KR102308542B1 - A gantry loader automation system and a component manufacuring method using the same - Google Patents

Abstract

Provided is a gantry loader automation system for processing components to be processed while moving the components in a processing direction. The gantry loader automation system in accordance with one embodiment of the present invention comprises: a feeding device disposed before a processing target component is processed; a first lathe for processing the processing target component supplied from the feeding device; a reversing device for reversing a posture of the processing target component processed on the first lathe; a second lather for processing for the second time the processing target component whose posture is reversed in the reversing device; a transfer device for moving the processing target component processed on the second lathe in the processing direction; a first gantry loader for moving the processing target component among the feeding device, the first lathe, the reversing device, the second lathe, and the transfer device; a machining center for processing the processing target component supplied from the transfer device; a loading device for keeping the processing target component processed in the machining center; and a second gantry loader for moving the processing target component among the transfer device, the machining center, and the loading device. The gantry loader automation system of the present invention automatically processes the processing target component on the lathes and machining center without human intervention.

Description

Gantry loader automation system and manufacturing method using the same

The present invention relates to a gantry loader automation system for automatically manufacturing a part to be processed using a gantry loader and a method for manufacturing a part using the same, and more particularly, to a gantry loader to effectively process parts in the processing direction by using a plurality of gantry loaders. To a gantry loader automation system that automatically processes parts while moving, and a method for manufacturing parts using the same.

Gantry loaders are commonly used in industrial sites to move heavy parts. That is, the gantry loader is equipped with a robot arm capable of transferring a high load, has rails capable of linear motion at high speed, and can be applied to various industrial fields such as processing, packaging, and loading of parts.

The gantry loader can be used especially for machining operations on lathes or machining centers. A lathe is a device in which operations such as cutting are mainly performed, and a tool rest moves forward, backward, left and right to cut and process a part to be processed. In this case, the lathe is machined on one side of the part to be machined, and human intervention is sometimes required in a situation where the position is reversed to process the opposite side. In addition, a machining center is a complex machine tool that combines a boring machine, a milling machine, and a drilling machine into one, and the part to be machined on a lathe enters the machining center and is processed. there was a lot

Therefore, the gantry loader system was not fully automated, and people often intervened in the middle. As a result, recently, a gantry loader stenosis accident occurred, resulting in a human death.

US 10-2015-0071485 A

The present invention is to solve the above problems, and the gantry loader of the gantry loader automation system of the present invention automatically moves the parts to be processed on the lathe and the machining center, so that the parts to be processed follow the processing direction. It is intended to be moved automatically.

In the gantry loader automation system according to an embodiment of the present invention, in the gantry loader automation system for processing a processing target part while moving it in a processing direction, a supply device disposed before the processing target part is processed, the supply A first lathe for processing the part to be processed supplied from the device, a reversing device for reversing the posture of the part to be processed processed on the first lathe, and a second lathe for reversing the posture of the part to be processed by the reversing device A second lathe for machining, a transfer device for moving the part to be machined processed on the second lathe in the processing direction, the supply device, the first lathe, the reversing device, and between the second lathe and the transfer device a first gantry loader for moving the processing target part in a machining center processing the processing target part supplied from the transfer device, a loading device and the transfer device for storing the processing target part processed in the machining center; and a second gantry loader for moving the part to be processed between the machining center and the loading device.

In the gantry loader automation system according to an embodiment of the present invention, the first gantry loader is a first gantry loader crossing the supply device, the first shelf, the reversing device, the second shelf, and the transfer device from above. The rail, the first body moving along the first rail, and the first body are mounted on the first body, pick up the processing target part, and the feeding device, the first lathe, the reversing device, the second lathe, and the transfer device It may include a first gripper that picks up and moves the part to be processed therebetween.

In the gantry loader automation system according to an embodiment of the present invention, the first gripper is spaced apart from each other at a predetermined angle from the 1-1 gripper and the 1-1 gripper, which are formed to pick up the part to be processed. Adjusting the angle so that the 1-2 gripping part and the 1-1 gripping part 131 and the 1-2 gripping part are formed so as to be formed so as to be able to pick up the part to be processed so as to pick up the part to be processed It may include a first gripper rotating part.

In the gantry loader automation system according to an embodiment of the present invention, the supply device includes a first rotating plate rotated by a first rotating motor, a plurality of component arrangement columns disposed on the first rotating plate, and the component arrangement column A hollow hole corresponding to the cross section of the can be moved up and down along the part arrangement pillar, and the first pedestal on which the processing target part is disposed, the height at which the first pedestal moves up and down along the parts arrangement column It may include a first part detection sensor for sensing whether the processing target part is disposed on the upper end of the adjusting device and the part arrangement pillar.

In the gantry loader automation system according to an embodiment of the present invention, the height adjusting device includes a vertical moving plate supporting the first pedestal from below and moving it up and down, a height adjusting motor providing power to the height adjusting device, the above It is arranged to move on the power transmission pipe and the power transmission pipe that receives the rotational force of the height control motor through the power transmission cable, is connected to the vertical movement plate, and transfers the rotational force transmitted from the power transmission pipe up and down to the vertical movement plate. It may include a height adjustment unit that converts the moving force.

In the gantry loader automation system according to an embodiment of the present invention, the reversing device includes a first fixing part on which the processing target part processed on the first lathe is placed by the first gripper, the first fixing part a second fixing part in which the posture of the processing target part of It may include a second part detection sensor for sensing whether the processing target part is disposed on the upper end of the government.

In the gantry loader automation system according to an embodiment of the present invention, the reversing gripper may include a reversing gripper gripper for picking up the workpiece part and a reversing gripper gripper by rotating the reversing gripper gripper by 180 degrees so that the reversing gripper gripper is the machining target part It may include a reversing gripper rotating part to reverse the posture of the 180 degrees.

In the gantry loader automation system according to an embodiment of the present invention, the transfer device includes a carrier on which the part to be machined processed on the second lathe is placed by the first gripper, and the carrier moves in the processing direction. It may include a transport rail disposed along the processing direction to move and a third part detection sensor for sensing whether the processing target part is disposed on the transport member.

In the gantry loader automation system according to an embodiment of the present invention, the carrier includes: a first carrier fixing part on which the processing target part processed on the second lathe is placed by the first gripper; A second carrier member fixing unit, the first carrier member fixing unit, and the second carrier member fixing unit are disposed spaced apart from each other by a predetermined interval in the processing direction from the government, and after the part to be processed is placed in the first carrier member fixing unit and a second rotating plate rotating to rotate in a position such that the second carrier member fixing part is disposed in a position to receive the processing target part by the first gripper, and a second rotating motor providing power to rotate the second rotating plate can do.

In the gantry loader automation system according to an embodiment of the present invention, the second gantry loader is a second rail crossing the transfer device, the machining center and the loading device from above, and moving along the second rail. and a second gripper mounted on the second body and the second body to pick up the part to be processed and move the part to be processed by picking up and moving the part to be processed between the transfer device, the machining center, and the loading device.

In the gantry loader automation system according to an embodiment of the present invention, the second gripper includes a pair of second-first grippers and a pair of second-second grippers formed in parallel to each other so as to pick up the part to be processed. A pair of 2-2 gripping parts and the 2-1 gripping part and the 2-2 gripping part formed to be spaced apart from the 1 gripping part at a certain angle to hold the part to be processed can be picked up by the part to be processed It may include a second gripper rotating part for adjusting the angle so that the angle is adjusted.

The method for manufacturing a part using the gantry loader automation system according to an embodiment of the present invention includes the steps of arranging the processing target part in the supply device, and the 1-1 gripping part of the first gantry loader in the supply device. Picking up the processing target part, and after the 1-2 holding part picks up the processing target part machined on the first lathe, placing the processing target part on the first lathe by the 1-1 gripping part , the step of placing the processing target part processed on the first lathe on the inverting device by the 1-2 gripper, and inverting the attitude of the processing target part, the processing target part whose attitude is reversed in the reversing device After the 1-1 gripper picks up and the 1-2 gripper picks up the processing target part machined on the second lathe, the 1-1 gripper has the posture reversed on the second lathe Placing the processing target part, placing the processing target part processed on the second lathe by the 1-2 gripper on the first carrier member fixing part of the transporting device, and the second rotating plate of the transporting device The step of rotating and placing the 1-2 gripping part on the second carrier member fixing part of the transport device, moving the transport member of the transport device in the processing direction along the transport rail, the second gantry The pair of 2-1 gripping parts of the loader pick up the two parts to be processed disposed on the first carrier element fixing part and the second carrier element fixing part, and the pair of 2-2 gripping parts of the machining center After picking up the two processing target parts in the step of placing the processing target part transferred from the transfer device to the machining center by the 2-1 gripper, and the two machining target parts processed in the machining center may include the step of placing the pair of 2-2 holding unit on the loading device.

The gantry loader automation system of the present invention automatically processes a part to be machined on a lathe and a machining center without human intervention.

In addition, in the gantry loader automation system of the present invention, when the gantry loader rotates the machining cycle, the gantry loader moves only in one direction, which is the processing direction, without having to return to the opposite direction of the processing direction, thereby moving parts to be processed. It is possible to dramatically reduce the machining time of parts.

In addition, the gantry loader automation system of the present invention can minimize the movement path of the processing target part by providing an efficient device between the lathe and the machining center, thereby remarkably reducing the part processing time.

1 is a front view of a gantry loader system according to an embodiment of the present invention;
2 is a perspective view of a first gantry loader according to an embodiment of the present invention;
3A is a perspective view of a supply device according to an embodiment of the present invention;
Figure 3b is an exploded exploded view of the supply device according to an embodiment of the present invention;
Figure 3c is a bottom view of the first rotary plate 210 of the supply device according to an embodiment of the present invention;
4 is a perspective view of an inverting device according to an embodiment of the present invention;
5 is a perspective view of a transport device according to an embodiment of the present invention;
6 is a perspective view of a second gantry loader according to an embodiment of the present invention; and
7 is a perspective view of a second gripper of a second gantry loader according to an embodiment of the present invention;

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the present invention is not limited to specific embodiments, and includes various modifications, equivalents and/or alternatives of the embodiments of the present invention. In connection with the description of the drawings, like reference numerals may be used for like components.

In this document, expressions such as "have", "may have", "includes", or "may include" refer to the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

In this document, expressions such as "A or B", "at least one of A and/and B", or "one or more of A or/and B" may include all possible combinations of the items listed together. . For example, "A or B", "at least one of A and B", or "at least one of A or B" means (1) includes at least one A, (2) includes at least one B; Or (3) it may refer to all cases including both at least one A and at least one B.

The expression "configured to" as used in this document, depending on the context, for example, "suitable for", "having the capacity to" It can be used interchangeably with "," "Designed to", "Adapted to", "Made to", or "Capable of". The term "configured (or set up to)" does not necessarily mean only "specifically designed to".

Terms used in this document are only used to describe specific embodiments, and may not be intended to limit the scope of other embodiments. The singular expression may include the plural expression unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meanings as commonly understood by one of ordinary skill in the art described in this document. Among the terms used in this document, terms defined in a general dictionary may be interpreted with the same or similar meaning as the meaning in the context of the related art, and unless explicitly defined in this document, have an ideal or excessively formal meaning. not interpreted In some cases, even terms defined in this document cannot be construed to exclude embodiments of the present document.

The embodiments disclosed in this document are presented for explanation and understanding of the disclosed and technical content, and do not limit the scope of the present invention. Accordingly, the scope of this document should be construed to include all modifications or various other embodiments based on the technical spirit of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail. Prior to this, the terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor should properly understand the concept of the term in order to best describe his invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Accordingly, the configuration of the embodiments described in this specification are only some of the most preferred embodiments of the present invention and do not represent all the technical spirit of the present invention, so various equivalents and modifications that can be substituted for them at the time of the present application It should be understood that there may be

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

The objects, specific advantages and novel features of the invention described herein will become more apparent from the following detailed description taken in conjunction with the accompanying drawings and preferred embodiments. In the present specification, in adding reference numbers to the components of each drawing, it should be noted that only the same components are given the same number as possible even though they are indicated on different drawings. In addition, terms such as "one side", "the other side", "first", "second" etc. are used to distinguish one component from another component, and the component is limited by the terms. no. Hereinafter, in describing the present invention, detailed descriptions of related known technologies that may unnecessarily obscure the gist of the present invention will be omitted.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals indicate like members.

Hereinafter, the gantry loader automation system 1 according to the present invention will be described with reference to the drawings.

1 is a perspective view of a gantry loader automation system 1 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, the processing target part P is processed while moving in the processing direction D. In the gantry loader automation system 1, the processing target In the supply device 200 disposed before the part P is processed, the first lathe L1 for processing the processing target part P supplied from the supply device 200, and the first lathe L1 A reversing device 300 for reversing the posture of the processed part (P), a second lathe (L2) for secondary processing the machining target part (P) whose posture is reversed in the reversing device (300) , a transfer device 400 for moving the processing target part P processed on the second lathe L2 in the processing direction D, the supply device 200, the first lathe L1, The first gantry loader 100 for moving the workpiece P between the reversing device 300 , the second lathe L2 and the transfer device 400 , and the transfer device 400 supply A machining center (M) for processing the processing target part (P), a loading device (600) and the transfer device (400) for storing the processing target part (P) processed in the machining center (M), the and a second gantry loader 500 for moving the processing target part P between the machining center M and the loading device 600 .

Each device of the gantry loader automation system 1 of the present invention is arranged along the processing direction (D). In the present invention, the processing target part (P) is a target to be processed by the system 1 of the present invention, and the processing target part (P) may be one type of automobile parts, but is not limited thereto.

The gantry loader automation system 1 according to an embodiment of the present invention includes a first gantry loader 100, a supply device 200, a first shelf L1, a reversing device 300, and a second shelf ( L2), a transfer device 400, a second gantry loader 500, a machining center (M) and a loading device (600).

The gantry loader automation system 1 of the present invention can be largely divided into two parts. That is, in the system 1 of the present invention, the line in which the first gantry loader 100 moves the processing target part P and works on the lathes L1 and L2, and the second gantry loader 200 are It can be divided into lines working in the machining center (M) by moving the processing target part (P).

The first lathe (L1) and the second lathe (L2) of the present invention may be subjected to cutting processing performed by a conventional lathe, etc., and when the first lathe (L1) processes one surface of the part P to be processed, the second lathe The lathe L2 is to process the other surface of the processing target part (P).

The machining center M of the present invention operates as a conventional multi-task machine tool. The machining center M may consist of two, and accordingly, may be divided into a first machining center M1 and a second machining center M2. When the first machining center (M1) and the second machining center (M2) perform the same work, one machining center (M) cannot follow the speed of machining on the lathe (L1; L2) line, To match the speed, the same machining center (M) can be arranged in two. In addition, when the machining operation in the machining center (M) needs to be doubled, different operations are performed in the first machining center (M1) and the second machining center (M2), the processing target part (P) This may be sequentially passed through the first machining center (M1) and the second machining center (M2).

The first gantry loader 100 is operated in a line working on the lathes (L1; L2), and the supply device 200, the first shelf (L1), the reversing device 300, the second shelf (L2) and The processing target part (P) is moved between the transfer devices (400).

The supply device 200 is a device disposed before the processing target part (P) is processed, and the first gantry loader 100 operates to easily pick the processing target part (P).

The reversing device 300 reverses the posture of the processing target part P between the first lathe L1 and the second lathe L2, and the first lathe L1 processes the processing target part P to allow the second lathe L2 to process in the opposite direction.

The transfer device 400 is configured to transfer the processing target part P, which has been processed on the second lathe L2, from the line working on the lathes L1; L2 to the line working on the machining center M . The transfer device 400 serves to move the processing target part P processed on the second lathe L2 in the processing direction D.

The second gantry loader 200 is operated on a line working in the machining center M, and moves the processing target part P between the transfer device 400, the machining center M, and the loading device.

The loading device 600 is arranged next to the machining center (M) and is arranged to correspond to one machining center (M), and accordingly, when the machining center (M) is arranged in two, as in FIG. 1, two loading Device 600 is deployed. The loading device 600 is a device on which the processing target part P processed in the machining center M is loaded.

2 shows a first gantry loader 1 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, the first gantry loader 100 includes the supply device 200 , the first shelf L1 , and the reversing device 300 . , the first rail 110 traversing the second shelf L2 and the transfer device 400 from above, the first body 120 and the first body 120 moving along the first rail 110 . ) and picks up the processing target part (P), the feeding device 200, the first lathe (L1), the reversing device 300, the second lathe (L2) and the transfer device 400 ) may include a first gripper 130 that picks up and moves the part to be processed (P) between them.

In the gantry loader automation system 1 according to an embodiment of the present invention, the first gripper 130 includes a 1-1 gripper 131 formed to pick up the processing target part P; The 1-2 gripping part 132 and the 1-1 gripping part 131 are formed to be spaced apart from each other at a predetermined angle from the 1-1 gripping part 131 to pick up the part P to be processed. ) and a first gripper rotating part for adjusting an angle so that the 1-2 gripping part 132 can pick up the processing target part.

Referring to FIG. 2 , the first gantry loader 100 of the present invention may include a first rail 110 , a first body 120 , and a first gripper 130 .

The first gantry loader 100 includes a feeding device 200, a first lathe L1, a reversing device 300, a second lathe L2 and a transfer device ( 400), since it is necessary to move the processing target part P between A first rail 110 extending long in the direction (D) may be provided.

The first body 120 is moved along the first rail 110 , and the first gripper 130 is coupled to the first body 120 . The first gripper 130 serves to pick up and move the part P to be processed.

The enlarged part of FIG. 2 shows the first gripper 130 in an enlarged view. The first gripper 130 may include a 1-1 gripper 131 , a 1-2 gripper 132 , and a first gripper rotating part 133 .

The 1-1 gripping part 131 and the 1-2 gripping part 132 are formed to hold the processing target part P, and if you look at the shape, you can pick up an object while the two arms are widened and narrowed. It can be formed into a structure with The 1-1 gripping part 131 and the 1-2 gripping part 132 are disposed to be spaced apart from each other by a predetermined angle. The first gripper 130 may include a first gripper rotating part 133 , and the first-first gripper 131 and the 1-2-th gripper 132 are rotated by the rotation of the first gripper rotating part 133 . position is changed. Accordingly, the 1-1 gripping part 131 and the 1-2 gripping part 132 may alternately pick up or place the part P to be processed.

3a and 3b show a feeding device 200 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, the supply device 200 includes a first rotating plate 210 and the first rotating plate 210 rotated by a first rotating motor 211 . ) A plurality of parts arrangement pillars 230 disposed on, a hollow hole corresponding to the cross section of the component arrangement pillar 230 is formed and can move up and down along the component arrangement pillar 230, and above the processing The first pedestal 220 on which the target part (P) is disposed, the height adjustment device 250 for moving the first pedestal 220 up and down along the parts arrangement column 230 and the parts arrangement column 230 of A first part detection sensor 240 for sensing whether the processing target part (P) is disposed on the upper end may be included.

In the gantry loader automation system 1 according to an embodiment of the present invention, the height adjustment device 250 includes a vertical moving plate 251 that supports the first pedestal 220 from below and moves it up and down, the height A height control motor 254 for providing power to the control device 250, a power transmission pipe 253 that receives the rotational force of the height control motor 254 through a power transmission cable 255, and the power transmission pipe 253 ), is arranged to move on the upper and lower moving plate 251, and is connected to a height adjustment unit 252 that converts the rotational force transmitted from the power transmission pipe 253 into a force that moves up and down to the upper and lower moving plate 251. ) may be included.

Referring to FIG. 2A , it can be seen that the processing target part P is disposed in the supply device 200 , and the processing target part P is moved by the first gantry loader 100 . To describe the supply device 200 in more detail, the supply device 200 includes a first rotating plate 210 , a component arrangement column 230 , a first pedestal 220 , a height adjustment device 250 , and a first component detection sensor. (240). The first rotating plate 210 is rotated by the first rotating motor 211 . The first rotation motor 211 may be disposed below the first rotation plate 210 . A plurality of component placement pillars 230 are disposed on the first rotating plate 210, but the component placement pillars 230 are formed in a cylindrical shape in FIG. The shape of can also be changed. While the first pedestal 220 is disposed on the first rotating plate 210 , it moves along the component arrangement column 230 . Therefore, a hollow hole is formed in the center of the first pedestal 220 , corresponding to the cross section of the component arrangement column 230 , and the component arrangement column 230 is formed in a shape penetrating the first pedestal 220 . The processing target part (P) is placed on the first pedestal (220). The height adjustment device 250 moves the first pedestal 220 up and down along the parts arrangement pillar 230, and the processing target part ( P) is adjusted to be disposed on the upper part of the component arrangement column (230). In response to this, the first part detection sensor 240 senses whether the processing target part (P) is disposed on the upper end of the parts arrangement column (230). Therefore, when the first part detection sensor 240 senses the processing target part (P), the first gantry loader 100 operates to pick up the processing target part (P). After that, when the first part detection sensor 240 recognizes that the processing target part (P) is not located on the top of the parts placement column 230, the height adjustment device 250 operates and the processing target part (P) is placed on the part The first pedestal 220 is raised to be located on the top of the column 230 . In addition, when the height adjustment device 250 rises above a certain level, it is recognized that the processing target parts (P) mounted on the first pedestal 220 are all exhausted, and the height adjustment device 250 is the first pedestal ( 220) is moved to the lowermost end of the component arrangement column (230).

Referring to FIG. 2b , the height adjustment device 250 of the supply device 200 is shown in more detail. The height adjustment device 250 may include a vertical movement plate 251 , a height adjustment motor 254 , a power transmission pipe 253 , and a height adjustment unit 252 . The vertical moving plate 251 moves the first pedestal 220 up and down, and a method in which the vertical moving plate 251 supports the bottom of the first pedestal 220 and moves it up and down may be employed. The height adjustment motor 254 provides power to the height adjustment device 250 , and referring to FIG. 2b , the height adjustment motor 254 may be disposed in a box-shaped space at the bottom of the supply apparatus 200 . Through the power transmission cable 255 coupled to the height control motor 254, the power of the height control motor 254 is transmitted to the power transmission pipe (253). The power transmission pipe 253 is formed so as to rise upward from the lower side of the supply device 200, and when the power transmission pipe 253 rotates along the pipe axial center, a height adjustment unit coupled to the power transmission pipe 253 252 converts the pipe axial rotation into up-and-down motion. Therefore, by the operation of the height adjustment motor 254, the height adjustment unit 252 moves up and down, and the height adjustment unit 252 is coupled with the vertical movement plate 251 through a certain connecting device such as a pipe, The vertical moving plate 251 moves up and down.

The first rotating plate 210 has a protrusion 212 having a radially protruding structure. Referring to FIG. 3C , the protrusion 212 may be formed of eight, but is not limited thereto. The protrusion 212 serves to support the first pedestal 220 . The reason that the protrusion 212 is formed on the first rotating plate 210 is that the vertical moving plate 251 enters under the first pedestal 220 . This is because, in order to lift the first pedestal 220 , an empty space through which the vertical moving plate 251 can pass is required in the first rotating plate 210 . Instead, since the first pedestal 220, the component arrangement column 230, and the processing target part (P) are disposed on the protrusion 212, a large gap between the protrusion 212 and the center of the first rotating plate 210 is provided. Stress is generated and there is a problem that fatigue failure occurs. Accordingly, it is necessary to adjust the length of the protrusion 212 and the length of the first rotating plate 210 . Referring to FIG. 3C , the distance from the center of the first rotating plate 210 to the end of the protrusion 212 is referred to as a, and at the boundary line between the center of the first rotating plate 210 and the protrusion 210 of the protrusion 210 The distance to the end is referred to as b, and the distance from the center of the first pedestal 220 to the end of the protrusion 210 in the bottom view of FIG. 3c is referred to as c. At this time, b/a is formed to be 0.118182 or more and 0.36364 or less. When b/a is greater than 0.36364, that is, when the protrusion 212 is formed to be relatively larger than that of the first rotary plate 210, the 'bc' value increases and the center of the protrusion 212 and the first rotary plate 210 The force of the torsional moment formed at the boundary of Therefore, when b/a is greater than 0.36364, the possibility of fatigue failure occurring at the boundary between the protrusion 212 and the central portion of the first rotating plate 210 is increased. In addition, when b/a is formed to be smaller than 0.118182, that is, when the protrusion 212 is formed to be relatively smaller than that of the first rotating plate 210, the center of the first support plate 220, the protrusion 212 and the second As the boundaries of the centers of the first rotating plate 210 come closer to each other, the portion of the vertical moving plate 251 that the protrusions 212 can enter between the spaces spaced apart from each other becomes smaller. Therefore, when the vertical moving plate 251 supports the first pedestal 220, it supports a portion spaced apart from the center of the first pedestal 220, and accordingly, when the first pedestal 220 moves up and down, Stability is significantly reduced. Therefore, b/a is formed in a value of 0.18182 or more and 0.36364 or less, and most preferably 0.30909.

4 shows an inverting device 300 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, in the reversing device 300 , the processing target part P processed on the first lathe L1 is the first gripper 130 . ) placed by the first fixing part 310, the second fixing part 320, the first fixing part ( A reverse gripper 330 that picks up the processing target part P of 310 and puts it on the second fixing part 320 and the first fixing part 310 and the second fixing part 320 on the upper end of the It may include a second part detection sensor 340 for sensing whether the processing target part (P) is disposed.

In the gantry loader automation system 1 according to an embodiment of the present invention, the reversing gripper 330 includes a reversing gripper gripper 331 and the reversing gripper gripper 331 that grip the processing target part P. ) may include a reversing gripper rotating unit 332 that allows the reversing gripper gripper 331 to reverse the posture of the processing target part P by 180 degrees by rotating it by 180 degrees.

The reversing device 300 of the present invention may include a first fixing part 310 , a second fixing part 320 , an inverting gripper 330 , and a second component detecting sensor 340 . The upper end of the first fixing part 310 and the second fixing part 320 has a shape in which the processing target part P can be placed, and the first fixing part 310 and the second fixing part 320 of FIG. 4 . ) is formed so that a circular hole of the processing target part (P) can enter the upper end, but may be changed according to the shape of the processing target part (P). On the upper end of the first fixing part 310 , the processing target part P moved by the first gripper 130 is placed. The part to be processed (P) placed on the first fixing part 310 is a part (P) that has undergone primary processing on the first lathe (L1). Since it is necessary to process the opposite side of the component P placed on the first fixing unit 310 on the second lathe L2 , the posture of the component P must be reversed in the second fixing unit 320 . Therefore, the reverse gripper 330 picks up the processing target part P placed on the first fixing part 310 and rotates 180 degrees while drawing a semicircle to reverse the posture of the part P, and the second fixing part 320 parts (P) will be placed. A plurality of second component detection sensors 340 are arranged to sense the upper end of the first fixing unit 310 and the upper end of the second fixing unit 320 , and as can be seen in FIG. 4 , four second components It can be seen that two of the detection sensors 340 are disposed toward the first fixing part 310 and the other two are disposed toward the second fixing part 320 . When the second part detecting sensor 340 senses that the processing target part P is disposed on the first fixing part 310 , the inverting gripper 330 is operated. In addition, when the second part detection sensor 340 senses that the processing target part P is disposed on the second fixing part 320 , the first gripper 130 operates to hold the processing target part P in the second It is moved to the shelf (L2).

The reversing gripper 330 may include a reversing gripper gripper 331 and a reversing gripper rotating unit 332 . As can be seen from FIG. 4 , the reverse gripper gripper 331 serves to grip the processing target part P, and it can be seen that it rotates 180 degrees while drawing a semicircle. Accordingly, the reversing gripper rotating part 332 rotates 180 degrees so that the inverting gripper holding part 331 reverses the posture of the component P.

5 shows a transfer device 400 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, in the transfer device 400 , the processing target part P processed on the second lathe L2 is transferred to the first gripper 130 . ) placed by the carrier element 410, the carrier element 410 is disposed along the processing direction (D) so that the carrier element 410 can move in the processing direction (D). A third part detection sensor 430 for sensing whether the processing target part (P) is disposed may be included.

In the gantry loader automation system 1 according to an embodiment of the present invention, in the carrier 410 , the processing target part P processed on the second lathe L2 is the first gripper 130 . The first carrier element fixing part 413 placed by The carrier body fixing part 413 and the second carrier body fixing part 414 are arranged, and after the part to be processed (P) is placed on the first carrier body fixing part 413, it rotates to rotate the second carrier body fixing part ( A second rotating plate 411 that rotates so that the 414 is disposed in a position to receive the processing target part P by the first gripper 130 and a power to rotate the second rotating plate 411 A second rotation motor 412 may be included.

The transport device 400 of the present invention may include a transport body 410 , a transport rail 420 , and a third component detection sensor 430 . The part P processed on the second lathe L2 is placed on the carrier 410 by the first gripper 130 . The carrier 410 moves the processing target part P in the processing direction D to process the parts P processed by the lathes L1 and L2 in the machining center M. The transport rail 420 is disposed along a path along which the transport member 410 moves, and is formed along the processing direction D so that the transport member 410 can move in the processing direction D. The third part detection sensor 430 is formed in plurality to sense whether the processing target part P is disposed on the transport body 410 , and the third part detection sensor 430 is disposed to correspond to both ends of the transport rail 420 . can be

The carrier element 410 of the present invention may include a first carrier element fixing part 413 , a second carrier element fixing part 414 , a second rotating plate 411 , and a second rotating motor 412 . A first carrier member fixing part 413 and a second carrier member fixing part 414 are disposed on the second rotating plate 411 . A second rotation motor 412 is disposed at a lower end of the second rotation plate 411 to provide a rotational force to the second rotation plate 411 . The processing target part P processed on the second lathe L2 is placed on the first carrier body fixing part 410 by the first gripper 130, in which case the third part detecting sensor 430 is the first carrier body. Detecting that the processing target part (P) is disposed on the fixing part 413, the second rotating plate 411 is rotated 180 degrees. After that, the first gripper 130 puts the processing target part P processed on the second lathe L2 on the second carrier body fixing part 414, and then the third part detection sensor 430 is 2 Detecting that the processing target part (P) is disposed on the carrier body fixing part 414, the carrier body 410 is moved along the transport rail 420 in the processing direction (D). At this time, when the carrier body 410 touches the other end of the transport rail 420 , the third part detection sensor 430 recognizes the processing target part P of the first carrier body fixing part 413 , and the second gantry loader 500 picks up the processing target part (P), and after that, the third part detection sensor 430 recognizes that the processing target part (P) is missing from the first carrier body fixing part 413, and the second The rotating plate 411 rotates 180 degrees. After that, the second gantry loader 500 picks up the processing target part P of the second carrier member fixing part 414 , and after that, the carrier member 410 returns to one end of the transport rail 420 and returns to the previous will repeat the process of

6 is a perspective view of the second gantry loader 500 according to an embodiment of the present invention, and FIG. 7 is a perspective view of the second gripper 530 according to an embodiment of the present invention.

In the gantry loader automation system 1 according to an embodiment of the present invention, the second gantry loader 500 includes the transfer device 400 , the machining center M and the loading device 600 . The second rail 510 crossing from above, the second body 520 moving along the second rail 510, and the second body 520 are mounted on the second rail 510 and pick up the processing target part (P). A second gripper 530 for picking up and moving the processing target part P between the transfer device 400 , the machining center M and the loading device 600 may be included.

In the gantry loader automation system 1 according to an embodiment of the present invention, the second gripper 530 includes a pair of 2-1 wave A holding part 531, a pair of 2-2 holding parts 532 formed to be spaced apart from the pair of 2-1 holding parts 531 by a predetermined angle to hold the part P to be processed, and the A second gripper rotating part 533 for adjusting an angle so that the 2-1 gripping part 531 and the 2-2nd gripping part 532 can pick up the processing target part P may be included.

Referring to FIG. 6 , the second gantry loader 500 of the present invention may include a second rail 510 , a second body 520 , and a second gripper 530 . Since the second rail 510 is disposed across the transfer device 400, the machining center M, and the loading device 600 disposed along the processing direction D, it extends along the processing direction D. formed to be The second body 520 moves along the second rail 510 , and the second gripper 530 is mounted on the second body 520 . The second gripper 530 is configured to pick up and move the workpiece P between the transfer device 400 , the machining center M and the loading device 600 .

Referring to FIG. 7 , the second gripper 530 of the present invention is illustrated in detail. The second gripper 530 may include a 2-1 gripper 531 , a 2-2 gripper 532 , and a second gripper rotating part 533 . The 2-1 gripping part 531 and the 2-2 gripping part 532 can pick up the processing target part P, and if you look at the shape, the two arms have a structure that can pick up an object while spreading and narrowing. can be formed. The 2-1-th gripping part 531 and the 2-2nd gripping part 532 may be formed as a pair arranged in parallel, respectively, and the pair of 2-1 gripping parts 531 and the pair of first gripping parts 531 The 2-2 gripping units 532 are formed to be spaced apart from each other at a predetermined angle. Since the 2-1 gripping part 531 and the 2-2 gripping part 532 are formed as a pair, the first carrier element fixing part 413 and the second carrier element fixing part 414 of the transfer device 400 are attached to each other. It is possible to simultaneously pick up two arranged parts to be processed (P). The distance at which the pair of 2-1 holding parts 531 are spaced apart from each other may be formed to correspond to the distance at which the first carrier fixing part 413 and the second carrier fixing part 414 are spaced apart from each other. The same applies to the 2-2 gripping unit 532 . The second gripper rotating part 533 adjusts the angle of the second gripper 530 so that the 2-1 gripper 531 and the 2-2 gripper 532 can pick up the part P to be processed. Therefore, after the 2-2 holding part 531 picks up the processing target part P processed in the machining center M, the second gripper rotating part 533 operates and rotates to rotate the 2-1 holding part At 532 , a series of processes for placing the processing target part P in the machining center M may be performed.

The method for manufacturing a part using the gantry loader automation system 1 according to an embodiment of the present invention includes the steps of disposing the processing target part P in the supply device 200, the first gantry loader 100 ), the 1-1 gripping part 131 picks up the processing target part P from the supply device 200 , and the 1-2 gripping part 132 is processed on the first lathe L1 After picking up the processed part (P), the 1-1 holding part 131 places the part to be processed (P) on the first lathe (L1), the first lathe (L1) ), placing the processing target part (P) processed in the 1-2 holding part 132 on the reversing device 300, and reversing the posture of the processing target part (P), the reversing device The 1-1 gripping part 131 picks up the processing target part P whose posture is reversed in 300, and the 1-2 gripping part 132 is processed on the second lathe L2. After picking up the processing target part (P), the step of placing the processing target part (P) of which the posture is reversed on the second lathe (L2) by the 1-1 holding part (131), the second The step of placing the processing target part (P) processed on the lathe (L2) by the 1-2 holding part 132 on the first carrier body fixing part 413 of the transporting device 400, the transporting device The second rotating plate 411 of 400 rotates to place the 1-2 gripping part 531 on the second carrier body fixing part 414 of the transporting device 400, the transporting device 400 ) moving in the processing direction (D) along the transport rail 420, the pair of 2-1 holding parts 531 of the second gantry loader 500 ) picks up the two parts to be processed (P) disposed on the first carrier member fixing part 413 and the second carrier member fixing part 414, and the pair of 2-2 holding parts 532 After picking up the two machining center parts (P) in the machining center (M), the 2-1 holding part (531) is moved to the machining center (M). ) arranging the processing target part (P) transferred from the conveying device (400) and placing the two processing target parts (P) processed in the machining center (M) in the pair of 2-2 It may include the step of placing the holding unit 532 on the loading device (600).

Although the present invention has been described in detail through specific examples, this is for the purpose of describing the present invention in detail, and the present invention is not limited thereto, and by those of ordinary skill in the art within the technical spirit of the present invention It will be clear that the transformation or improvement is possible.

All simple modifications or changes of the present invention belong to the scope of the present invention, and the specific protection scope of the present invention will be made clear by the appended claims.

P: Part to be processed D: Processing direction
L1: first shelf L2: second shelf
M(M1) : 1st machining center M(M2) : 2nd machining center
1: gantry loader automation system 100: first gantry loader
110: first rail 120: first body
130: first gripper 131: 1-1 gripper
132: first 1-2 gripping part 133: first gripper rotating part
200: supply device 210: first rotating plate
211: first rotation motor 212: protrusion
220: first pedestal 230: parts arrangement column
240: first part detection sensor 250: height adjustment device
251: vertical movement plate 252: height adjustment unit
253: power transmission pipe 254: height control motor
255: power transmission cable 300: reversing device
310: first fixing part 320: second fixing part
330: reverse gripper 331: reverse gripper grip part
332: reversing gripper rotating part 340: second part detection sensor
400: transfer device 410: carrier
411: second rotating plate 412: second rotating motor
413: first carrier body fixing part 414: second carrier body fixing part
420: transport rail 430: third part detection sensor
500: second gantry loader 510: second rail
520: second body 530: second gripper
531: 2-1 grip part

Claims (5)

In the gantry loader automation system for processing while moving parts to be processed in the processing direction,
a supply device disposed before the processing target part is processed;
a first lathe for processing the part to be processed supplied from the supply device;
a reversing device for reversing the posture of the part to be processed processed on the first lathe;
a second lathe for secondary processing the part to be processed whose posture is reversed in the reversing device;
a transfer device for moving the processing target part processed on the second lathe in the processing direction;
a first gantry loader for moving the part to be processed between the feeding device, the first lathe, the reversing device, the second lathe, and the transfer device;
a machining center for processing the parts to be processed supplied from the transfer device;
a loading device for storing the processing target parts processed in the machining center; and
A second gantry loader for moving the part to be processed between the transfer device, the machining center and the loading device;
The supply device is
a first rotating plate rotated by a first rotating motor;
a plurality of component arrangement pillars disposed on the first rotating plate;
a first pedestal having a hollow hole corresponding to the cross-section of the component arrangement column and capable of moving up and down along the component arrangement column, on which the processing target part is disposed;
a height adjustment device for moving the first pedestal up and down along the component arrangement column; and
A first part detection sensor for sensing whether the processing target part is disposed on the upper end of the part arrangement column;
The height adjustment device,
a vertical moving plate supporting the first pedestal from below and moving it up and down;
a height adjustment motor for providing power to the height adjustment device;
a power transmission pipe that receives the rotational force of the height control motor through a power transmission cable; and
A gantry loader comprising; a height adjustment unit disposed to move on the power transmission pipe and connected to the vertical movement plate to convert the rotational force transmitted from the power transmission pipe into a force moving up and down on the vertical movement plate. automation system. The method according to claim 1,
The first gantry loader,
a first rail crossing the feeding device, the first shelf, the reversing device, the second shelf, and the transport device from above;
a first body moving along the first rail; and
A first gripper mounted on the first body to pick up the part to be processed and move the part to be processed by picking it up between the feeding device, the first lathe, the reversing device, the second lathe and the transfer device. including;
The first gripper,
a 1-1 gripping part formed to pick up the part to be processed;
a first-second gripping part formed to be spaced apart from the first-first gripping part at a predetermined angle to pick up the part to be processed; and
A gantry loader automation system comprising a; delete 3. The method according to claim 2,
The transfer device is
a carrier on which the part to be machined processed on the second lathe is placed by the first gripper;
a transport rail disposed along the processing direction so that the transport member can move in the processing direction; and
A third part detection sensor for sensing whether the processing target part is disposed on the carrier body;
The carrier is
a first carrier member fixing part on which the part to be machined processed on the second lathe is placed by the first gripper;
a second carrier member fixing unit spaced apart from the first carrier member fixing unit at a predetermined distance in the processing direction;
The first carrier member fixing part and the second carrier member fixing part are arranged, and after the part to be processed is placed on the first carrier member fixing part, it rotates so that the second carrier member fixing part holds the processing target part by the first gripper. a second rotating plate that rotates to be placed in a receiving position; and
A gantry loader automation system comprising a; a second rotation motor for providing power to rotate the second rotation plate. 5. The method according to claim 4,
The second gantry loader,
a second rail crossing the transfer device, the machining center, and the loading device from above;
a second body moving along the second rail; and
and a second gripper mounted on the second body, which picks up the processing target part and picks up and moves the processing target part between the transfer device, the machining center, and the loading device.
the second gripper,
a pair of 2-1 gripping parts formed parallel to each other so as to pick up the part to be processed;
a pair of 2-2 gripping parts formed to be spaced apart from the pair of second gripping parts by a predetermined angle to hold the part to be processed; and
A gantry loader automation system comprising a; a second gripper rotating part for adjusting an angle so that the second-first gripper and the second-second gripper can pick up the part to be processed.

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