KR101956300B1 - Griffer for metal product using permanent magnet and metal product loading system using this - Google Patents

Abstract

The present invention relates to a gripper for a metal product using a permanent magnet and a metal product loading system using the same. The present invention is to grip and transport a metal product arranged longitudinally and laterally by means of the magnetic force of a permanent magnet and to adsorb a gap material for loading on the metal product. The gripper for a metal product using a permanent magnet includes a magnetization unit magnetized by a magnetic force so as to attach a metal product corresponding to an alignment area of a metal product; a magnetic unit facing the magnetization unit for magnetization of the magnetization unit and having a permanent magnet for magnetization of the magnetization unit; a reciprocating unit reciprocating the magnetic unit with respect to the magnetization unit in order to adjust the distance between the magnetization unit and the magnetic unit; an adsorption unit pivotably coupled to the magnetization unit for gap material adsorption and support; and a pivot unit for pivoting of the adsorption unit.

Description

Technical Field [0001] The present invention relates to a gripper for a metal product using a permanent magnet and a metal product loading system using the same.

The present invention relates to a gripper for a metal product using a permanent magnet and a metal product loading system using the same. More particularly, the present invention relates to a gripper for a metal product, which grips and transports a metal product arranged longitudinally and laterally by the magnetic force of a permanent magnet, And a metal product loading system using the same.

Generally, a product is produced by a factory or a manufacturer, and the produced product is packaged and distributed. The above-mentioned product may be, for example, a tuna can, a can drink, or a bottle beverage. The above-mentioned products are produced in large quantities, packaged and distributed.

At this time, in order to package a large quantity of products more efficiently, automation was introduced by eliminating manual work. As an example, a product is transported to a packaging machine by a conveying means such as a conveyor, and the product is transferred to a packaging box by a packaging machine. At this time, the process of picking up, do.

The above-described product-carrying gripper has a pair of left and right gripper panels, which grip the product while being narrowed toward the center, and release the product while spreading outward. That is, the above-described pair of gripper panels are driven by the packaging machine in a state in which the product is gripped by squeezing both sides of the product like a forceps, so that the entire gripper for transferring the product moves toward the package box. will be.

On the other hand, the above-mentioned packaging box is filled with the product in a double row, for example, 4 to 6 lines per row may be contained in 2 to 4 rows.

Therefore, the above-described conventional gripper for transferring products has a problem that when four or six pieces of the grippers for transferring a product are picked up at one time and the product is transported to the upper side of the packaging box, Box.

At this time, there is a problem that the drop occurs due to interference with the guide panel while the product falls, so that the product collides or interferes with another adjacent product, and the product is damaged by such collision or interference.

In addition, because the space for the guide panel to be opened in the left and right directions is secured in order to place the product, the product can not be lowered to the deep part of the packaging box, There is a problem that the product is damaged due to such impact.

Korean Registered Patent No. 10-0958755 (Title of the Invention: Gripper Assembly for Product Transfer, issued on May 18, 2010)

The object of the present invention is to solve the problems of the prior art, and it is an object of the present invention to provide a gripper for a metal product using a permanent magnet for holding a metal product arranged longitudinally and transversely by magnetic force of a permanent magnet, And a metal product loading system using the same.

According to a preferred embodiment of the present invention, a gripper for a metal product using a permanent magnet according to the present invention includes a magnetization unit magnetized by a magnetic force so as to be attached to a metal product corresponding to an alignment area of the metal product, ; A magnet unit arranged to face the magnetization unit for magnetization of the magnetization unit and in which permanent magnets for magnetizing the magnetization unit are arranged; A reciprocating unit for reciprocating the magnetic unit with respect to the magnetizing unit to adjust the gap between the magnetizing unit and the magnetic unit; An adsorption unit pivotably coupled to the magnetization unit such that the spacer is adsorbed and supported; And a pivot unit for pivotally moving the adsorption unit.

If the magnet unit is brought into contact with the magnetization unit according to the operation of the reciprocating unit and the metal product is brought into contact with the mounting surface of the magnetization unit, the magnetization unit is magnetized, And when the magnetic unit is separated from the magnetization unit according to the operation of the reciprocating unit, the magnetization of the magnetization unit is released and the metal product is separated from the mounting surface of the magnetization unit.

Further, when the pressing member presses the gap member in a state in which the adsorption unit presses the mounting surface of the magnetization unit in accordance with the operation of the pivot unit, the adsorption force is generated by the elastic deformation of the adsorption unit, And when the suction unit is spaced from the attachment surface of the magnetization unit according to the operation of the pivot unit, the attraction force is released by elastic return of the absorption unit, and the spacer is separated from the absorption unit.

Here, the magnetizing unit may include: a plate-shaped magnetizing member facing the metal product; A holding frame arranged at an edge of the magnetizing member so as to surround the magnetic unit; And a mounting frame laminated on the holding frame and coupled to the reciprocating unit.

The gripper for a metal product using the permanent magnet according to the present invention further includes a shielding unit disposed between the holding frame and the magnetic unit to shield magnetic force generated in the magnetic unit.

Here, the magnetic unit may include: a permanent magnet for magnetizing the magnetizing unit; And a plate-like magnetic member arranged to face the magnetizing unit and coupled to the reciprocating unit, and the permanent magnet is arranged.

Here, the reciprocating unit may include: a reciprocating cylinder coupled to any one of the magnetizing unit and the magnetic unit; A reciprocating piston reciprocally coupled to the reciprocating cylinder and coupled to the other of the magnetizing unit and the magnetic unit; And a hydraulic pressure generator for supplying fluid to the reciprocating cylinder for reciprocating movement of the reciprocating piston.

Here, the adsorption unit may include: a support bracket protruding from the magnetization unit; A pivot rod rotatably coupled to the support bracket; A pinion gear provided on the pivot rod; A rack gear reciprocally moved by the pivot unit in a state engaged with the pinion gear; An angle bracket spaced apart from the pinion gear and provided on the pivot rod; And an adsorption member coupled to the angle bracket for adsorption of the spacing member.

Here, the adsorption unit may include: a guide bracket protruding from the magnetization unit; And a guide roller rotatably coupled to the guide bracket and stacked and supported by the rack gear.

The adsorption member may include a suction rod coupled to the angle bracket and having a reciprocating groove recessed along the longitudinal direction and a communication hole passing through the center to communicate with the reciprocating groove; An adsorption cap of an elastic material which is coupled to the adsorption rod and has an adsorption groove communicating with the communication hole; An opening / closing piston which is fitted in the reciprocating groove so as to be reciprocally movably inserted into the reciprocating groove in a state of protruding from the adsorption rod for opening and closing the communication hole; And an opening / closing elastic member elastically pressing the opening / closing piston with respect to the adsorption rod so that the communication hole is opened in the reciprocating groove.

Here, the suction member may include a compression elastic member coupled to the opening / closing piston so as to be elastically deformed in the reciprocating groove in accordance with the reciprocating movement of the opening / closing piston; And a support bush coupled to the suction rod in a state where the opening and closing piston is fitted to the reciprocating groove so as to prevent the opening and closing piston from separating from the reciprocating groove; As shown in FIG.

Here, the adsorption cap includes an adsorption cup portion in which the adsorption groove is formed in a state of being coupled to the adsorption rod; And a wrinkle ring portion extending from the absorption cup portion in a ring shape.

The gripper for a metal product using the permanent magnet according to the present invention further includes a product positioning unit coupled to the side surface of the magnetizing unit so as to be reciprocated so as to protrude from the mounting surface of the magnetizing unit.

The metal product loading system according to the present invention is a gripper for a metal product using a permanent magnet according to the present invention; A two-speed driving unit for moving the gripper in a horizontal direction or moving the gripper in a height direction; An alignment unit in which the metal product is aligned; A conveying unit for conveying the metal product to the aligning unit; A storage unit spaced apart from the alignment unit to store the gap material; And a stacking unit provided between the aligning unit and the storage unit, wherein the metal product and the spacers are alternately stacked.

According to the gripper for a metal product using the permanent magnet according to the present invention and the metal product loading system using the same, it is possible to grasp a metal product arranged longitudinally and horizontally by the magnetic force of the permanent magnet, have.

Further, the present invention can maximize the contact area with the metal product through the magnetization unit, stabilize the magnetization of the magnetization member, and smooth the reciprocation of the magnetic unit in the magnetization unit.

Further, in the present invention, when the magnetization of the magnetizing member is released through the shielding unit, the magnetic force is prevented from being transmitted to the holding frame, and the metal product can be easily separated from the magnetizing member.

Further, the present invention can stably magnetize the magnetizing member of the magnetizing unit even with the permanent magnet through the magnetic unit, stabilize the mutual coupling between the permanent magnet and the magnetic member, and improve the adhesion between the magnetizing unit and the magnetic unit have.

Further, the present invention makes it possible to smoothly reciprocate the magnetic unit through the reciprocating unit, and to clarify the gap between the magnetizing unit and the magnetic unit.

In addition, the present invention makes it possible to grasp the metal material in the gripper as well as to adsorb the gap material through the absorption unit, and to prevent the mutual interference by clearly separating the gripping operation and the suctioning operation.

Further, the present invention can smoothly slide the rack gear through the suction unit, stably maintain the meshing state between the pinion gear and the rack gear, and prevent the rack gear from being separated from the pinion gear.

In addition, the present invention can adsorb and support the gap material stably by generating attraction force in the adsorption member even if there is no separate driving force through the adsorption member.

Further, according to the present invention, a stable adsorption force can be formed in the adsorption cap through the adsorption member, and the deformation state of the adsorption groove can be stably maintained according to the adsorption operation.

Further, the present invention simplifies the releasing of the adsorption force from the adsorption cap through the adsorption member, and allows the adsorption groove to return to its original state upon release of the adsorption, so that the spacing member can be easily separated from the adsorption cap.

Further, according to the present invention, not only the opening and closing of the communication hole in the reciprocating groove through the pressing elastic member, but also the sealing force of the communication hole can be improved and the attraction force generated in the suction cap can be stably maintained.

Further, according to the present invention, sliding movement of the opening and closing piston can be smoothly performed through the supporting bush, and automation of assembling of the suction member can be realized.

Further, the present invention allows deformation of the adsorption grooves through the adsorption cap, and stabilizes the adsorption force due to the deformation of the adsorption grooves.

Further, the present invention can prevent other metal products from being gripped by the gripper when grasping the metal product through the product positioning unit, and can clearly distinguish the metal product gripped by the gripper.

In addition, the present invention can be made inline through a metal product loading system to simplify alternate lamination of metal products and spacers, and to facilitate packing and discharging of stacked metal products.

1 is a plan view showing a metal product loading system according to an embodiment of the present invention.
2 is a plan view showing a gripper applied to a metal product loading system according to an embodiment of the present invention.
3 is a side cross-sectional view illustrating an operating state of the adsorption unit when gripping a gap member in a gripper for a metal product using a permanent magnet according to an embodiment of the present invention.
Fig. 4 is a side sectional view showing an adsorption member applied to the adsorption unit in Fig. 3; Fig.
5 is a side cross-sectional view illustrating an operation state of a suction unit when a metal product is gripped in a gripper for a metal product using a permanent magnet according to an embodiment of the present invention.
Fig. 6 is a side sectional view showing the adsorption member applied to the adsorption unit in Fig. 5; Fig.

Hereinafter, an embodiment of a gripper for a metal product using a permanent magnet according to the present invention and a metal product loading system using the same will be described with reference to the accompanying drawings. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

Referring to FIG. 1, a metal product loading system according to an embodiment of the present invention includes a gripper 100, a two-axis driving unit 200, an aligning unit 300, a conveying unit 400, (500), and a loading unit (600).

The gripper 100 not only grasps a plurality of aligned metal products M but also attracts and supports the gap G. The gripper 100 includes a gripper 100 for a metal product using a permanent magnet 21 according to an embodiment of the present invention.

2 to 6, a gripper 100 for a metal product using a permanent magnet 21 according to an embodiment of the present invention includes a magnetizing unit 10, a magnetic unit 20, a reciprocating unit 30 The suction unit 40 and the pivot unit 60 and may further include at least one of the shielding unit 70 and the product positioning unit 80. [

When the magnet unit 20 is brought into contact with the magnetizing unit 10 and the metal product M is brought into contact with the mounting surface of the magnetizing unit 10 according to the operation of the reciprocating unit 30, And the metal product M is magnetized and attached to the mounting surface of the magnetizing unit 10. [ When the magnetic unit 20 is separated from the magnetization unit 10 in accordance with the operation of the reciprocating unit 30, the magnetization of the magnetization unit 10 is released, Lt; / RTI >

When the pressing member 40 presses the gap G against the mounting surface of the magnetizing unit 10 in accordance with the operation of the pivot unit 60, And the gap G is sucked and supported by the adsorption unit 40. As shown in Fig. When the suction unit 40 is separated from the attachment surface of the magnetizing unit 10 in accordance with the operation of the pivot unit 60, the suction force is released by the elastic return of the suction unit 40, And is separated from the unit 40.

The magnetization unit 10 is magnetized by the magnetic force transmitted from the magnetic unit. A plurality of metal products (M) are attached to the magnetization unit (10) at a time corresponding to the alignment area of the metal product (M).

The magnetizing unit 10 includes a plate-shaped magnetizing member 11 facing the metal product M, a holding frame 12 arranged at the edge of the magnetizing member 11 so as to surround the magnetic unit 20, And an installation frame 13 laminated to the frame 12 to which the reciprocating unit 30 is coupled.

The magnetizing unit 10 may further include a connecting member 14 coupled to the mounting frame 13 and to which the two-axis driving unit 200 is coupled.

At the edge of the magnetizing member 11, a magnetizing member blade for surrounding the holding frame 12 can be extended.

The holding frame 12 may have a rectangular frame shape corresponding to the alignment area of the metal product M.

The magnetic unit 20 is disposed so as to face the magnetization member 11 of the magnetization unit 10 for magnetization of the magnetization unit 10. In the magnetic unit 20, permanent magnets 21 for magnetizing the magnetizing unit 10 are arranged.

The magnetic unit 20 includes a permanent magnet 21 for magnetizing the magnetizing unit 10 and a magnetic member 22 of a plate shape in which the permanent magnet 21 is arranged. The magnetic member 22 is disposed to face the magnetizing member 11 of the magnetizing unit 10, and the reciprocating unit 30 is coupled. Then, the magnetic member 22 is reciprocated with respect to the magnetizing member 11 of the magnetizing unit 10 by the operation of the reciprocating unit 30.

The magnetic member 22 is made of a material magnetized by the permanent magnet 21 so that the magnetic force of the permanent magnet 21 can be stably transmitted to the magnetizing member 11 of the magnetizing unit 10.

Although not shown, a magnet fastening hole (not shown) is formed in any one of the permanent magnet 21 and the magnetic member 22, and the other of the permanent magnet 21 and the magnetic member 22 is provided with a magnet fastening hole (Not shown) that communicates with a screw hole (not shown). The head of the fastening screw (not shown) is supported by either the permanent magnet 21 or the magnetic member 22, and the threaded portion of the fastening screw (not shown) passes through the magnet fastening hole (not shown) (Not shown), so that the permanent magnet 21 can be fixed to the magnetic member 22. Here, a magnet seating groove (not shown) in which the permanent magnet 21 is seated can be formed in the magnetic member 22.

The reciprocating unit 30 reciprocates the magnetic unit 20 with respect to the magnetizing unit 10 for adjusting the gap between the magnetizing unit 10 and the magnetic unit 20. Two or more of the reciprocating units 30 may be spaced apart from each other to prevent the magnetic member 22 of the magnetic unit 20 from tilting with respect to the mounting surface of the magnetizing member 11 of the magnetizing unit 10. [

The reciprocating unit 30 includes a reciprocating cylinder 31 coupled to either one of the magnetizing unit 10 and the magnetic unit 20 and a reciprocating cylinder 31 reciprocally coupled to the magnetizing unit 10 and the magnetic unit 20, And a reciprocating piston (32) coupled to the other one of the piston (20).

The reciprocating unit 30 is reciprocally coupled to one side or both sides of the reciprocating cylinder 31 and separated from the reciprocating piston 32 and is reciprocally coupled to another one of the magnetizing unit 10 and the magnetic unit 20. [ And may further include a guide 33. The reciprocating guide 33 can suppress or prevent the flow of the reciprocating piston 32 when the reciprocating piston 32 reciprocates.

The reciprocating unit 30 is operated by a fluid supplied from an oil pressure generator (not shown). The hydraulic pressure generator (not shown) can reciprocate the reciprocating piston 32 by supplying fluid to the reciprocating cylinder 31.

The absorption unit 40 is pivotally coupled to the magnetizing unit 10 so that the gap G is adsorbed and supported.

The suction unit 40 includes a support bracket 41 protruding from the magnetizing unit 10, a pivot rod 42 rotatably coupled to the support bracket 41, A rack gear 44 that is reciprocated by the pivot unit 60 in a state of engagement with the pinion gear 43 and an angle bracket 43 which is spaced apart from the pinion gear 43 and is provided on the pivot rod 42, (45) and an adsorption member (50) coupled to the angle bracket (45) for adsorption of the gap material (G).

The attracting unit 40 includes a guide bracket 46 protruding from the magnetizing unit 10 and a guide roller 47 rotatably coupled to the guide bracket 46 and stacked on the rack gear 44 .

One pair of the support brackets 41 may be spaced apart from each other so as to support both ends of the pivot rod 42 so as to protrude from the magnetization unit 10. The support bracket 41 is shown protruding from the side surface of the magnetizing unit 10. However, the support bracket 41 is not limited thereto but may be formed by protruding from the magnetizing unit 10 in various forms.

Although not shown, the support bracket 41 is protruded from the surface of the magnetizing unit 10 which faces the mounting surface of the magnetizing member 11, so that when the metal product M is mounted on the packaging material, It is possible to prevent interference with the packaging material. At this time, an angle groove (not shown) in which the protruding bracket 451 of the angle bracket 45 is fitted to the magnet unit 10 and the magnetic unit 20 can be depressed according to the rotation of the pivot rod 42 .

The support bracket 41 may be provided with a bearing (not shown) for rotatably supporting the pivot rod 42.

The angle bracket 45 may be provided on the pivot rod 42 such that two or more of the angle brackets 45 are spaced apart from each other such that a plurality of the adsorption members 50 are engaged. The angle bracket 45 includes a protruding bracket 451 protruding from the pivot rod 42 and an engaging bracket 453 protruding from the protruding bracket 451 so as to intersect the longitudinal direction of the protruding bracket 451 . The angle bracket 45 may further include a support bracket 452 spaced substantially parallel to the pivot rod 42 to connect and fix the protruding brackets 451 spaced apart from each other.

A suction member (50) is coupled to the engagement bracket (453).

The guide roller 47 is made of an elastic material and elastically presses the rack gear 44 to prevent the rack gear 44 from being separated from the pinion gear 43 in accordance with the reciprocating movement of the rack gear 44 have.

The attracting member 50 can be engaged and fixed to the engaging bracket 453 of the angle bracket 45 through the screwing of the attracting and fixing member 501. [ The adsorption member 50 includes an adsorption rod 51, an adsorption cap 52, an opening and closing piston 53 and an opening and closing elastic member 54. The adsorption member 50 includes a pressing elastic member 55 and a supporting bush 56 And may further include at least any one of them.

The suction rod 51 is engaged with the engagement bracket 453 of the angle bracket 45. The suction rod 51 can be screwed to the engagement bracket 453 of the angle bracket 45. [ The suction fixing rod 501 is screwed to the suction rod 51 at both sides with respect to the coupling bracket 453 of the angle bracket 45 and the coupling bracket 453 of the suction rod 51 and the angle bracket 45, It is possible to improve the bonding force.

The adsorption rod 51 is provided with a reciprocating groove 511 formed to be recessed along the longitudinal direction and a communication hole 512 passing through the center so as to communicate with the reciprocating groove 511. One end of the adsorption rod 51 is opened by the reciprocating groove 511 and the other end of the adsorption rod 51 is opened by the communication hole 512 so that the adsorption rod 51 has a hollow tube shape.

The adsorption cap 52 is coupled to the other end of the adsorption rod 51. An adsorption groove 522 communicating with the communication hole 512 is formed in the adsorption cap 52. The adsorption cap 52 is made of an elastic material. Then, when the adsorption member 50 presses the gap G, the adsorption cap 52 is elastically deformed so that the adsorption force is generated while the volume of the adsorption groove 522 is reduced.

The adsorption cap 52 includes an adsorption cup portion 521 in which the adsorption groove 522 is formed while being coupled to the other end of the adsorption rod 51 and a wrinkle ring portion 523 extending from the adsorption cup portion 521 in a ring shape, . ≪ / RTI > When the suction member 50 presses the gap G, the wrinkle ring portion 523 expands and contracts, so that the adsorbing member 50 is cushioned by the adsorbing member 50, And the change in volume of the adsorption grooves 522 can be increased to increase the adsorption force.

The adsorption cap 52 may further include a deformation support portion 524 provided between the adsorption rod 51 and the adsorption cup portion 521. Then, when the adsorption member 50 presses the gap G, the deformation supporting portion 524 presses the adsorption cup portion 521 to stabilize the elastic deformation of the adsorption cup portion 521, It is possible to increase the volume change of the liquid.

The opening and closing piston 53 is fitted in the reciprocating groove 511 so as to reciprocate in a state of protruding from the adsorption rod 51 for opening and closing the communication hole 512 in the reciprocating groove 511. The opening and closing piston 53 has a slider portion 532 fitted into the reciprocating groove 511 and opening and closing the communication hole 512 and a piston rod portion 532 extending from the slider portion 532 to protrude from the adsorption rod 51 531 and an elastic supporting protrusion 533 provided at the free end of the piston rod portion 531. [ The elastic supporting protrusion 533 is detachable at the free end of the piston rod portion 531 through a screw connection.

The opening and closing elastic member 54 elastically pressurizes the opening and closing piston 53 with respect to the adsorption rod 51 so that the communication hole 512 is opened in the reciprocating groove 511. One end of the opening and closing elastic member 54 is supported by the suction rod 51 and the other end is supported by the elastic supporting protrusions 533 of the opening and closing piston 53 in a state where the piston rod portion 531 of the opening- .

The pressing elastic member 55 is engaged with the slider portion 532 of the opening and closing piston 53. The pressing elastic member 55 is elastically deformable in the reciprocating groove 511 in accordance with the reciprocating movement of the opening and closing piston 53. Then, when the opening and closing piston 53 is pressed against the mounting surface of the magnetizing member 11 of the magnetizing unit 10 in accordance with the rotation of the pivot rod 42, the compression resilient member 55 is elastically deformed and the reciprocating groove 511 It is possible to prevent the leakage of air in the communication hole 512 and to improve the sealing force of the communication hole 512. [

The supporting bush 56 is engaged with the suction rod 51 in a state where the opening and closing piston 53 is fitted. The support bushing 56 prevents the opening / closing piston 53 from separating from the reciprocating groove 511. The supporting bush 56 can be coupled to the adsorption rod 51 via a screw connection with the adsorption rod 51 and the opening and closing elastic member 54 can be supported.

The pivot unit (60) pivots the suction unit (40). The pivot unit 60 reciprocates the rack gear 44 to cause the angle bracket 45 to pivot relative to the pivot rod 42.

The pivot unit 60 includes a pivot cylinder 61 coupled to the magnetizing unit 10 and a pivot piston 63 to which the rack gear 44 is coupled while being reciprocally coupled to the pivot cylinder 61 can do. The pivot cylinder 61 can be fixedly arranged on the magnetizing unit 10 via the base bracket 61 provided in the magnetizing unit 10. [

The pivot unit 60 is operated by a fluid supplied from an oil pressure generator (not shown). The hydraulic pressure generator (not shown) can reciprocate the pivot piston 63 by supplying fluid to the pivot cylinder 61.

The shielding unit 70 is disposed between the holding frame 12 and the magnetic unit 20. The shielding unit 70 shields the magnetic force generated in the magnetic unit 20 to prevent the holding frame 12 of the magnetizing unit 10 from being magnetized. The shielding unit 70 may be formed long in a band shape and may be coupled to the inner surface of the holding frame 12.

The product positioning unit 80 is coupled to the side surface of the magnetizing unit 10 so as to be projected from the mounting surface of the magnetizing unit 10 in a reciprocating manner.

The product positioning unit 80 includes a fixed position bracket 81 disposed on a side surface of the magnetizing unit 10 and a fixed position bracket 81 disposed so as to protrude from the fixed position bracket 81 toward the mounting surface of the magnetizing unit 10. [ And a fixed position drive unit 83 reciprocating the fixed position bracket 81 in a state of being coupled to the magnetizing unit 10. [

The stationary bracket 81 may be formed long in a channel shape to support a part of the supporting elastic member 82.

The support elastic member 82 can be coupled to the right position bracket 81 via a support bolt (not shown) screwed to the right position bracket 81. [

Two or more of the stationary actuators 83 are spaced apart from each other to prevent inclination of the stationary bracket 81 with respect to the mounting surface of the magnetizing member 11 of the magnetizing unit 10. [ The fixed position drive unit 83 includes a fixed position cylinder coupled to either the side face of the magnetizing unit 10 and the fixed position bracket 81, And a right-side piston coupled to the other of the right-side brackets 81.

The fixed position drive unit 83 is reciprocally movably coupled to one side or both sides of the fixed position cylinder and spaced apart from the fixed position piston and is coupled to the other side of the right side position bracket 81, And may further include a position guide. The stationary position guide can suppress or prevent the flow of the stationary piston when the stationary piston reciprocates.

The correct position drive unit 83 is operated by a fluid supplied from an oil pressure generator (not shown). The hydraulic pressure generator (not shown) is capable of reciprocating the stationary piston by supplying fluid to the stationary cylinder.

The two-shot driving unit 200 moves the gripper 100 in the horizontal direction or moves the gripper 100 in the height direction. The two-speed driving unit 200 can smoothly move the gripper 100 in the horizontal direction and the gripper 100 in the height direction through various forms.

The two-speed driving unit 200 includes a aligning unit 300, a driving guide that crosses the stacking unit 600 and the storage unit 500, a horizontal driving unit that is slidably coupled to the driving guide, And may include a lifting drive portion to which the gripper 100 is coupled. The gripper 100 is moved between the aligning unit 300 and the stacking unit 600 by moving the slide unit 100 in the horizontal direction by the supplied power source, The horizontal movement and the vertical movement are possible between the alignment unit 300 and the storage unit 500 and the horizontal movement and the vertical movement are possible between the storage unit 500 and the storage unit 600, Movement and movement in height direction are possible.

The aligning unit 300 aligns the metal product M to be fed. The aligning unit 300 can arrange the metal products M to be supplied by arranging the metal products M longitudinally and laterally as the metal products M are supplied.

Here, an alignment stopper 301 may be provided between the aligning unit 300 and the conveying unit 400. The alignment stopper 301 temporarily stops the supply of the metal product M to be moved in the transport unit 400. Alignment of the metal product M is completed in the aligning unit 300 according to the operation of the alignment stopper 301 and the operation of the conveying unit 400 can be temporarily stopped. It is possible to stabilize the alignment state of the metal product M in the aligning unit 300 according to the operation of the alignment stopper 301. When the metal unit M is gripped through the gripper 100, It is possible to prevent the metal product M of the gripper 100 from being interfered with.

The conveying unit 400 conveys the metal product M to the aligning unit 300. The conveying unit 400 can horizontally move the metal product M through various forms. For example, the conveying unit 400 may include a conveyor that is moved while the metal product M is supported.

The storage unit 500 is spaced apart from the alignment unit 300. The storage unit 500 stores the gap G. The gap unit G is stacked in the storage unit 500 and the gripper 100 can suck and support the gap G of the storage unit 500 in a single sheet.

In the stacking unit 600, the metal product M and the gap G are alternately stacked. A packaging material for storing the metal product M is seated on the stacking unit 600 and the metal product M and the spacing member G are alternately stacked on the packaging material. The loading unit 600 may be provided between the aligning unit 300 and the storage unit 500 to minimize the amount of movement of the gripper 100 in the horizontal direction. Since the alignment unit 300, the loading unit 600, and the storage unit 500 are disposed in a straight line, the driving guide is formed in a linear shape in the two-axis driving unit 200 and the gripper 100 can be simplified.

The metal products M are arranged in the aligning unit 300 by arranging the metal products M in the sorting unit 300 in the longitudinal direction and the transverse direction via the conveying unit 400. In this embodiment, When the alignment of the metal product M in the alignment unit 300 is completed, the operation of the alignment stopper 301 temporarily stops the metal product M from being transmitted to the alignment unit 300. In addition, the spacers G are stacked and stored in the storage unit 500. In addition, a packaging material for stacking and storing the metal product M is disposed in the stacking unit 600.

The initial gripper 100 is disposed on the upper side of the alignment unit 300 according to the operation of the horizontal driving unit. When the alignment of the metal product M is completed in the aligning unit 300, the gripper 100 descends to the aligning unit 300 according to the operation of the lifting and lowering driving unit to move the attaching surface of the magnetizing member 11 of the magnetizing unit 10 Is brought into contact with the upper surface of the metal product (M). 5 and 6, when the magnet unit 20 is brought into contact with the magnetizing unit 10 according to the operation of the reciprocating unit, the permanent magnet 21 of the magnet unit 20 is rotated by the magnetizing unit 10 The metal product M is attached to the mounting surface of the magnetizing member 11 of the magnetizing unit 10 by a magnetic force and the gripper 100 is mounted on a plurality of metal products M) can be grasped at a time.

When the gripper 100 grasps the metal product M, the gripper 100 is lifted up to the upper side of the aligning unit 300 according to the operation of the elevation driving unit to separate the metal product M from the aligning unit 300 . At this time, since the product positioning unit 80 is operated, the metal product M disposed on the conveying unit 400 side is supported without being gripped by the gripper 100, (M) can be prevented from being attached to the gripper (100) by magnetic force.

The gripper 100 is horizontally moved to the upper side of the stacking unit 600 according to the operation of the horizontal driving unit, and the metal product M can be seated on the packaging material according to the operation of the lifting and lowering unit. Next, when the magnetic member 22 of the magnetic unit 20 is separated from the magnetizing member 11 of the magnetizing unit 10 according to the operation of the reciprocating unit 30 in the gripper 100, The magnetization is released and the metal product M is separated from the mounting surface of the magnetizing member 11 of the magnetizing unit 10 and loaded on the packaging material.

When the metal product M is detached from the mounting surface of the magnetizing member 11 of the magnetizing unit 10, the gripper 100 is lifted up to the upper side of the stacking unit 600 according to the operation of the lifting and lowering driving unit, It is horizontally moved to the upper side of the storage unit 500 according to the operation, and the gap G can be pressed again according to the operation of the elevation driving unit.

3 and 4, when the suction unit 40 is rotated according to the operation of the pivot unit 60 during the movement of the gripper 100 from the stacking unit 600 to the storage unit 500 , The adsorption member 50 is elastically pressed against the mounting surface of the magnetizing member 11 of the magnetizing unit 10 to seal the communication hole 512.

As a result, the gripper 100 generates an attraction force as the suction cap 52 is elastically deformed in the suction member 50 of the suction unit 40 by the pressing force of the gap material G, Can be adsorbed and supported.

When the gripper 100 sucks and supports the spacing member G, the gripper 100 moves up to the upper side of the storage unit 500 according to the operation of the lifting and lowering driving unit and separates the spacing member G from the storage unit 500 do. The gripper 100 is horizontally moved to the upper side of the stacking unit 600 according to the operation of the horizontal driving unit, and the gap G can be seated on the packaging material according to the operation of the elevation driving unit. Next, when the pivot rod 42 is rotated in accordance with the operation of the pivot unit 60 in the gripper 100, the suction member 50 is separated from the mounting surface of the magnetizing member 11 of the magnetizing unit 10, The gap G is separated from the gripper 100 and the metal product M is separated from the metal product M because the elastic member 512 is released and the elastic deformation of the suction cap 52 is returned to the original shape, And can be laminated and supported.

Next, the gripper 100 is lifted up to the upper side of the stacking unit 600 according to the operation of the lifting and lowering driving unit, and the suction unit 40 is returned to the initial position in accordance with the operation of the pivoting unit 60 in the gripper 100 .

Finally, the gripper 100 moves horizontally to the upper side of the aligning unit 300 according to the operation of the horizontal driving unit, thereby returning to the initial position for gripping the first metal product M.

When the metal product M is separated from the aligning unit 300, the metal product M is supplied again from the conveying unit 400 to the aligning unit 300 according to the operation of the aligning stopper 301, The metal product M and the spacing member G can be alternately stacked on the packaging material of the stacking unit 600 by repeating the above-described operation .

According to the gripper for a metal product using the permanent magnet and the metal product loading system using the same, the metal product M arranged longitudinally and transversely by the magnetic force of the permanent magnet 21 is gripped and held, And can be loaded on the metal product (M).

It is also possible to maximize the contact area with the metal product M through the magnetizing unit 10 to stabilize the magnetization of the magnetizing member 11 and smoothly move the magnetic unit 20 reciprocally in the magnetizing unit 10 can do.

When the magnetization of the magnetizing member 11 is released through the shielding unit 70, the magnetic force is prevented from being transmitted to the holding frame 12, and the metal product M can be easily separated from the magnetizing member 11 .

The magnetizing member 11 of the magnetizing unit 10 can be stably magnetized by the permanent magnet 21 through the magnetic unit 20 and the mutual coupling of the permanent magnet 21 and the magnetic member 22 And the adhesion between the magnetizing unit 10 and the magnetic unit 20 can be improved.

Further, the reciprocating movement of the magnetic unit 20 can be smoothly performed through the reciprocating unit 30, and the gap between the magnetizing unit 10 and the magnetic unit 20 can be clearly controlled.

It is also possible to grip the metal product M from the gripper 100 through the suction unit 40 and to attract the gap G therebetween to clearly distinguish between the gripping action and the suction action, can do.

It is also possible to smoothly move the rack gear 44 through the suction unit 40 and stably maintain the meshing state between the pinion gear 43 and the rack gear 44, The gear 44 can be prevented from being separated.

Further, even if there is no separate driving force through the adsorption member 50, an adsorption force is generated in the adsorption member 50, and the adsorption member 50 can adsorb and support the gap G stably.

In addition, a stable adsorption force can be formed in the adsorption cap 52 through the adsorption member 50, and the deformation state of the adsorption grooves 522 can be stably maintained in accordance with the adsorption operation.

Further, the suction force is easily released from the suction cap 52 through the suction member 50, so that the suction groove 522 returns to its original state when the suction is released and the gap G is easily separated from the suction cap 52 do.

It is also possible to improve the sealing force of the communication hole 512 as well as to open and close the communication hole 512 in the reciprocating groove 511 through the pressing elastic member 55 and to stably maintain the adsorption force generated in the adsorption cap 52 .

Further, the sliding movement of the opening and closing piston 53 can be facilitated through the support bush 56, and automation of the assembling of the adsorption member 50 can be realized.

Further, deformation of the adsorption grooves 522 can be made possible through the adsorption caps 52, and the adsorption force due to the deformation of the adsorption grooves 522 can be stabilized.

It is also possible to prevent the other metal product from being gripped by the gripper 100 when the metal product M is gripped through the product positioning unit 80 and to prevent the metal product M gripped by the gripper 100 from being clearly .

In addition, it is possible to inline the metal product (M) and the spacer (G) by alternately stacking the metal product (M) by means of the metal product loading system and to smoothly package and discharge the metal product (M).

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 embodiments, but, on the contrary, Modify or modify the Software.

100: gripper 200: two-spool motion unit 300: alignment unit
400: transport unit 500: storage unit 600: stacking unit
10: magnetizing unit 11: magnetizing member 12: retaining frame
13: mounting frame 14: connecting member 20: magnetic unit
21: permanent magnet 22: magnetic member 30: reciprocating unit
31: reciprocating cylinder 32: reciprocating piston 33: reciprocating guide
40: suction unit 41: support bracket 42: pivot rod
43: Pinion gear 44: Rack gear 45: Angle bracket
451: projecting bracket 452: support bracket 453: engaging bracket
46: guide bracket 47: guide roller 50: suction member
501: suction fixing member 51: suction rod 511: reciprocating groove
512: communication hole 52: suction cup 521: suction cup portion
522: suction groove 523: wrinkle ring portion 524:
53: opening / closing piston 531: piston rod portion 532:
533: elastic supporting projection 54: opening / closing elastic member 55: compression bonding elastic member
56: support bush 60: pivot unit 61: base bracket
62: pivot cylinder 63: pivot piston 70: shielding unit
80: product positioning unit 81: right positioning bracket 82: support elastic member
83: Fixed position drive part M: Metal product G:

Claims (10)

A magnetization unit magnetized by a magnetic force so as to adhere the metal product corresponding to an alignment area of the metal product;
A magnet unit arranged to face the magnetization unit for magnetization of the magnetization unit and in which permanent magnets for magnetizing the magnetization unit are arranged;
A reciprocating unit for reciprocating the magnetic unit with respect to the magnetizing unit to adjust the gap between the magnetizing unit and the magnetic unit;
An adsorption unit pivotably coupled to the magnetization unit such that the spacer is adsorbed and supported; And
And a pivot unit for pivoting the suction unit,
When the pressing member presses the gap member in a state in which the adsorption unit presses the mounting surface of the magnetization unit according to the operation of the pivot unit, the adsorption force is generated by the elastic deformation of the adsorption unit, And,
Wherein when the suction unit is separated from the attachment surface of the magnetization unit according to the operation of the pivot unit, the attraction force is released by elastic return of the absorption unit, and the gap member is separated from the absorption unit. Grippers for metal products.
The method according to claim 1,
The magnetizing unit includes:
A plate-shaped magnetization member facing the metal product;
A holding frame arranged at an edge of the magnetizing member so as to surround the magnetic unit; And
And a mounting frame laminated on the holding frame to connect the reciprocating unit. The gripper for a metal product using the permanent magnet.
3. The method of claim 2,
And a shielding unit disposed between the holding frame and the magnetic unit to shield a magnetic force generated in the magnetic unit.
The method according to claim 1,
Wherein the adsorption unit comprises:
A support bracket protruding from the magnetization unit;
A pivot rod rotatably coupled to the support bracket;
A pinion gear provided on the pivot rod;
A rack gear reciprocally moved by the pivot unit in a state engaged with the pinion gear;
An angle bracket spaced apart from the pinion gear and provided on the pivot rod; And
And an attracting member coupled to the angle bracket for attracting the spacing member.
5. The method of claim 4,
Wherein the adsorption unit comprises:
A guide bracket protruding from the magnetization unit; And
And a guide roller rotatably coupled to the guide bracket and stacked and supported by the rack gear.
5. The method of claim 4,
The adsorption member
A suction rod coupled to the angle bracket and having a reciprocating groove recessed along the longitudinal direction and a communication hole penetrating the center to communicate with the reciprocating groove;
An adsorption cap of an elastic material which is coupled to the adsorption rod and has an adsorption groove communicating with the communication hole;
An opening / closing piston which is fitted in the reciprocating groove so as to be reciprocally movably inserted into the reciprocating groove in a state of protruding from the adsorption rod for opening and closing the communication hole; And
And an opening / closing elastic member elastically pressing the opening / closing piston with respect to the adsorption rod so that the communication hole is opened in the reciprocating groove.
The method according to claim 6,
The adsorption member
A compression elastic member coupled to the opening / closing piston so as to be elastically deformed in the reciprocating groove according to the reciprocating movement of the opening / closing piston; And
A supporting bush coupled to the suction rod in a state where the opening / closing piston is fitted to prevent the opening / closing piston from being separated from the reciprocating groove; The gripper for a metal product using the permanent magnet according to claim 1,
The method according to claim 6,
The adsorption cap
An adsorption cup portion in which the adsorption groove is formed in a state of being coupled to the adsorption rod; And
And a wrinkle ring portion extending from the suction cup portion in a ring shape.
The method according to claim 1,
And a product positioning unit coupled to the side surface of the magnetizing unit so as to be reciprocally protruded from the mounting surface of the magnetizing unit.
A gripper as claimed in any one of claims 1 to 9;
A two-speed driving unit for moving the gripper in a horizontal direction or moving the gripper in a height direction;
An alignment unit in which the metal product is aligned;
A conveying unit for conveying the metal product to the aligning unit;
A storage unit spaced apart from the alignment unit to store the gap material; And
And a stacking unit provided between the aligning unit and the storage unit, wherein the metal product and the spacers are alternately stacked.

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