KR102566361B1 - Apparatus for a fine transporting - Google Patents

Abstract

The present invention provides a finger portion for holding and fixing a transfer object, an arm portion for adjusting a distance between the finger portions by sliding a plurality of the finger portions, a transfer portion for moving the arm portion in which the arm portion is rotatably coupled, and the finger portion .

Description

Precision transfer device {Apparatus for a fine transporting}

The present invention relates to a precision transfer device that can be used to transfer objects having various diameters and can safely transfer objects that are easily destroyed by external impact due to their high brittleness.

Patent Document 001 discloses a plurality of vacuum chucks that move along rails installed in the transport direction of brittle materials and absorb, fix or dismantle the brittle materials, and are mounted on the plurality of vacuum chucks so that the vacuum chucks move along the rails. A first linear motor operating to operate, and a plurality of suction units located outside the vacuum chuck and equipped with a second linear motor to move along the transport direction of the brittle material, and adsorbing, fixing or dismantling the edge of the brittle material. It proposes a technology related to a brittle material conveying device comprising a.

Patent Document 002 includes a driver disposed horizontally between a base and a motion stage disposed above the base so as to be able to move with respect to the base; a first hinge member fixed to one end of the base and the actuator and having a circular hinge; a second hinge member fixed to the other end of the actuator and having a circular hinge; a third hinge member fixed to the motion stage and having a first circular hinge and a second circular hinge; It is fixed to the base to interlock with the second hinge member and the third hinge member and proposes a technology related to an ultra-precision transfer device composed of a lever member having a notched hinge.

Patent Document 003 is a laser cutting machine that is spaced apart on the brittle material being transported and disposed at a predetermined position; A plate capable of vacuuming or brewing the brittle material and equipped with a conveying unit such as a roller capable of conveying the brittle material, and realizing precise conveying by conveying the plate itself; The brittle material to be cut by the laser cutting machine is located at the center of one or more of the plates to be seated, and has a means for vertically moving the brittle material and a driving means for precise rotational motion, and the brittle material A first auxiliary plate that can be precisely rotated and aligned to the cutting position of the laser cutting machine by fixing it by forming a vacuum; It is located in the center of the plate located downstream of the transport direction of the brittle material, and the up and down movement means for unloading the brittle material whose sides are cut by the laser cutter to the robot and precise rotational movement. It is equipped with a driving means and proposes a technology related to a brittle material rotational alignment device, characterized in that it includes a second auxiliary plate capable of vacuuming or blowing.

Patent Document 004 is a plate on which a brittle material is seated; A first aligning means in which a first linear motion means disposed in a direction perpendicular to the moving direction of the plate and at least one second linear motion means disposed in the same direction as the moving direction of the plate are connected in parallel; a brittle material aligning means comprising a second aligning means symmetrical to the first aligning means and spaced apart from the plate by a predetermined distance; a brittle material auxiliary aligning means composed of auxiliary linear motion means mounted on the brittle material aligning means and capable of moving forward and backward, and an aligning pin attached to the auxiliary linear motion means; a member for lifting and lowering the auxiliary linear motion means and the auxiliary alignment means; vision means for accurately aligning by checking the alignment marks marked on the brittle material on the plate line-aligned by the alignment means to cut the brittle material on the plate, comparing them with predetermined marks, and feeding back the deviation; It proposes a technology related to a brittle material aligning device, characterized in that it comprises a.

KR 10-2005-0002670 A (January 10, 2005) KR 10-2002-0090396 A (December 05, 2002) KR 10-2006-0102239 A (September 27, 2006) KR 10-2006-0102241 A (September 27, 2006)

The present invention relates to a precision transfer device that can be used to transfer objects having various diameters and can safely transfer objects that are easily destroyed by external impact due to their high brittleness.

It is an invention related to a precision transfer device for solving the problems of the prior inventions, and the present invention is a finger portion 100 for holding and fixing a transfer target; An arm portion 200 to which a plurality of the finger portions 100 are slidably coupled to adjust a distance between the finger portions 100; a transfer unit 300 to which the arm unit 200 is rotatably coupled and moves the arm unit 200; a control unit 400 that controls operations of the finger, arm, and transfer units; made including

The present invention relates to a precision transfer device, and the finger portion 100 is coupled to a side surface, and includes a pressing means 110 in which a fitting groove 111 into which a transfer object is inserted is formed; includes

The present invention relates to a precision transfer device, and the finger unit 100 includes a pressure information acquisition means 120 coupled to the pressure means 110 to obtain pressure information generated while pressing a transfer target; includes

The present invention relates to a precision transfer device, and the pressure information acquisition means 120 includes a contact member 121 spaced apart from each other in the vertical height direction of the pressure means 110; a pressure measuring sensor 122 connected to an end of the contact member 121 and measuring a pressure applied to the contact member 121; includes

The present invention relates to a precision transfer device, and the pressing means 110 is made up of a plurality of pressing means unit bodies 110A; The finger part 110 includes a slide unit 130 for adjusting the separation distance between the pressing unit units 110A; includes

The present invention relates to a precision transfer device, and the pressure information acquisition means 120 includes a contact member 121 spaced apart from each other in the vertical height direction of the pressure means 110; an elastic member 123 connected to an end of the contact member 121; A pressure measuring sensor 122 connected to the danbo of the elastic member 123 to measure the applied pressure while the elastic member 123 is compressed; includes

The present invention relates to an inspection system including a precision transfer device, and includes a restraining chain 500 on which a transfer target transferred through the precision transfer device is seated; an inspection module 600 that simultaneously inspects the front, rear, and side states of the transfer object transferred through the restraining chain 500; includes

Since the distance between the finger parts of the present invention can be adjusted, there is an advantage in that it can be used for transporting various objects having different diameters.

Since the present invention can precisely adjust the strength of the force pressing the transfer object, there is an advantage in that even a transfer object that is easily destroyed due to high brittleness can be safely transferred.

In the present invention, since the moving speed of the finger part is variable corresponding to the degree of proximity to the transfer target, there is an advantage in minimizing the shock generated when the finger unit contacts the transfer target.

Since the length of the pressing means can be adjusted, the present invention has the advantage of smoothly transferring objects of various sizes.

According to the present invention, it is possible to determine whether or not the pressing position to be transferred is correct based on information on the order in which pressure is applied to the contact member, so it is possible to solve the problem of damage caused when pressing is performed at the wrong position.

The present invention has the advantage of minimizing the time required for quality inspection because it is possible to simultaneously inspect the front, rear, and side states of the transfer object.

1 is a perspective view showing an inspection system including a precision transfer device according to the present invention;
Figure 2 is a conceptual diagram for explaining the transfer through the present inventors precision transfer device.
Figure 3 is an embodiment showing a finger portion of the present invention precision transfer device.
Figure 4 is another embodiment showing a finger portion of the present invention precision transfer device.
Figure 5 is a new embodiment showing the finger of the present invention precision transfer device.
Figure 6 is a perspective view and a partially enlarged view for explaining the surface shape of the finger portion of the present invention precision transfer device.
Figure 7 is a perspective view for explaining the inspection module of the present inventors precision transfer device.
Figure 8 is a block diagram for explaining the control unit of the present invention precision transfer device.

Hereinafter, the most preferred embodiment of the present invention will be described in detail in order to explain the present invention in detail to the extent that those skilled in the art can easily practice the present invention.

Numbers cited in the examples below are not limited to the referenced subject and can be applied to all examples. An object that exhibits the same purpose and effect as the configuration presented in the embodiment corresponds to an equivalent replacement object. The high-level concept presented in the examples includes sub-concept objects that are not described.

(Example 1-1) A precision transfer device according to the present invention includes a finger portion 100 for holding and fixing a transfer target; An arm portion 200 to which a plurality of the finger portions 100 are slidably coupled to adjust a distance between the finger portions 100; a transfer unit 300 to which the arm unit 200 is rotatably coupled and moves the arm unit 200; a control unit 400 that controls operations of the finger, arm, and transfer units; includes

In order for the product manufacturing and quality inspection process to be carried out quickly, a transfer device capable of transferring a plurality of transfer targets more quickly and accurately is required. A precision transfer device capable of moving a dog transfer target was developed.

In addition, since the shape and diameter of the object to be transferred can be varied according to the product produced by the user, as shown in FIG. The distance between the rejects 100 is adjusted so that transfer targets having various shapes and diameters can be easily transferred.

At this time, as shown in FIG. 2, the transfer unit 300 has a structure capable of moving the arm unit 200 in vertical and forward directions, and the arm unit 200 is rotatably coupled to the transfer unit 300, FIG. As shown in (a) of 2, when the finger part 100 grabs and fixes the transfer object A, as shown in (b) of FIG. 2, the arm part 200 rotates to the restraining chain 500. The transfer target (A) can be seated.

(Embodiment 2-1) The present invention relates to a precision transfer device, and in Embodiment 1-1, the finger portion 100 is coupled to a side surface, and a fitting groove 111 into which a transfer object is inserted is formed compression means 110; includes

(Example 2-2) In the precision transfer device of the present invention, in Example 2-1, the pressing means 110 are arranged to face each other on the inner surface of a pair of finger parts 100 facing each other thing; includes

(Example 2-3) In the precision transfer device of the present invention, in Example 2-1, the pressing means 110 is formed of any one of sponge, rubber, and styrofoam; includes

(Example 2-4) In the precision transfer device of the present invention, in Example 2-1, the fitting groove 111 has an arc shape; includes

(Example 2-5) In the precision transfer device of the present invention, in Example 2-1, the finger portion 100 is formed on the pressing means 110 and is located in the deceleration area of the pressing means 110. Proximity sensor (C) for detecting; includes

Referring to FIG. 3, the finger portion 100 has a deformable elastic material or soft material pressing means 110 formed on the inner surface in response to an external force, thereby minimizing the impact generated when in contact with the transfer target. It is possible to maximize the frictional force of the contact surface.

In addition, the pressing means 110 may have various shapes capable of pressing and fixing the transfer target more stably. In one embodiment, as shown in FIG. 3, it has a rectangular parallelepiped shape, but the inner surface in contact with the transfer target. An arc-shaped fitting groove 111 is formed in, and when the transfer target has a cylindrical shape, the side of the transfer target is inserted into the fitting groove 111 and may be a shape capable of maximizing the contact area.

In addition, in order to transfer more transfer objects (A), the finger portion 100 must be operated more quickly, but when the finger portion 100 is operated quickly, the moment the finger portion 100 and the transfer object (A) come into contact Since a large impact may be applied to the transfer object (A) and the transfer object (A) may be destroyed, in the present invention, by measuring the distance between the pressing means 110 and the transfer object (A) in the proximity sensor (C) , When the distance between the pressing means 110 and the transfer object A is closer to a certain level or more, the control unit 400 can decelerate the finger unit 100.

At this time, the proximity sensor (C) may include various sensors capable of measuring that the distance between the pressing means 110 and the transfer target (A) has reached the designed distance, so it is not limited thereto.

(Embodiment 3-1) The present invention relates to a precision transfer device, and in Embodiment 2-1, the finger portion 100 is coupled to the pressing means 110 and presses a transfer target, and pressure information generated a pressure information acquisition means 120 for acquiring; includes

(Embodiment 3-2) In the precision transfer device of the present invention, in Embodiment 3-1, the pressure information acquiring means 120 includes a contact member 121 spaced apart from each other in the vertical height direction of the pressing means 110; a pressure measuring sensor 122 connected to an end of the contact member 121 and measuring a pressure applied to the contact member 121; includes

(Example 3-3) In the precision transfer device of the present invention, in Example 3-2, the contact member 121 is an elastic body that can be deformed or compressed in response to an external force; includes

(Example 3-4) In the precision transfer device of the present invention, in Example 3-2, the control unit 400 determines whether or not the transfer member is being pressed based on the order in which pressure is applied to the plurality of contact members 121. Progress or non-progress determination unit 410 for determining; includes

(Embodiment 3-5) In the precision transfer device of the present invention, in Embodiment 3-2, the controller 400 moves the finger portion 100 based on the time point at which pressure is applied to the contact member 121 Finger speed control unit 420 to reduce the speed; includes

(Example 3-6) In the precision transfer device of the present invention, in Example 3-2, the control unit 400 includes a first information storage unit 430 storing yield strength at which cracks or deformations of the transfer target occur, When the pressure information obtained from the compression information acquisition unit 120 reaches 70 to 90% of the yield strength stored in the first information storage unit 430, the end point determination unit 440 that terminates the compression of the finger portion 100 ); includes

When the transfer target has high brittleness such as vials, glasses, glass bottles, etc., in order to prevent the transfer target from being destroyed during the transfer process, the force that the finger portion 100 presses on the transfer target does not destroy the transfer target It must be adjusted to a certain number that does not

Therefore, in the present invention, the finger part 100 presses the transfer target in the pressure information acquisition means 120 and measures the pressure applied to the transfer target, and receives the pressure information measured by the control unit 400 to obtain the finger unit 100 ) was made to press the transfer target only below the stored maximum pressure value.

At this time, the acquisition of pressure information by the compression information acquisition means 120 is performed when the contact member 121 inserted into the insertion groove formed in the thickness direction of the compression means 110 is pressed and the pressure measuring sensor 122 connected to the end is pressed. , The pressure measuring sensor 122 may be in the form of converting and measuring the pressed force into pressure, but it is not limited since pressure information can be obtained in various ways other than this.

And, the contact member 121 is recommended to be made of an elastic body in order to minimize the impact applied to the transfer target, and should not interfere with the contact between the compression means 110 and the transfer target, so the compression means 110 inside A first contact member 121-1 accommodated, and a second contact member 121-1 coupled to the first contact member 121-1 so as to be capable of piston movement and inserted into the first contact member 121-1 when in contact with a transfer target. It may be made including the contact member 121-2.

In addition, if the pressing of the target to be transferred by the finger unit 100 is not performed at the correct position, the target to be transferred is not stably pressed by the pressing means 110 and there is a problem of escaping to the outside, so in the present invention, the progress is determined In the unit 410, based on the order of the contact members 121 in contact with the transfer object, it is determined whether the compression is performed at the correct position, and then whether or not the compression progresses can be determined.

In detail, when the transfer target has a cylindrical shape, when pressing is performed at the correct position, the contact member 121 located in the center among the plurality of contact members 121 spaced apart comes into contact with the transfer target first. When the pressure is first measured at the contact member 121 positioned at the edge and then the pressure is measured at the contact member 121 positioned at the edge, it is determined that the pressure is accurately made in the correct position, and first at the contact member 121 positioned at the edge. When the pressure is measured, it is determined that the transfer member compression is being performed at an incorrect position, and the compression position can be corrected.

(Embodiment 4-1) The present invention relates to a precision transfer device, and in Embodiment 3-1, the pressing means 110 is composed of a plurality of pressing means unit bodies 110A; The finger part 110 includes a slide unit 130 for adjusting the separation distance between the pressing unit units 110A; includes

(Example 4-2) In the precision transfer device of the present invention, in Example 4-1, the control unit 400 includes a second information storage unit 450 storing outside diameter information of a transfer target, the second information storage unit a unit unit distance adjusting unit 460 that controls the slide unit 130 based on the information stored in 450 to adjust the separation distance between the pressing means units 110A; includes

When the fitting groove 111 into which the transfer object A is fitted is formed on the inner surface of the pressing means 110, the side of the transfer object A is fitted into the fitting groove 111, and the transfer object A and the compression Since the contact area of the means 110 is widened, it is possible to press and fix the transfer target more stably.

However, when the diameter of the transfer target (A) increases beyond a certain level, since the side of the transfer target (A) cannot be inserted into the fitting groove 111, the effect of increasing the contact area through the fitting groove 111 is lowered. In the present invention, as shown in FIG. 4, the pressing means 110 is formed separately into a plurality of pressing means units 110A, and the plurality of pressing means units 110A formed separately form the finger portion by the slide unit 130 By enabling movement in the longitudinal direction of (110), it was possible to adjust the fitting groove 111 to a size suitable for the transfer target (A).

(Embodiment 5-1) The present invention relates to a precision transfer device, and in Embodiment 3-1, the pressure information obtaining means 120 is a contact member disposed spaced apart in the vertical height direction of the pressing means 110. (121); an elastic member 123 connected to an end of the contact member 121; A pressure measuring sensor 122 connected to the danbo of the elastic member 123 to measure the applied pressure while the elastic member 123 is compressed; includes

(Example 5-2) In the precision transfer device of the present invention, in Example 5-1, the pressure information acquisition means 120 includes a base plate 124 to which the pressure measuring sensor 122 is coupled, and the base plate ( 124) to adjust the length of the contact member 121 exposed to the outside of the pressing means 110; includes

(Example 5-3) In the precision transfer device of the present invention, in Example 5-2, the contact member 121 is a protruding bar 121-3 protruding toward the height adjusting means 125, the height Adjusting means 125 is an eccentric cam; includes

(Embodiment 5-4) In the precision transfer device of the present invention, in Embodiment 5-1, the pressing means 110 includes a restraining protrusion 112 formed on the surface; includes

(Example 5-5) The precision transfer device of the present invention is in Example 5-4,

The restraining protrusion 112 includes a first restraining protrusion 112-1 formed on one side in the width direction and a second restraining protrusion 112-2 formed on the other side in the width direction; includes

(Example 5-6) In the precision transfer device of the present invention, in Example 5-5, the first restraining protrusion 112-1 and the second restraining protrusion 112-2 are bent or bent toward the center. ; includes

Referring to FIG. 5, the acquisition of pressure information by the pressure information acquisition means 120 is applied when the contact member 121 contacts the transfer target, the elastic member 123 is compressed, and the elastic member 123 is compressed and applied. The pressure may be measured by the pressure measuring sensor 122 or the length of the variable elastic member 123 may be measured by a displacement measuring device such as LVDT and then replaced with a pressure value.

At this time, since the protruding length (L) of the contact member 121 for obtaining pressure information more stably according to the operating speed of the finger portion 100 and the diameter of the transfer object is variable, in the present invention, the height adjusting means 125 By adjusting the position of the base plate 124 to which the contact member 121 is coupled, the length L of the contact member 121 protruding to the outside can be varied.

And, as shown in FIG. 6, a restraining protrusion 112 is formed on the surface of the pressing means 110 to maximize friction with the transfer target, and as shown in FIG. 2, the arm 200 rotates and transfers. When the object (A) rotates clockwise, it is possible to prevent the transfer object (A) from sliding and escaping from the finger portion 100, and the restraining protrusion 112 is bent or bent toward the center of the pressing means 110 Formed, it is recommended to more effectively limit the slide movement of the transfer object (A) formed on both sides in the longitudinal direction.

(Embodiment 6-1) The present invention is an inspection system including the precision transfer device of Example 5-1, comprising: a restraining chain 500 on which a transfer object transferred through the precision transfer device is seated; an inspection module 600 for inspecting a state of a transfer target transferred through the restraining chain 500; includes

(Example 6-2) In the precision transfer device of the present invention, in Example 6-1, the inspection module 600 adsorbs and rotates the transfer object transported by the restraining chain 500 to move the transfer object to a designed height. A height adjusting device 610 that moves with a height, a rotation device 620 that rotates a transfer object located at a designed height, and a vision device 630 that obtains information on the shape and foreign object of a transfer object that rotates by the rotation device 620. ; includes

(Example 6-3) In the precision transfer device of the present invention, in Example 6-2, the vision device 630 is a first vision device that identifies the shape of the side of the transfer target and foreign object information located on the side and inside ( 631), a second vision device 632 that identifies the front shape of the transfer object and foreign object information located on the front side, and a third vision device 633 that identifies the rear shape and foreign object information located on the rear side of the transfer target; includes

Referring to FIG. 1, a transfer object (A) moving through a conveyor (1) is seated on a restraining chain (500) through a conveying device (B), and then transferred at a constant speed through the restraining chain (500). The quality of object A is evaluated by the inspection module 600 .

In detail, not only can flaws or cracks be formed on the surface of the transfer target during the manufacturing and heat treatment process, but also foreign substances can be inserted into the raw material or introduced into the manufactured transfer target during the manufacturing process, according to the present invention. In the quality evaluation process through the inspection module 600, it is possible to separate the transfer object (A) in which the above problem occurs.

At this time, the inspection through the inspection module 600, as shown in FIG. 1, side inspection, front inspection, The rear surface inspection may be performed individually, but in order to minimize the time required for the inspection, as shown in FIG. It is recommended that the vision device 632 and the third vision device 633 are arranged in the circumferential direction so that the omnidirectional inspection is performed at once.

At this time, the first vision device 631 includes a line scanning device capable of scanning the side of the transfer object A rotated by the rotation device 620 while being inserted into the groove of the height adjusting device 610, The second vision device 632 and the third vision device 633 may include various image capturing devices capable of capturing front and rear images of the object A to be transferred.

In addition, to assist in line scanning and image capture, the first light device 634 is positioned opposite the first vision device 631 and overlaps with the third vision device 633 on the opposite side of the second vision device 632. A second light device 635 may be positioned, and a third light device 636 may be positioned overlapping with the second vision device 632 on the opposite side of the third vision device 633 .

100: finger part 110: pressure means
110A: pressing means unit 111: fitting groove
112: restraint protrusion 112-1: first restraint protrusion
112-2: second restraining protrusion 120: pressure information acquisition means
121: contact member 122: pressure measuring sensor
123: elastic member 124: base plate
125: height adjustment means 130: slide unit
200: arm part 300: transfer part
400: control unit 410: progress judgment unit
420: finger speed control unit 430: first information storage unit
440: end point determination unit 450: second information storage unit
460: unit distance adjusting unit
500: restraint chain
600: inspection module 610: height adjustment device
620: rotation device 630: vision device
631: first vision device 632: second vision device
633: third vision device
C: proximity sensor

Claims (7)

Finger part 100 for holding and fixing the transfer target;
A plurality of the finger parts 100 are slidably coupled so that the distance between the finger parts 100 is
An adjustable arm part 200;
a transfer unit 300 to which the arm unit 200 is rotatably coupled and moves the arm unit 200;
a control unit 400 that controls operations of the finger, arm, and transfer units;
The finger part 100 is coupled to the side, and the fitting groove 111 into which the transfer object is inserted is
Formed pressing means (110);
The finger unit 100 includes a compression information acquiring means 120 coupled to the pressing means 110 and obtaining pressure information generated while pressing the transfer object;
The compression information acquisition means 120 includes contact members 121 spaced apart from each other in the vertical height direction of the compression means 110;
a pressure measuring sensor 122 connected to an end of the contact member 121 and measuring a pressure applied to the contact member 121; A precision transfer device comprising a.
delete delete delete The method of claim 1,
The pressing means 110 is made up of a plurality of pressing means unit bodies 110A;
The finger part 100 includes a slide unit 130 for adjusting the separation distance between the pressing unit units 110A; A precision transfer device comprising a.
The method of claim 1,
The compression information acquisition means 120 includes contact members 121 spaced apart from each other in the vertical height direction of the compression means 110;
an elastic member 123 connected to an end of the contact member 121;
Connected to the danbo of the elastic member 123, the elastic member 123 is compressed and applied
a pressure measuring sensor 122 for measuring pressure; A precision transfer device comprising a.
In the inspection system including the precision transfer device of claim 6,
A restraining chain 500 on which the transfer target transferred through the precision transfer device is seated;
an inspection module 600 that simultaneously inspects the front, rear, and side states of the transfer object transferred through the restraining chain 500; Inspection system comprising a.