion 20 is mounted on a lower portion of the joint portion 10, and grips a plurality of individual packaging containers packed with processed foods in a bundle unit.

As shown in Fig. 3, the grip portion 20 includes first and second grip cylinders 21 and 22 mounted on both sides of the base 13, first and second grip cylinders 21 and 22, First and second grip connecting blocks 23 and 24 coupled to both ends of the rods 211 and 221 and first and second grip connecting blocks 23 and 24, And first and second grip pads 25 and 26 that are spaced from each other in accordance with the operation of the grip cylinders 21 and 22 to grip the individual packing container bundles.

The first and second grip cylinders 21 and 22 are cylinders for pneumatic pressure and are driven by linear motions of the rods 211 and 221 using air supplied from an external vacuum hose The spacing between the pads 25 and 26 is adjusted. Accordingly, the first and second grip pads 25 and 26 are moved in the directions close to each other or away from each other by the first and second grip cylinders 21 and 22, As shown in FIG.

The connecting blocks 23 and 24 for the first and second grips are fastened to both ends of the rods 211 and 221 and move linearly in the left and right directions in cooperation with the rods 211 and 221. The first and second grip connecting blocks 23 and 24 are formed with a stepped surface whose outer surface is recessed inward. The upper and lower surfaces of the first and second grip pads 25 and 26 are in close contact with each other, And then fastened through a bolt member.

The first and second grip pads 25 and 26 are formed in the shape of a plate elongated in the longitudinal direction and are provided at both sides in the longitudinal direction with hooks bent in the shape of ' The jaws 251 and 261 can be formed to prevent the plurality of single package containers from being detached from the outside while being gripped by the first and second grip pads 25 and 26. [

As shown in FIG. 3, the suction unit 30 is mounted on the lower portion of the joint unit 10 to suction and transfer the separator separating the bundle of individual packing containers loaded on the shipping box. The first and second adsorption cylinders 31 and 32 and the adsorption connecting block 33 mounted under the rods 311 and 321 of the first and second adsorption cylinders 31 and 32, The first and second adsorption pads 34 and 35 which are coupled to the lower portion of the connection block 33 and move up and down according to the operation of the first and second adsorption cylinders 31 and 32 and vacuum adsorb the adsorbent .

The first and second adsorption cylinders 31 and 32 are pneumatic cylinders similar to the first and second grip cylinders 21 and 22 and are provided at the lower center of the base 13 in the width direction of the base 13 And moves the adsorption connecting block 33 up and down through the rods 311 and 321. [

As shown in FIG. 3, the adsorption connecting block 33 is equipped with first and second adsorption pads 34 and 35 at the lower portion thereof, and is connected to the first and second adsorption pads 34 and 35, And a coupling hole 33a to which a vacuum hose (not shown) is coupled to the side portion. Accordingly, the air introduced into the coupling hole 33a is supplied to the first and second adsorption pads 34 and 35 through the connection block 33 for adsorption.

The first and second adsorption pads 34 and 35 are attached to a lower portion of the adsorption connection block 33 and are connected by a first adsorption connecting block 33 And moves the adsorbing material through the adsorption connecting block 33 to adsorb the adsorbent.

The pushing portion 40 pushes the single packed container bundle gripped in the grip portion 20 into the interior of the transportation box and pushes the foreign object adsorbed by the suction portion 30 into the interior of the transportation box. That is, the pushing unit 40 pushes the bundle of individual packing containers gripped in the grip portion 20 and the gang attracted to the suction portion 30 strongly downward to separate the grip portion 20 and the suction portion 30 from each other.

The pushing portion 40 includes first and second pushing cylinders 41 and 42 coupled to the base 13 and first and second pushing cylinders 41 and 42 of the first and second pushing cylinders 41 and 42, And a pushing pad 43 mounted on the lower portion and moving up and down according to the operation of the first and second pushing cylinders 41 and 42.

The first and second pushing cylinders 41 and 42 are pneumatic cylinders using air as in the case of the first and second grip cylinders 21 and 22 and are provided at the lower portion of the base 13, The second grip cylinders 21 and 22 and the first and second adsorption cylinders 31 and 32 are mounted in parallel to each other in the longitudinal direction and the pushing pad 43 is moved upward and downward through the rods 411 and 421 .

The pushing pad 43 is attached to the lower portions of the rods 411 and 421 and moves up and down in cooperation with the rods 411 and 421. Whereby a plurality of individual packing containers gripped in the grip portion 20 and a sheet of paper adsorbed by the suction portion 30 are pushed downwardly into the interior of the transportation box.

The pushing pad 43 is located on the same line in the vertical direction as the first and second adsorption pads 34 and 35 of the adsorption section 30. [ The first and second adsorption pads 34 and 35 move linearly upward and downward in correspondence with the positions of the first and second adsorption pads 34 and 35 in the central portion of the pushing pad 43, Through holes 43a through which the first and second adsorption pads 34 and 35 pass so that the first and second adsorption pads 34 and 35 do not interfere with each other by the first and second adsorption pads 34 and 35, And is moved up and down by interlocking with the adsorption connecting block 33 without being interfered by the adsorbing member 43. The through hole 43a may be formed as a straight elongated groove or a cross elongated groove in the longitudinal direction of the pushing pad 43 in consideration of the alignment margin of the first and second adsorption pads 34 and 35.

FIG. 4 is a view illustrating a process of gripping a single packaging container using a gripper for a transfer robot according to an embodiment of the present invention. FIG. 5 is a view illustrating a gripper for a transfer robot using a gripper for a transfer robot according to an embodiment of the present invention. And a process of adsorbing the kanji.

Referring to Figs. 1 to 4, the gripper 1 for the transfer robot is moved through the transfer robot to align the gripper 1 on the upper part of the single package container 2 which enters through the transfer conveyor.

The first and second gripping pads 25 and 25 are connected to the first and second gripping cylinders 21 and 22 of the gripping portion 20 so that a plurality of individual packing containers 2 can be gripped in a set number And 26 are moved in directions away from each other to enlarge the gap between the first and second grip pads 25 and 26 and then lower the gripper 1 to the single package container 2 through the transfer robot.

Then, when a plurality of individual packaging containers 2 are positioned between the first and second grip pads 25, 26, the first and second grip pads 2, (25, 26) are moved toward each other to grip both side portions of the plurality of single packaging containers (2).

Then, the gripper 1 is moved to the upper portion of the transport box through the transport robot, and then the transport box is lowered into the transport box. Then, the first and second pushing cylinders 41 and 42 of the pushing unit 40 The pushing pad 43 is lowered downward to load the plurality of single package containers 2 gripped between the first and second grip pads 25 and 26 inside the shipping box.

When a plurality of individual packaging containers 2 are loaded on one end of the interior of the transportation box in this way, the plurality of individual packaging containers 2 loaded using the suction section 30 of the gripper 1 are moved up and down The separating separator 3 is transported to the upper portion of the loaded single package container 2.

As shown in Figs. 3 and 5, the gripper 1 is moved and aligned by a transferring conveyor or a lamination member in which the transfer gancers 3 for transferring the transfer gancers 3 are stacked via the transfer robot .

Subsequently, the gripper 1 is lowered close to the separator 3, and the first and second adsorption pads 34, 35 (hereinafter, referred to as " ).

Subsequently, compressed air supplied to the adsorption connecting block 33 is supplied to the first and second adsorption pads 34 and 35, and the adsorbent 3 is evacuated through the first and second adsorption pads 34 and 35 Absorbed.

Then, the gripper 1 is moved to the transport box via the transport robot, and is lowered into the transport box. The pushing pad 43 is lowered in the downward direction through the first and second pushing cylinders 41 and 42 of the pushing portion 40 to move the pushing pad 43 between the first and second adsorption pads 34 and 35, (3) is loaded on top of a plurality of individual packaging containers (2) loaded in the interior of the transportation box.

As described above, the technical idea of the present invention has been specifically described in the preferred embodiment, but the preferred embodiment is intended to be illustrative and not for the purpose of limitation. 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: Gripper for transfer robot 2: Individual packing container
3: separator 10: joint part
11: housing 12: ' C '
13: base 20: grip portion
21: cylinder for first grip 22: cylinder for second grip
23: connecting block for first grip 24: connecting block for second grip
25: first grip pad 26: second grip pad
30: adsorption section 31: first adsorption cylinder
32: second adsorption cylinder 33: connection block for adsorption
34: first adsorption pad 35: second adsorption pad
40: pushing part 41: cylinder for first pushing
42: second pushing cylinder 43: pushing pad

Claims (5)

A robot arm which is connected to each of the first drive units and rotates in conjunction with the first drive units, A gripper mounted on a transfer robot including an end effector mounted on the robot arms and a second drive unit mounted on the end effector and rotated by the transfer robot,
A joint portion mounted on the end effector;
A grip portion mounted on a lower portion of the joint portion and gripping the plurality of single packaging containers in a bundling unit;
A suction unit mounted on a lower portion of the joint unit and adapted to suction the gills; And
A pushing part for pushing the bundle of individual packing containers gripped in the grip part into the interior of the transportation box and pushing the foreign matter adsorbed on the absorption part into the interior of the transportation box; , ≪ / RTI &
The adsorption unit
First and second adsorption cylinders mounted on the joint portion;
An adsorption connection block coupled to a lower portion of a rod of the first and second adsorption cylinders and having a coupling hole for coupling a vacuum hose to one side thereof to receive compressed air from the vacuum hose; And
And the first and second adsorption cylinders are coupled to a lower portion of the adsorption connection block and are linearly moved in the vertical direction according to the operation of the first and second adsorption cylinders and are vacuum adsorbed using compressed air supplied through the adsorption connection block First and second adsorption pads; Lt; / RTI >
The pushing portion,
First and second pushing cylinders mounted on the joint portion; And
A single packing bag bundle coupled to a lower portion of the rod of the first and second pushing cylinders and moved in the vertical direction according to the operation of the first and second pushing cylinders to grip the grip portion; A pushing pad for pushing the lancet into the transportation box; , ≪ / RTI &
The first and second adsorption pads are positioned in the same vertical line direction as the first and second adsorption pads, and the first and second adsorption pads are vertically arranged in a straight line at positions corresponding to the positions of the first and second adsorption pads, Wherein a through hole is formed in a groove through which the first and second adsorption pads pass when moving,
And a gripper for a transfer robot.
The method according to claim 1,
The joint portion
A housing having an upper portion mounted to the second drive unit and rotated by the second drive unit;
A 'C' -shaped connector mounted on a lower portion of the housing; And
A base which is made of a straight plate elongated in the longitudinal direction and is coupled to the 'C' shaped connector;
And a gripper for gripping the transfer robot.
3. The method of claim 2,
The grip portion
First and second gripping cylinders mounted on both lower sides of the base;
First and second grip connecting blocks coupled to both ends of the rod of the cylinder for the first and second grips; And
First and second grip pads attached to the first and second grip connecting blocks to vary the gap according to the operation of the first and second grip cylinders to grip the packs of the individual packing containers;
And a gripper for gripping the transfer robot.
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