KR102480561B1 - Apparatus for nozzle changing and the construction method thereof - Google Patents

Abstract

The present invention relates to a nozzle replacement device and a method for constructing the same, and more particularly, in a mechanical device for processing raw materials and discharging them to the outside through a nozzle, detaching and washing the nozzle before and after a working process, and removing the cleaned nozzle When re-attaching to the machine, by automating the attachment or detachment of the nozzle, it is possible to prevent injury to workers that may occur due to the weight or heat of the nozzle in the conventional manual replacement process through improvement of the working environment. It relates to a nozzle replacement device and a method for configuring the same.

Description

Nozzle replacement device and its configuration method {APPARATUS FOR NOZZLE CHANGING AND THE CONSTRUCTION METHOD THEREOF}

The present invention relates to a nozzle replacement device and a method for constructing the same, and more particularly, in a mechanical device for processing raw materials and discharging them to the outside through a nozzle, detaching and washing the nozzle before and after a working process, and removing the cleaned nozzle When re-attaching to the machine, by automating the attachment or detachment of the nozzle, it is possible to prevent injury to workers that may occur due to the weight or heat of the nozzle in the conventional manual replacement process through improvement of the working environment. It relates to a nozzle replacement device and a method for configuring the same.

In general, in order to manufacture a specific product such as a suture, raw materials are put into a machine and processed, and the processed raw materials are extracted to the outside through a nozzle and cooled.

At this time, it is necessary to detach the nozzle provided in the machine before and after the batch unit work process to cool down or wash, and then attach it to the machine again.

Most of the attachment and detachment of the nozzle is performed manually by a worker. For example, while holding the nozzle, a worker loosens and detaches the bolt fixing the nozzle, performs washing or cools the heat, and then tightens and attaches the nozzle while holding the nozzle with his hand.

However, since the weight of the nozzle is relatively heavy, it is not easy for the operator to perform the attachment or detachment work while supporting the heavy nozzle with his hand, and a burden may occur to the body, and if the nozzle is missed and bumped into, The risk of serious injury was high.

In addition, since the temperature of the finished nozzle rises to nearly 200 degrees, there is a risk of burns during the work process, and accordingly, the work difficulty increases and the work environment is very poor.

Therefore, in the present invention, in the process of discharging the processed raw material through the nozzle, when the nozzle is detached, washed, and reattached before and after the batch unit operation, by automating the detachment and attachment operation of the nozzle, It is intended to suggest a way to prevent injury to workers that may occur when replacing the nozzle manually and to improve the working environment.

Next, the prior art existing in the technical field of the present invention will be briefly described, and then the technical details to be achieved by the present invention to be differentiated from the prior art will be described.

First, Korean Patent Registration No. 1452941 (October 14, 2014) relates to an automatic nozzle replacement device of a welding torch, and a nozzle for an engineer is removed from the torch body of a welding robot on one side of the top plate of a worktable equipped with a flat top plate at a certain height. Nozzle separation jig to separate; It is configured to include; a nozzle coupling jig for coupling an unused nozzle to the torch body from which the engineer's nozzle is separated and removed from the other side of the top plate of the worktable.

That is, the prior art automatically separates and removes the nozzles already used from the welding torch provided at the front end of the welding robot so that a new nozzle is installed, so that the welding operation by the welding robot can be performed continuously and stably. Welding It describes the automatic nozzle replacement device of the torch.

However, in the present invention, in the process of discharging processed raw materials through the nozzle, the operation of detaching or attaching the nozzle while driving the nozzle replacement device independently configured at the lower position of the nozzle before and after the batch unit operation up, down, left and right Since it is automated, there is a significant difference in configuration between the prior art and the present invention.

In addition, Korean Patent Registration No. 0419866 (2004.02.10.) relates to an automatic nozzle exchange device, which automatically replaces nozzles corresponding to semiconductor devices of different sizes when mounting various types of semiconductor devices and electronic components. It relates to a nozzle exchange device.

That is, the prior art describes an automatic nozzle exchange device for reducing the nozzle exchange time by minimizing the size of the apparatus, reducing the cost, and simplifying the nozzle exchange operation.

However, since the present invention automates the operation of detaching or attaching the nozzle while driving it up, down, left and right after locating the independently configured nozzle replacement device under the nozzle in the batch unit work process, the prior art and the present invention Inventions are clearly different in composition.

In addition, Korean Patent Registration No. 1410142 (2014.06.25.) relates to an automatic compression nozzle replacement device for extrusion molding, which involves disassembling and separating the compression nozzle attached to the extrusion molding device, and then fastening and replacing a new compression nozzle. By doing it precisely, quickly and automatically with a minimum number of manpower, it is possible to reduce labor costs and lower manufacturing costs, prevent safety accidents in advance, and increase production efficiency by minimizing product production stoppage time. The present invention relates to an automatic compression nozzle replacement device for extrusion molding, which can prevent occurrence of various problems due to a temperature difference between a radial head and a compression nozzle by preheating a new compression nozzle to a certain temperature before a nozzle replacement operation.

That is, the prior art is configured to automatically dismantle the compression nozzle attached to the radial head of the melt spinning extrusion molding machine and then quickly attach a new compression nozzle, so that work efficiency is excellent and safety accidents can be prevented in advance device is described.

On the other hand, in the present invention, when attaching and detaching the nozzle from the machine before and after batch-based process operation in a machine equipped with a nozzle, the independently configured nozzle replacement device is driven up, down, left and right in accordance with the position of the nozzle to attach and detach the nozzle. Or, since it is a configuration that automatically performs attachment, the difference in technical configuration between the prior art and the present invention is clear.

The present invention was created to solve the above problems, and in a machine device in which a nozzle is used to process raw materials and discharge them to the outside to manufacture a suture, a nozzle replacement device that can easily attach and detach the nozzle. And it aims at providing the composition method.

In addition, another object of the present invention is to provide a nozzle replacement device and a method for configuring the same, which can automate a nozzle attachment or detachment operation using an independently constructed nozzle replacement device.

In addition, the present invention automates the operation of detaching the nozzles for cleaning before and after the batch unit operation and the operation of reattaching the cleaned nozzles, so that when the nozzles are manually replaced, the weight or heat of the nozzles may occur. Another object of the present invention is to provide a nozzle replacement device and a method of configuring the same to prevent injury to workers.

A nozzle replacement device according to an embodiment of the present invention includes a power base for supporting the nozzle on an upper portion for attaching or detaching the nozzle to a mechanical device; At least one nutrunner provided under the power base to perform bolt coupling for attaching the nozzle to the mechanical device or to perform bolt disassembly for detaching the nozzle attached to the mechanical device; And a control module for controlling the three-axis movement of the power base and the driving of the nutrunner; characterized in that it comprises a.

In addition, the power base, based on the control of the control module at least one lifting unit for lifting the power base up and down in the Z-axis direction of the three-axis direction; a first plate coupled to an upper portion of the elevating unit; at least one first guide rail provided on an upper surface of the first plate; a second plate coupled to the first guide rail and moving the power base in a horizontal direction, which is an X-axis direction among three axis directions, based on the control of the control module; at least one second guide rail provided on an upper surface of the second plate; and a third plate coupled to the second guide rail and moving the power base in a vertical direction, which is a Y-axis direction among three axis directions, based on the control of the control module.

In addition, the power base is provided on the first guide rail and the second guide rail, respectively, and moves the power base in the horizontal direction, which is the X-axis direction, or moves in the vertical direction, which is the Y-axis direction, A fixing member fixing the second plate and the third plate so that they do not deviate from their current positions, and when the fixing member is released, a worker manually manipulates the movement of the second plate and the third plate. characterized by what can be done.

In addition, the nutrunner includes a wrench provided at a position corresponding to the lower part of the bolt for detaching or attaching the nozzle to the mechanical device; A servomotor configured to rotate the wrench in a forward or reverse direction based on control of the control module to tighten the bolt to couple the nozzle to the mechanical device or to release the bolt coupling the mechanical device and the nozzle; and a cylinder for raising the wrench to the position of the bolt based on the control of the control module.

In addition, the nozzle replacement device may include a moving means for moving the nozzle replacement device; a sensor for detecting whether a bolt for coupling the nozzle to the mechanical device has moved to a corresponding position; and a display unit for displaying an operating state of the nozzle replacement device, wherein the moving unit includes at least one wheel provided at a lower portion to move the moving unit; a fixing part provided on one side or a lower surface of the lower part to fix the moving means in the process of attaching or detaching the nozzle to or detaching the machine; A handle installed on one side of the side for the operator to grip and move; And an input unit installed on one side of the side for inputting operation commands for the elevation of the power base and the elevation and rotation of the nutrunner; characterized in that it further comprises.

In addition, a nozzle replacement device configuration method according to an embodiment of the present invention includes forming a moving means for moving the nozzle replacement device; forming a housing unit for supporting the nozzle; Forming a power base for supporting the nozzle on the top to attach or detach the nozzle to the machine; Forming at least one nutrunner performing bolt coupling for attaching the nozzle to the mechanical device, or performing bolt disassembly for detaching the nozzle attached to the mechanical device; And a control module for controlling the three-axis movement of the power base and the driving of the nutrunner in a predetermined space of the formed moving means, and performing electrical connection between the control module and the power base and the nutrunner, The step of coupling the formed power base to the moving means, coupling the housing unit to the upper center of the power base, and coupling at least one nutrunner to the lower portion of the housing unit; characterized by comprising a to be

In addition, the forming of the power base includes a lifting part for lifting the power base up and down in the Z-axis direction among three axial directions, a first plate coupled to the upper part of the lifting part, and a horizontal direction in the X-axis direction among the three axial directions. Forming a second plate that moves in the 3-axis direction and a third plate that moves in the vertical direction, which is the Y-axis direction among the 3-axis directions; forming at least one first guide rail provided on an upper surface of the first plate and at least one second guide rail provided on an upper surface of the second plate; And coupling the lifting part to the lower part of the first plate, installing the first guide rail on the upper surface of the first plate, coupling the second plate on the first guide rail, and Installing the second guide rail on the upper surface, and configuring the power base by combining the third plate on the second guide rail; characterized in that it further comprises.

In addition, forming the nutrunner may include forming a wrench provided at a position corresponding to the lower portion of a bolt for detaching or attaching the nozzle to the machine; Forming a servomotor that rotates the wrench in a forward or reverse direction to tighten the bolt to couple the nozzle to the machine or to release the bolt coupling the machine and the nozzle; Forming a cylinder for elevating the wrench to the position of the bolt; and configuring a nutrunner by coupling the servomotor to a lower portion of the wrench and coupling a cylinder to one side of the housing to which the wrench is coupled.

In addition, forming the moving means may include forming at least one or more wheels for moving the moving means; Forming a fixing part for fixing the moving means in the process of attaching or detaching the nozzle to the mechanical device; Forming a handle for a worker to grip and move; Forming an input unit for inputting operation commands for the elevation of the power base and the elevation and rotation of the nutrunner; And coupling the wheel to a lower portion, coupling the fixing portion to a side or lower portion, coupling the handle to one side, and configuring the moving means by installing the input unit to one side of the side surface; characterized in that it further comprises a do.

In addition, the method of configuring the nozzle replacement device may include installing a sensor on one side of the power base to detect whether a bolt for coupling the nozzle to the mechanical device has moved to a corresponding position; and installing a display unit for displaying an operating state of the nozzle replacement device on the moving means.

As described above, according to the nozzle replacement device and its configuration method of the present invention, in a machine device in which a nozzle for discharging processed raw materials is used, the nozzle is detached before and after the batch unit operation, washed, and then reattached to perform the operation. When performing, by automating the detachment and attachment of the nozzle, there is an effect of preventing worker injury that may occur due to the weight or heat of the nozzle in the conventional manual replacement process through improvement of the working environment. .

1 is a view schematically showing the configuration of a nozzle replacement device according to an embodiment of the present invention.
2 is a front view of a nozzle replacement device according to an embodiment of the present invention.
3 is a plan view of a nozzle replacement device according to an embodiment of the present invention.
4 is a perspective view of a nozzle replacement device according to an embodiment of the present invention.
5 is a bottom perspective view of a nozzle replacement device according to an embodiment of the present invention.
Figure 6 is a view showing in detail the nutrunner configuration of the nozzle replacement device according to an embodiment of the present invention.
7 is a flowchart showing in detail the process of a method of configuring a nozzle replacement device according to an embodiment of the present invention.
8 is a flowchart showing in detail the operation process of nozzle attachment of the nozzle replacement device according to an embodiment of the present invention.
9 is a flowchart showing in detail the operation process of nozzle detachment of the nozzle replacement device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, a preferred embodiment of the nozzle replacement device and its configuration method of the present invention will be described in detail. Like reference numerals in each figure indicate like members. In addition, specific structural or functional descriptions of the embodiments of the present invention are merely exemplified for the purpose of explaining the embodiments according to the present invention, and unless otherwise defined, all terms used herein, including technical or scientific terms These have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this specification, it should not be interpreted in an ideal or excessively formal meaning. It is preferable not to

1 is a view schematically showing the configuration of a nozzle replacement device according to an embodiment of the present invention.

As shown in FIG. 1 , the nozzle replacement device 100 according to an embodiment of the present invention pressurizes and processes raw materials put into a machine such as a polymerizer to manufacture sutures and the like, and discharges them to the outside through the nozzle 200. When doing so, it is a device used to conveniently detach and attach the nozzle 200.

That is, by forming the nozzle replacement device 100 as an independent movable body, the operation of detaching the nozzle 200 for cleaning before and after the batch unit operation or the operation of reattaching the cleaned nozzle 200 is automated. will be.

For example, when attaching the nozzle 200 to the mechanical device through the nozzle replacement device 100, after moving the nozzle replacement device 100 to the lower part of the attachment position of the nozzle 200, the operator With the nozzle 200 supported on the power base 130 through key manipulation, the power base 130 is moved three-axis to the position where the nozzle 200 is attached (①). Then, by driving the nutrunner 140 up and down and rotating, the attachment of the nozzle 200 is completed by bolt coupling between the nozzle 200 and the mechanical device (②).

At this time, the three-axis movement of the power base 130 is the movement of the X axis in the horizontal direction, the Y axis in the vertical direction, and the Z axis in the vertical direction, and the first vertical movement is performed based on the control of the control module, and left and right adjustment is performed. After adjusting the nozzle 200 located on the upper part of the power base 130 to match the nozzle attachment position of the mechanical device, the second vertical movement is performed so that the nozzle 200 fits the nozzle attachment position. It is desirable to move

In addition, the movement in the Z-axis direction may be configured to be performed automatically, and the movement in the X-axis direction and the Y-axis direction may be configured to be finely adjusted manually by an operator without automation.

On the other hand, when the work process is completed and the nozzle 200 attached to the machine is detached, contrary to the attachment work, the nozzle replacement device 100 is moved to a lower position where the nozzle 200 is attached, and then , Three-axis movement of the power base 130 to the position where the nozzle 200 is attached is performed through the operator's key manipulation. Subsequently, the nut runner 140 is lifted and rotated to perform a bolt disassembly operation that combines the nozzle 200 and the mechanical device, and then the nozzle 200 separated from the mechanical device is moved to the power base 130. ), the attachment and detachment operation of the nozzle 200 is completed by returning it to the original state in a supported state.

Accordingly, in the process of replacing the nozzle 200 manually, it is possible to fundamentally prevent injury to workers that may occur due to the weight or heat of the nozzle 200 .

Figure 2 is a front view of a nozzle replacement device according to an embodiment of the present invention, Figure 3 is a plan view of the nozzle replacement device according to an embodiment of the present invention, Figure 4 is a nozzle replacement device according to an embodiment of the present invention A perspective view of, Figure 5 is a bottom perspective view of a nozzle replacement device according to an embodiment of the present invention, Figure 6 is a view showing in detail the nutrunner configuration of the nozzle replacement device according to an embodiment of the present invention.

2 to 6, the nozzle replacement device 100 according to an embodiment of the present invention includes a moving means 110, a housing unit 120, a power base 130, and a nutrunner 140 , a control module 150, and the like.

In addition, although not shown in the drawing, the nozzle replacement device 100 measures a sensor for detecting whether a bolt for coupling the nozzle 200 to the mechanical device has moved to a corresponding position, and an operating state of the nozzle replacement device 100. A display unit for displaying, an actuator or cylinder for driving the power base 130 and the nutrunner 140, a power unit for supplying operation power to each component using power, a memory for storing various operation programs, and the like can be further included.

As shown in FIGS. 2 to 5, the moving unit 110 is a component capable of freely moving the nozzle replacement device 100, and the upper part is open, the side surface is formed in a frame structure, and the lower part is a plate. is formed with

In addition, the moving means 110 is preferably formed of a hard metal material, the control module 150 is installed at a predetermined position inside, and power system and hydraulic system equipment are disposed.

At this time, the moving means 110 includes a wheel 111, a fixing part 112, a handle 113, an input part 114, and the like.

At least one wheel 111 is provided at the lower part for the movement of the moving means 110.

The fixing part 112 is provided on one side or a lower surface, and performs a stopper function for fixing the moving means 110 in the process of attaching or detaching the nozzle 200 to the mechanical device.

The handle 113 is installed on one side of the side, and allows the operator to freely move the moving means 110 without exerting great force while holding it.

The input unit 114 includes various buttons for inputting operation commands for the elevation of the power base 130, the elevation and rotation of the nutrunner 140, and a stop button in case of an emergency. It can be installed on one side.

The housing unit 120 is installed in the central portion of the power base 130 and serves to support the nozzle 200 on the upper portion, and at least one nutrunner 140 is coupled to the lower portion.

At this time, as shown in FIG. 6, the nozzle fixing part 121 having at least one protrusion is coupled to the upper part of the housing unit 120 to support the nozzle 200 thereon, the nozzle ( 200) can be prevented from leaving the corresponding position.

In addition, in order to attach the nozzle 200 to the machine, when placing it on the top of the housing unit 120, place a valve on the top of the nozzle 200 and attach it to the machine together with the nozzle 200. can make it In this case, the workpiece processed by the machine device is discharged to the outside through the nozzle 200 according to the operator's rotation of the valve by 90 degrees.

The power base 130 is coupled to the upper portion of the moving means 110, the housing unit 120 is coupled to the central portion, and the nozzle 200 is attached to or detached from the mechanical device at the upper portion. It performs the function of supporting (200).

That is, the weight of the housing unit 120 provided in the center, the nut runner 140 provided under the housing unit 120, and the nozzle 200 located above the housing unit 120 While performing a supporting role, it moves in a three-axis direction based on the control of the control module 150 to move the nozzle 200 to a position to be attached. In addition, when the nozzle 200 attached to the mechanical device is detached, the power base 130 is moved to a position where the nozzle 200 is attached based on the control of the control module 150, and the nozzle 200 is detached. (200) is supported on top.

At this time, as shown in FIGS. 4 and 5, the power base 130 includes a lifting part 131, a first plate 132, a first guide rail 133, a second plate 134, and a second guide. It is configured to include a rail 135, a third plate 136, and the like.

The elevating unit 131 is installed at each lower corner of the first plate 132, has an actuator or a cylinder driven by hydraulic pressure or pneumatic pressure, and based on the control of the control module 150, the power base 130 is moved up and down in the Z-axis direction among the three-axis directions.

The first plate 132 is installed above the vertical frame formed on the side of the moving means 110, and the elevation part 131 is coupled to each corner of the lower part.

The first guide rail 133 is provided at at least one location on the upper surface of the first plate 132 and is a part for moving the power base 130 in the X-axis direction, which is a horizontal direction.

The second plate 134 is coupled to the first guide rail 133, and based on the control of the control module 150, the power base 130 is 3-axis along the first guide rail 133. It moves in the horizontal direction, which is the X-axis direction among the directions.

The second guide rail 135 is provided at at least one location on the upper surface of the second plate 134 and is a part for moving the power base 130 in the Y-axis direction, which is a vertical direction.

The third plate 136 is coupled to the second guide rail 135 and, based on the control of the control module 150, moves the power base 130 along the second guide rail 135 in three axes. Among the directions, it moves in the vertical direction, which is the Y-axis direction.

On the other hand, the power base 130 has been described as an example of automatically performing movement in the three-axis direction based on the control of the control module 150, but is not limited thereto and can be configured in various ways.

For example, movement of the power base 130 in the Z-axis direction may be performed automatically, and movement in the X-axis and Y-axis directions may be manually adjusted by an operator. That is, in order for the operator to manually manipulate the movement of the second plate 134 and the third plate 136, a fixing member on the first guide rail 133 and the second guide rail 135, respectively ( not shown) is provided.

More specifically, when the operator moves the power base 130 in the horizontal direction, which is the X-axis direction, or in the vertical direction, which is the Y-axis direction, and then locks the fixing member, the second plate 134 and The third plate 136 does not deviate from its current position. In addition, when the operator loosens the fixing member, the operator can manually manipulate the movement of the second plate 134 and the third plate 136 .

The nutrunner 140 couples the nozzle 200 to the lower portion of the power base 130 (more specifically, the lower portion of the housing unit 120 coupled to the central portion of the power base 130) to a mechanical device. configured to perform bolt coupling for attaching the nozzle 200 to the mechanical device, or perform bolt disassembly for detaching the nozzle 200 attached to the mechanical device. Part.

At this time, as shown in FIG. 6, the nut runner 140 includes a wrench 141, a servo motor 142, a cylinder 143, and the like.

The wrench 141 is provided at the upper part of the nut runner 140, which corresponds to the lower part of the bolt for detaching or attaching the nozzle 200 to the mechanical device. At this time, the wrench 141 can be changed according to the head shape of the bolt.

The servomotor 142 is provided below the wrench 141, and rotates the wrench in a forward or reverse direction based on the control of the control module 150 to tighten the bolt to move the nozzle 200 to the machine. It is coupled to the device, or the bolt connecting the mechanical device and the nozzle 200 is released.

Based on the control of the control module 150, the cylinder 143 raises the wrench 141 to the position of a bolt for attaching the nozzle 200 to the mechanical device, or the mechanical device and the nozzle Raise the wrench 141 to the position of the bolt coupling 200.

The control module 150 is a component that collectively controls the operation of each component of the nozzle replacement device 100 .

For example, the control module 150 controls the three-axis movement of the power base 130 for attachment or detachment of the nozzle 200 and the lift and rotation of the nutrunner 140 .

Next, an embodiment of a method for configuring a nozzle replacement device according to the present invention configured as described above will be described in detail with reference to FIG. 7 . At this time, the order of each step according to the method of the present invention may be changed by a user environment or a person skilled in the art.

7 is a flowchart showing in detail the process of a method of configuring a nozzle replacement device according to an embodiment of the present invention.

As shown in FIG. 7, in order to configure the nozzle replacement device 100 according to an embodiment of the present invention, first, the step of forming a moving means 110 for free movement of the nozzle replacement device 100 It is performed (S110).

That is, the moving means 110 is used for fixing the moving means 110 in the process of forming at least one wheel 111 for movement and attaching or detaching the nozzle 200 to the mechanical device. The step of forming the fixing part 112, the step of forming the handle 113 for the worker to grip and move, the step of lifting the power base 130, and the operation commands for lifting and rotating the nut runner 140 Forming an input unit 114 for input, and coupling the wheel 111 to the lower side, coupling the fixing unit 112 to the side or lower side, and coupling the handle 113 to one side, It is formed through the step of installing the input unit 114 on one side of the side.

After forming the moving means 110 through the step S110, the step of forming the housing unit 120 for supporting the nozzle is performed (S120). That is, the housing unit 120 is formed to support and arrange the nozzle 200 and to cover bolts used when coupling the nozzle 200 to the machine.

Subsequently, a step of forming a power base 130 supporting the nozzle 200 on the upper portion is performed in order to attach or detach the nozzle 200 to the mechanical device (S130).

That is, the power base 130 includes a lifting part 131 that lifts the power base 130 up and down in the Z-axis direction among three axis directions, and a first plate 132 coupled to an upper part of the lifting part 131. ), forming a second plate 134 that moves in the horizontal direction, which is the X-axis direction, among the three-axis directions, and a third plate 136 that moves in the vertical direction, which is the Y-axis direction, among the three-axis directions, the first plate Forming at least one first guide rail 133 provided on the upper surface of the 132 and at least one second guide rail 135 provided on the upper surface of the second plate 134, and the first The elevating part 131 is coupled to the lower part of the plate 132, the first guide rail 133 is installed on the upper surface of the first plate 132, and the first guide rail 133 is placed on the first guide rail 133. The second plate 134 is coupled, the second guide rail 135 is installed on the upper surface of the second plate 134, and the third plate 136 is placed on the second guide rail 135. It is formed through a bonding step.

After forming the power base 130 through the step S130, to perform bolt coupling for attaching the nozzle 200 to the mechanical device, or to detach the nozzle 200 attached to the mechanical device. A step of forming at least one nutrunner 140 for performing bolt disassembly is performed (S140).

That is, the nut runner 140 forms a wrench 141 provided at a position corresponding to the lower part of the bolt for detaching or attaching the nozzle 200 to the machine, and turning the wrench 141 forward or By rotating in the reverse direction, forming a servomotor 142 to tighten the bolt to couple the nozzle 200 to the mechanism, or to release the bolt coupling the mechanism and the nozzle, the wrench Forming a cylinder 143 for elevating 141 to the position of the bolt, and coupling the servomotor 142 to the lower portion of the wrench 141, and one side of the housing to which the wrench 141 is coupled. It is formed through the step of coupling the cylinder 143 to.

In addition, after forming the moving means 110, the housing unit 120, the power base 130, and the nutrunner 140 through the steps S110 to S140, respectively, the moving means formed in the step S110 ( 110) is provided with a control module 150 for controlling the three-axis movement of the power base 130 and the driving of the nutrunner 140, and the control module 150 and the power base 130 ) and the nutrunner 140, and the power base 130 is coupled to the moving means 110, and the housing unit 120 is coupled to the upper center of the power base 130, , The step of coupling the nutrunner 140 to the lower part of the housing unit 120 is performed to finish the configuration of the nozzle replacement device 100 (S150).

In addition, when configuring the nozzle replacement device 100, a sensor (not shown) for detecting whether a bolt for coupling the nozzle 200 to the mechanical device has moved to a corresponding position and a sensor (not shown) of the nozzle replacement device 100 A display unit (not shown) displaying an operating state may be added and installed at a predetermined location. For example, in the case of the sensor, it can be installed on one side of the upper part of the power base 130, and the display unit can be installed on the handle 113 of the moving means 110.

Meanwhile, a nozzle attachment and detachment process of the nozzle replacement device according to an embodiment of the present invention will be described in detail with reference to FIGS. 8 and 9 .

8 is a flow chart showing in detail the operation process of nozzle attachment of the nozzle replacement device according to an embodiment of the present invention, and FIG. This is the flowchart shown.

First, referring to FIG. 8, the nozzle attachment method is described. The operator places the bolt and the nozzle 200 on the top of the housing unit 120 coupled to the central portion of the power base 130 of the nozzle replacement device 100 ( S210), the control module 150 forwardly drives the nutrunner 140 according to the operator's manipulation of the input unit 114 to prepare for attachment (S220).

Subsequently, the operator moves the nozzle replacement device 100 to a position where the nozzle of a specific mechanical device is to be coupled, fixes the nozzle replacement device 100 by manipulating the fixing part 112 of the moving means 110, and (S230), the control module 150 firstly raises the power base 130 upward in the Z-axis direction at high speed according to the operator's manipulation of the input unit 114 (S240).

Thereafter, the control module 150 performs fine adjustment of the X-axis and Y-axis directions of the power base 130 so that the nozzle 200 is accurately located below the coupling position according to the operator's manipulation of the input unit 114. Then (S250), according to the operator's manipulation of the input unit 114, the power base 130 is raised at a second low speed upward in the Z-axis direction to prepare for bolt coupling (S260).

At this time, the control module 150 determines whether the bolt is located at the coupling position of the mechanical device through a sensor (S270). That is, it is determined whether the nozzle 200 is moved to fit the nozzle attachment position.

As a result of the determination in the step S270, when the bolt is located at the coupling position of the mechanical device, the control module 150 controls the rotational drive of the nutrunner 140 according to the operator's manipulation of the input unit 114 to engage the bolt. The nozzle 200 is attached to the mechanical device through (S280).

As such, when the nozzle 200 is attached to the mechanical device, the control module 150 returns the power base 130 to its original position according to the operator's manipulation of the input unit 114 and completes the nozzle attachment operation (S290). .

On the other hand, referring to FIG. 9, referring to the nozzle detachment method, the operator moves the nozzle replacement device 100 to the position of the nozzle 200 coupled to a specific mechanical device, and then removes the moving means 110. The nozzle replacement device 100 is fixed by manipulating the top 112 (S310).

Subsequently, the control module 150 first raises the power base 130 upward in the Z-axis direction at a high speed according to the operator's manipulation of the input unit 114 (S320), and then the nozzle 200 is positioned at the coupling position. Fine adjustment of the X-axis and Y-axis directions of the power base 130 is performed to accurately locate the lower portion (S330), and then the power base 130 is raised at a second low speed upward in the Z-axis direction to disassemble the bolts. Prepare (S340).

Thereafter, the control module 150 controls the rotational drive of the nutrunner 140 according to the operator's manipulation of the input unit 114, so that the nozzle 200 is detached from the machine through bolt disassembly (S350). ).

At this time, the control module 150 determines whether the bolt is detached from the coupling position of the mechanical device through a sensor (S360).

As a result of the determination in step S360, when the bolt is detached from the coupling position of the mechanical device, the control module 150 returns the power base 130 to its original position according to the operator's manipulation of the input unit 114, and completes the nozzle detaching operation. Do (S370).

As such, in the present invention, in a machine device in which a nozzle for discharging processed raw materials is used, when the nozzle is detached, washed, and reattached before and after the batch unit work, the nozzle is detached and attached. Since it can be automated, it is possible to prevent injury to workers that may occur due to the weight or heat of the nozzle in the conventional manual replacement process through improvement of the working environment.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but this is only exemplary, and various modifications and other equivalent embodiments will be made by those skilled in the art in the field to which the technology belongs. You will understand that it is possible. Therefore, the technical protection scope of the present invention will be determined by the claims below.

100: nozzle replacement device 110: means of transportation
111: wheel 112: fixing part
113: handle 114: input unit
120: housing unit 121: nozzle fixing part
130: power base 131: lifting part
132: first plate 133: first guide rail
134: second plate 135: second guide rail
136: third plate 140: nutrunner
141: wrench 142: servo motor
143: cylinder 150: control module
200: nozzle

Claims (7)

In the nozzle replacement device,
A power base for supporting the nozzle on the top to attach or detach the nozzle to the machine;
At least one nutrunner provided under the power base to perform bolt coupling for attaching the nozzle to the mechanical device or to perform bolt disassembly for detaching the nozzle attached to the mechanical device; and
A control module for controlling the three-axis movement of the power base and the drive of the nutrunner; includes,
A housing unit for supporting the nozzle is coupled to the upper center of the power base,
A nozzle fixing part having at least one protrusion is coupled to an upper portion of the housing unit,
The at least one nutrunner is coupled to the lower portion of the housing unit,
And when the nozzle is placed on the upper part of the housing unit to attach the nozzle to the machine, a valve is placed on the top of the nozzle and attached to the machine together with the nozzle. The method of claim 1,
The power base,
At least one lifting unit for lifting the power base up and down in the Z-axis direction among the three-axis directions based on the control of the control module;
a first plate coupled to an upper portion of the elevating unit;
at least one first guide rail provided on an upper surface of the first plate;
a second plate coupled to the first guide rail and moving the power base in a horizontal direction, which is an X-axis direction among three axis directions, based on the control of the control module;
at least one second guide rail provided on an upper surface of the second plate; and
A third plate coupled to the second guide rail and moving the power base in a vertical direction, which is a Y-axis direction among three axis directions, based on the control of the control module; Nozzle replacement device further comprising. The method of claim 2,
The power base,
It is provided on the first guide rail and the second guide rail, respectively, and moves the power base in the horizontal direction, which is the X-axis direction, or in the vertical direction, which is the Y-axis direction, and then moves the power base to the second plate and the It further includes; a fixing member for fixing the third plate so that it does not deviate from its current position,
When the fixing member is released, the nozzle replacement device, characterized in that the operator can manually manipulate the movement of the second plate and the third plate. The method of claim 1,
The nutrunner,
A wrench provided at a position corresponding to the lower part of the bolt for detaching or attaching the nozzle to the mechanical device;
A servomotor configured to rotate the wrench in a forward or reverse direction based on control of the control module to tighten the bolt to couple the nozzle to the mechanical device or to release the bolt coupling the mechanical device and the nozzle; and
A nozzle replacement device further comprising a; cylinder for raising the wrench to the position of the bolt based on the control of the control module. The method of claim 1,
The nozzle replacement device,
a moving means for moving the nozzle replacement device;
a sensor for detecting whether a bolt for coupling the nozzle to the mechanical device has moved to a corresponding position; and
It further includes; a display unit for displaying the operating state of the nozzle replacement device,
The means of transportation is
At least one wheel provided on the lower part to move the means of transportation;
a fixing part provided on one side or a lower surface of the lower part to fix the moving means in the process of attaching or detaching the nozzle to or detaching the machine;
A handle installed on one side of the side for the operator to grip and move; and
An input unit installed on one side of the side and inputting operation commands for the elevation of the power base and the elevation and rotation of the nutrunner; nozzle replacement device further comprising. configuring a moving means for moving the nozzle replacement device;
constructing a housing unit for supporting the nozzle;
constructing a power base for supporting the nozzle on top to attach or detach the nozzle to a machine;
Constructing at least one nut runner performing bolt coupling for attaching the nozzle to the mechanical device, or performing bolt disassembly for detaching the nozzle attached to the mechanical device; and
A control module for controlling movement of the power base in a three-axis direction and driving of the nutrunner is provided in a predetermined space of the moving means, electrical connection between the control module and the power base and the nutrunner is performed, and the power base coupling to the moving means, coupling a housing unit to the upper center of the power base, and coupling at least one nutrunner to a lower portion of the housing unit; a nozzle replacement device configuration method comprising: . The method of claim 6,
The step of configuring the power base,
An elevation part that lifts the power base up and down in the Z-axis direction among three axis directions, a first plate coupled to the upper part of the elevation part, a second plate that moves horizontally in the X-axis direction among three axis directions, and a three-axis direction configuring a third plate that moves in a vertical direction, which is a Y-axis direction;
configuring at least one first guide rail provided on an upper surface of the first plate and at least one second guide rail provided on an upper surface of the second plate; and
The elevating part is coupled to the lower part of the first plate, the first guide rail is installed on the upper surface of the first plate, the second plate is coupled to the first guide rail, and the upper surface of the second plate is installed. Installing the second guide rail to, and configuring a power base by combining the third plate on the second guide rail; further comprising,
The step of configuring the nutrunner,
Configuring a wrench provided at a position corresponding to the lower part of the bolt for detaching or attaching the nozzle to the machine;
Constructing a servomotor that rotates the wrench in a forward or reverse direction to tighten the bolt to couple the nozzle to the mechanism or to release the bolt coupling the mechanism and the nozzle;
constructing a cylinder for elevating the wrench to the position of the bolt; and
Constructing a nutrunner by coupling the servomotor to a lower portion of the wrench and coupling a cylinder to one side of the housing to which the wrench is coupled; the nozzle replacement device configuration method further comprising.

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