KR102316748B1 - Flexible parts feeder - Google Patents

Abstract

The present invention relates to a flexible part supply device, comprising: a part accommodating unit having an accommodating groove for accommodating the parts; an upper plate which supports the part receiving unit; a plurality of linear actuators coupled to the upper plate and performing linear reciprocating motion; and a control unit connected to the plurality of linear actuators to control the plurality of actuators. Accordingly, the present invention can reduce noise, heat generation, and vertical downward residual vibration by converting the inertia force of a driving unit into elastic energy of a spring by providing the resonance-driven linear actuator to increase driving efficiency and reduce power consumption.

Description

FLEXIBLE PARTS FEEDER

The present invention relates to a flexible component feeding device, and more particularly, to a flexible component feeding device having a resonance-driven linear actuator.

BACKGROUND ART In general, a parts supply system provides a vibrating device having a parts accommodating portion forming a surface for enabling the robot to grip parts and vibrating means arranged to vibrate the parts accommodating portion. In this case, a voice coil motor, an electromagnetic coil, a piezoelectric element, pneumatic pressure, hydraulic pressure, etc. have been used as a vibration means for vibrating. Here, the most used voice coil motor is a small vibration actuator with a structure that vibrates using a permanent magnet and a coil, and has fast response, precision, and linearity.

However, since the small vibration actuator having the above-described structure is driven only by the magnetic force generated from the coil, there is a problem in that a large amount of driving power is consumed. In addition, when the number of windings of the coil is increased to improve the responsiveness of the actuator, more driving power is consumed. Furthermore, there is a problem in that power consumption is increased.

In addition, in the case of the vibration device having the small vibration actuator having the above-described structure, there are problems in that noise due to linear reciprocating motion and residual vibration are caused to the floor surface supporting the vibration device during operation.

As an example, in the case of an overseas flexible parts supply system, there was a problem in that the camera and the robot were shaken by the vibration transmitted to the bottom surface supporting the vibration device. In order to solve this problem, it is recommended to install a sub-base of 200~300KG or more on the floor where the vibration device is installed.

The parts supply system for transporting small component parts disclosed in the prior US Patent No. 8550233 has three directions so that the part accommodating part 3 and the part accommodating part 3 can vibrate in one of the three directions of the space. and a vibrating device (2) having vibrating means (12) arranged to vibrate the component accommodating portion (3) in a direction corresponding to any combination of x, y and z. For this purpose, the vibrating means each comprise a vibrating actuator 12 comprising a vibrating element which is arranged to move in at least five degrees of freedom.

However, the invention is supplied to the work site as an expensive device, and in particular, there is a problem in that noise and heat are generated due to the vibration of the vibration means, and the work environment is deteriorated due to the residual vibration.

US Patent No. 8550233

The present invention is to solve the above problems, and to provide a flexible component supply device that reduces noise, heat, and vertical downward residual vibration and lowers power consumption by providing a resonance driven linear actuator.

Furthermore, it is possible to provide a high-efficiency flexible component supply device at low cost.

In order to achieve the above object, a flexible component supply device according to an embodiment of the present invention is a component receiving portion having a receiving groove for accommodating the components; an upper plate supporting the part receiving part; a plurality of linear actuators coupled to the upper plate and performing a linear reciprocating motion; and a controller connected to the plurality of linear actuators to control the plurality of actuators.

In addition, the bottom surface of the receiving groove is any one of flat, mesh, honeycomb, holes, grooves, and V-holes according to the shape of the part. It can be implemented in the form of a pattern of

In addition, the controller may implement a vibration motion by controlling each of the plurality of linear actuators.

In addition, the linear actuator is disposed inside the body, a first core into which a coil is inserted, a second core spaced apart from an inner circumferential surface of the first core, and a second core disposed between the first core and the second core a driving unit having a magnet; a driving shaft disposed through the central axis of the driving unit and performing a linear reciprocating motion by the driving unit; Nuts disposed at one end and the other end of the fixed shaft to prevent rotation of the fixed shaft; and a resonance spring disposed on the upper and lower portions of the driving unit, spaced apart from the outer circumferential surface of the nut, and activating a force in a direction opposite to the movement of the driving unit.

In addition, the linear actuator may be disposed in a straight line so that the central axis of the first core and the second core coincide with the central axis of the magnet.

In addition, the linear actuator may include a core fixing part for fixing the second core; and an escape portion for suppressing friction between the second core and the core fixing unit in a portion where the driving shaft faces each other.

In addition, the resonance spring is disposed on both sides of the lower portion of the driving unit and serves to push up, the spring may be compressed when the driving shaft is lowered, and the spring compressed when the driving shaft is raised may amplify the force.

In addition, the resonance spring is disposed on both sides of the upper portion of the driving unit and serves to press, the spring is compressed when the driving shaft is raised, and the spring compressed when the driving shaft is lowered can amplify the force.

In addition, the drive shaft may be provided with a ball guide groove.

In addition, the nut is disposed on the inside, the ball rolling along the ball guide groove; and a sealing member formed on the inner surface.

The flexible component supply device according to the present invention as described above can reduce noise and heat generation and residual vibration in the vertical direction by having a resonance-driven linear actuator. Furthermore, there is an effect of lowering power consumption.

Furthermore, by providing a high-efficiency flexible component supply device at a low cost, there is an effect that the working environment is improved and the working efficiency is improved.

In addition, it is possible to individually control the linear actuator to provide various vibration motions for the parts, thereby facilitating the supply of parts and improving productivity.

1 is a perspective view showing a flexible component supply device according to an embodiment of the present invention.
Figure 2 is a perspective view showing a left side view and a right side view of a flexible component supply device according to an embodiment of the present invention.
3 is an exemplary view showing a component accommodating unit according to another embodiment of the present invention.
4 is a perspective view illustrating a linear actuator according to an embodiment of the present invention.
5 is a top view showing a linear actuator according to an embodiment of the present invention.
FIG. 6 is a cross-sectional view illustrating a cross section AA′ of FIG. 4 .
7 is a top view and a side view illustrating a fixed shaft to which a nut is coupled according to an embodiment of the present invention.
8 is an exemplary view illustrating a fixed shaft to which a nut is coupled according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to clarify the technical spirit of the present invention. In describing the present invention, if it is determined that a detailed description of a related well-known function or component may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Elements having substantially the same functional configuration in the drawings are given the same reference numbers and reference numerals as much as possible even though they are shown in different drawings. For convenience of explanation, if necessary, the device and method will be described together.

1 is a perspective view showing a flexible parts supply device according to an embodiment of the present invention, Figure 2 is a perspective view showing (a) a left side view and (b) a right side view of the flexible parts supply device according to an embodiment of the present invention and FIG. 3 is an exemplary view showing a component accommodating part according to another embodiment of the present invention.

1 and 2, the flexible component supply device 100 includes a component accommodating part 110, a top plate 120 supporting the part accommodating part 110, and a plurality of linear actuators coupled to the top plate 120 ( 130 ), a lower plate 125 supporting the plurality of linear actuators 130 , a control unit 140 , a vision unit 150 , and a component transfer unit 160 may be included.

The component accommodating part 110 may have a receiving groove for accommodating components of various sizes. In addition, the parts accommodating part 110 may have an outer part around the accommodating groove so that the parts are not separated to the outside by vibration. The bottom of the receiving groove of the part accommodating part 110 is flat, mesh, honeycomb, holes, grooves, V-holes according to the shape of the part. It may be implemented in the form of one pattern. Accordingly, the flexible component supply device 100 can accommodate from small parts to large parts, and it is possible to provide the parts accommodating part 110 easily by gripping depending on the parts.

In addition, the component accommodating part 110 may be supported by the upper plate 120 . In this case, the component accommodating part 110 may be fixed to the upper plate 120 through bonding or screw coupling.

As another embodiment, referring to FIG. 3 , the component accommodating part 110 may be fixed to the upper plate 120 through a one-touch attachment/detachment method. In this case, the component accommodating part 110 may include a pair of the handle part 113 and the fixing pin 115 . The pair of handle portions 113 may provide a grip portion for attaching and detaching the component accommodating portion 110 . When the pair of handle parts 113 are laid down in a horizontal direction with respect to the upper plate 120 , they may be coupled to and fixed with the fixing pins 115 . That is, when the pair of handle parts 113 are laid down in a horizontal direction with respect to the top plate 120 after the parts receiving part 110 is seated on the top plate 120 , the fixing pins 115 and One end may be coupled and fixed. Conversely, when the pair of handle parts 113 are erected in a vertical direction with respect to the upper plate 120 , their fixing with the fixing pins 115 is released, so that they can be used as handles for transport.

Returning to the description of FIGS. 1 and 2 again, the top plate 120 may support the component accommodating part 110 .

In addition, one side of the upper plate 120 may support the component accommodating part 110 , and the other side may be coupled to and connected to the linear actuator 130 . In this case, the upper plate 120 and the linear actuator 130 may be coupled by a fixing means, for example, a clamp.

In an embodiment, the upper plate 120 may form a through hole in each corner region in the shape of a rectangular flat plate. Accordingly, one end of the linear actuator 130 may be inserted into and coupled to the through hole of the upper plate 120 . The upper plate 120 may support the component accommodating part 110 by seating it inside the through hole formed in each corner region.

The plurality of linear actuators 130 may transmit vibration to the component accommodating unit 110 by moving the upper plate 120 by a linear reciprocating motion so as to easily grip the component. That is, the linear actuator 130 is coupled to the lower portion of the upper plate 120 , and vibrates the component accommodating part 110 . Accordingly, when the linear actuator 130 is driven, the component accommodating unit 110 vibrates. At this time, the parts located on the bottom surface of the part accommodating part 110 are moved in accordance with the vibration motion while repeating that the parts are momentarily lifted up.

The plurality of linear actuators 130 may be supported and fixed by the lower plate 125 . In addition, the vibration transmitted from the linear actuator 130 to the bottom surface may be absorbed by the lower plate 125 .

The linear actuator 130 will be described later in detail with reference to FIGS. 4 and 5 .

The controller 140 is coupled to and connected to the linear actuator 130 , and may control the plurality of linear actuators 130 . The control unit 140 may have a printed circuit board on which electronic elements for control are mounted.

In addition, the controller 140 can individually control each of the plurality of linear actuators 130 to implement a vibrating motion. Here, the vibration motion may be implemented by adjusting a frequency (amount of vibration) and a voltage (intensity of vibration) transmitted to each corner region of the upper plate 120 . That is, the controller 140 may implement the vibration motion by adjusting the amplitude of the linear reciprocating motion of the linear actuator 130 . The vibratory motion may provide various motions to confuse or collect parts to hold them, or to classify parts by size and shape.

The vision unit 150 may collect data by photographing the parts accommodated in the parts accommodating unit 110 , and may form image data. The vision unit 150 is connected to the parts transfer unit 160 and can share the formed image data.

The parts transfer unit 160 may be implemented as a robot, and through the vision unit 150 , a part can be viewed or a part to be gripped can be selected and transferred.

4 is a perspective view showing a linear actuator according to an embodiment of the present invention, FIG. 5 is a top view showing a linear actuator according to an embodiment of the present invention, and FIG. .

4 to 6 , the linear actuator 130 according to an embodiment of the present invention includes a driving shaft 10 coupled with a driving unit 50 to vertically drive, and a shaft fixing unit for fixing one end of the driving shaft 10 . (11), a first support part 65 for fixing the other end of the drive shaft 10 and the resonance springs 60_1 and 60_2, and a second support part 67 for supporting the shaft fixing part 11 and the resonance springs 60_3 and 60_4 ) may be included. Furthermore, the linear actuator 130 may further include a stand 70 and an elastic member 80 .

The driving unit 50 is a device that converts electrical energy into mechanical energy, and when a current flows through the coil, a magnetic field is formed in the first core 20 and the second core 30 so that the magnet 40 is vertically driven. That is, the driving unit 50 operates when power is applied to perform a mechanical linear reciprocating motion. The driving unit 50 includes a body 51 , a first core 20 and a second core 30 having a coil disposed inside the body 51 inserted therein, a first core 20 and a second core 30 . ) disposed between the magnet 40 , but fixing the magnet 40 , may include a magnet holder 45 coupled to the drive shaft 10 . Meanwhile, the force of the resonance spring 60 and the mass of the surrounding structures may be set so that the magnet 40 matches the central axes of the first and second cores 20 and 30 . That is, the central axis of the first core 20 and the second core 30 may be arranged in a straight line to coincide with the central axis of the magnet 40 .

The driving shaft 10 may be formed as a bar-shaped spline shaft having a circular cross-section having a predetermined length. In addition, the drive shaft 10 may be implemented with any one material of chromium molybdenum steel, bearing steel, and alloys thereof.

The driving shaft 10 is disposed through the central axis of the driving unit 50 , and may perform a linear reciprocating motion by the driving unit 50 . One end of the driving shaft 10 may protrude through the magnet holder 45 to the outside and be coupled and fixed by the shaft fixing unit 11 . The other end of the driving shaft 10 may be supported by the first support part 65 . At this time, the nuts 13 and 15 may be coupled and fixed to one end and the other end of the drive shaft 10 . Here, the nuts 13 and 15 can prevent rotation and shaking of the drive shaft 10 . Meanwhile, both sides of the nut 13 may be fixed by the nut fixing part 14 . The nut fixing part 14 may be fixedly coupled to the body 51 .

The shaft fixing part 11 may be supported by the second support part 67 . At this time, the shaft fixing part 11 and the resonance springs 60_3 and 60_4 may be supported by the second support part 67 through the protruding parts formed on both sides at one end in a cylindrical shape.

The shaft fixing part 11 and the nut fixing part 14 may be disposed to be spaced apart from each other in a mutually intersecting direction.

The first core 20 may have a coil inserted therein. The coil is a conducting wire that generates a magnetic force by forming a magnetic field around the first and second cores 20 and 30 . The coil is tightly and uniformly wound around the inner circumference of the first core 20 to form a cylindrical shape with a constant thickness.

The second core 30 may be implemented in a cylindrical shape and disposed on the inner circumferential surface of the first core 20 . The second core 30 may be fixed by one end of the core fixing unit 16 . The outer side of the other end of the core fixing part 16 may be fixed by being coupled to the body 55 . The inner side of the other end of the core fixing part 16 may be fixed by being coupled to the nut 15 .

The core fixing part 16 may include an escape part 33 for suppressing friction in a portion where the second core 30 and the driving shaft 10 face each other. The escape skin 33 may mean to form an escape space so that friction does not occur. Here, the escape space may be formed to have a reduced thickness inside the core fixing part 16 to minimize the contact surface during vertical reciprocation of the driving shaft 10 .

According to the embodiment, the escape skin 33 may be implemented with a Teflon material with excellent wear resistance, and reduce resistance due to friction with the drive shaft 10 so that the drive shaft 10 can smoothly reciprocate. At the same time, it is possible to prevent the core fixing part 16 from being damaged by friction. The escape skin 33 may be formed to form a reinforcing structure while maintaining a small friction area.

The magnet 40 may be driven up and down by magnetic fields formed in the first and second cores 20 and 30 by supplying current to the coil. In this case, the magnet 40 is fixed by the magnet holder 45 , and the magnet holder 45 and the driving shaft 10 are coupled to each other so as to be vertically driven together.

The body 51 may be implemented so that a hollow is formed therein to surround the driving unit 50 . In addition, the body 55 may be implemented so that a hollow is formed therein to surround the nut 15 coupled to the core fixing part 16 .

The resonance spring 60 may amplify the force while the spring repeats compression and relaxation according to the driving of the driving unit 50 .

The resonance spring 60 is disposed one on both sides of the upper and lower sides to the outside of the driving unit 50 to correspond to the first coil 20, and both ends are located between the second support unit 67 and the driving unit 50 and between the driving unit 50 and the first coil. 1 A force in the opposite direction to the movement of the driving unit 50 is started by contacting between the supporting parts 65 . As the driving shaft 10 moves linearly, the resonance spring 60 stores the driving force of the driving shaft 10 and releases elastic energy when the driving shaft 10 is moved in reverse to assist the movement of the driving shaft 10 .

Accordingly, the resonance springs (60_1, 60_2) are disposed on both sides of the lower portion of the driving unit 50 and serve to push up, and the spring is compressed when the driving shaft 10 is lowered, and the spring compressed when the driving shaft 10 is raised is the force. can amplify

The resonance springs 60_3 and 60_4 are disposed on both sides of the upper portion of the driving unit 50 and serve to press, and the spring is compressed when the driving shaft 10 rises, and the compressed spring when the driving shaft 10 descends to amplify the force. can

When explaining the driving principle of the driving unit 50 , when power is applied to the driving unit 50 and a current flows along the coil, the magnetic force generated in the first and second cores 20 and 30 is generated by the magnet 40 and the driving shaft 10 . ) is raised. Accordingly, the resonance springs 60_3 and 60_4 are compressed springs, and the resonance springs 60_1 and 60_2 amplify the force of the compressed spring to release elastic energy.

On the contrary, the magnetic force generated by the first and second cores 20 and 30 lowers the magnet 40 and the drive shaft 10 . Accordingly, the resonant springs 60_1 and 60_2 are compressed springs, and the resonant springs 60_3 and 60_4 amplify the force of the compressed spring to release elastic energy.

The stand 70 is for coupling the driving shaft 10 and the shaft fixing part 11, and may be implemented in a polygonal shape for the convenience of using a spanner. Preferably, the stand 70 may be implemented in a hexagonal column shape. On the other hand, since the stand 70 is an auxiliary structure for coupling the driving shaft 10 and the shaft fixing part 11 through a spanner, it can be implemented in various ways in which a spanner can be used. Accordingly, the present invention is not limited thereto.

The elastic member 80 may be inserted into the through hole of the upper plate 120 . Accordingly, the elastic member 80 may be used when the linear actuator 130 is coupled to the upper plate 120 . Here, the elastic member 80 may be implemented as a member having elasticity such as rubber. The elastic member 80 may correct distortion occurring when the respective linear actuators 130 are driven differently with respect to the plurality of linear actuators 130 disposed in the flexible component supply device 100 .

Accordingly, the present invention is a flexible component supply device having a resonance-driven linear actuator to which mechanical resonance driving between a spring and a mass of a surrounding structure is applied, and the driving efficiency by converting the inertia force of the driving part into elastic energy of the spring to amplify the force and reduce noise and heat and residual vibration transmitted vertically downward of the linear actuator. Accordingly, the present invention has the advantage of lowering power consumption.

7 is a view showing a fixed shaft to which a nut is coupled according to an embodiment of the present invention, and FIG. 8 is an exemplary view showing a fixed shaft to which a nut is coupled according to an embodiment of the present invention.

7 (a) is a top view showing the fixed shaft to which the nut is coupled, (b) is a side view showing the fixed shaft to which the nut is coupled. Nuts 13 and 15 may be coupled to one end and the other end of the drive shaft 10 . Referring to FIG. 8 , a groove 13_6 may be formed in the center of the nuts 13 and 15 over the circumference of the outer circumferential surface. A fixing member 17 is coupled to the groove 13_6 formed in the center of the nuts 13 and 15 to fix the nuts 13 and 15 in place.

The drive shaft 10 is provided with a ball guide groove 10h. The ball 13_2 formed on the inner side 13_1 of the nut 13 along the ball guide groove 10h of the drive shaft 10 may perform a rolling motion. The nuts 13 and 15 may be implemented in the form of a ball bush. The nut 13 may include a sealing member 13_5 formed on the inner surface 13_1 . The nut 13 may reduce internal friction while the ball 13_2 is rolling by the sealing member 13_5.

Accordingly, although the driving shaft 10 is driven in a linear direction, rotation may be prevented by the ball guide groove 10h.

In addition, although the sliding of the drive shaft 10 caused surface friction, as the balls 13_2 of the nuts 13 and 15 roll along the ball guide groove 10h of the drive shaft 10, the surface friction phenomenon would be significantly reduced. can

Accordingly, the linear actuator 130 may perform a smooth high-speed reciprocating motion by coupling the drive shaft and the ball bush nut.

So far, the present invention has been described in detail with reference to the preferred embodiments shown in the drawings. These embodiments are not intended to limit the invention, but merely to illustrate, and should be considered in an illustrative rather than a limiting point of view. The true technical protection scope of the present invention should be determined by the technical spirit of the appended claims rather than the above description. Although specific terms are used in this specification, they are only used for the purpose of describing the concept of the present invention and are not used to limit the meaning or scope of the present invention described in the claims. Each step of the present invention does not necessarily have to be performed in the order described, and may be performed in parallel, selectively, or individually. Those of ordinary skill in the art to which the present invention pertains will understand that various modifications and equivalent other embodiments are possible without departing from the essential technical spirit of the present invention as claimed in the claims. It is to be understood that equivalents include both currently known equivalents as well as equivalents developed in the future, ie, all elements invented to perform the same function, regardless of structure.

100: flexible parts supply device 110: parts receiving part
120: upper plate 130: linear actuator
140: lower plate 150: vision part
160: parts transfer unit
10: fixed shaft 10h: ball guide groove
11: shaft fixing part 13, 15: nut
13_1: inside of nut 13_2: ball of nut
13_5: sealing member 13_6: groove of nut
14: nut fixing part 16: core fixing part
17: fixing member 20: first core
30: second core 33: escape
40: magnet 45: magnet holder
50: driving unit 51: upper body
55: lower body 60: resonance spring
65: first support 67: second support
70: stand 80: elastic member

Claims (10)

a component accommodating part having a receiving groove for accommodating the components;
an upper plate supporting the part receiving part;
a plurality of linear actuators coupled to the upper plate and performing a linear reciprocating motion; and,
A control unit connected to the plurality of linear actuators to control the plurality of linear actuators; including,
The linear actuator is
a driving unit disposed inside the body and having a first core into which a coil is inserted, a second core spaced apart from an inner circumferential surface of the first core, and a magnet disposed between the first core and the second core;
a driving shaft disposed through the central axis of the driving unit and performing a linear reciprocating motion by the driving unit;
Nuts disposed at one end and the other end of the drive shaft to prevent rotation of the drive shaft; and,
Doedoe disposed in the upper and lower portions of the driving unit, spaced apart from the outer circumferential surface of the nut, and a resonance spring for starting a force in a direction opposite to the movement of the driving unit; a flexible component supply device comprising a. According to claim 1,
The bottom surface of the receiving groove has a pattern of any one of flat, mesh, honeycomb, holes, grooves, and V-holes according to the shape of the part. Flexible parts supply device, characterized in that implemented in the form. According to claim 1,
The control unit, flexible parts supply device, characterized in that by controlling each of the plurality of linear actuators to implement a vibrating motion. delete According to claim 1,
The linear actuator is
The central axis of the first core and the second core is a flexible component supply device, characterized in that arranged in a straight line to coincide with the central axis of the magnet. According to claim 1,
The linear actuator is
a core fixing part for fixing the second core; and,
The flexible component supply device further comprising a; escape portion for suppressing friction between the second core and the core fixing portion in a portion where the driving shaft faces each other. According to claim 1,
The resonance spring is disposed on both sides of the lower portion of the drive unit and serves to push up, but the spring is compressed when the drive shaft is lowered, and the spring compressed when the drive shaft is raised is a flexible component supply device, characterized in that it amplifies the force. According to claim 1,
The resonance spring is disposed on both sides of the upper portion of the driving unit and serves to press, but the spring is compressed when the driving shaft is raised, and the spring compressed when the driving shaft is descending is a flexible component supply device, characterized in that it amplifies the force. According to claim 1,
The drive shaft is a flexible component supply device, characterized in that provided with a ball guide groove. 10. The method of claim 9,
The nut is
It is disposed on the inside, the ball rolling along the ball guide groove; and,
Flexible parts supply device comprising a; sealing member formed on the inner surface.

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