KR102644843B1 - Banding type transferring apparatus - Google Patents

Abstract

The invention for a banding type transport device is disclosed. The banding type transfer device of the present invention includes: a band guide unit installed on a transfer table and having a receiving part for receiving the transfer object, a transfer gripper unit detachably connected to the band guide unit, and a transfer gripper unit, It is installed on a band winding unit where the band is wound, and a transfer gripper unit, and is installed on a band transfer unit and transfer gripper unit that moves the band along the band guide unit so that the band surrounds the transfer item, and the band surrounds the transfer object. It is characterized in that it includes a band restraint part that restrains.

Description

Banding type transfer device {BANDING TYPE TRANSFERRING APPARATUS}

The present invention relates to a banding type transfer device, and more specifically, to a banding device that does not require calculation of gripping points to hold the conveyed object, transports conveyed objects of various sizes and shapes, and can hold and place the conveyed object even in a narrow space. It is about a type transfer device.

In general, a transfer robot is a device that transports objects to a desired location. Transfer robots include an adsorption robot equipped with a vacuum adsorption unit and a gripper robot equipped with a finger gripper unit. The adsorption robot transports the material after the vacuum adsorption unit adsorbs the conveyed material by vacuum pressure. The gripper robot grips the conveyed object by moving the finger gripper portion to a preset gripping point after the finger gripper portion opens to the outside of the conveyed object.

However, conventional adsorption robots cannot be used to transport materials whose surfaces are not smooth. Additionally, a gripper robot equipped with a finger gripper unit must spread the finger gripper unit to the outside of the transported object, so when the transported object is located in a narrow space, the finger gripper unit may collide with surrounding structures, making it difficult to grip the transported object.

The background technology of the present invention is disclosed in Korean Patent Publication No. 2015-0050917 (published on May 11, 2015, title of the invention: transfer robot system for press line).

The present invention was created to improve the above problems, and the purpose of the present invention is to eliminate the need for gripping point calculations to grab the conveyed material, to transport conveyed objects of various sizes and shapes, and to handle transported objects even in narrow spaces. The goal is to provide a banding type transfer device that can be held and placed.

A banding type transfer device according to the present invention includes: a band guide portion installed on a transfer table and having a receiving portion for receiving the conveyed material; A transfer gripper part detachably connected to the band guide part; A band winding unit installed on the transfer gripper unit and around which a band is wound; a band transfer unit installed on the transfer gripper unit and moving the band along the band guide unit so that the band surrounds the transfer object; and a band restraint part installed on the transfer gripper unit and restraining the band in a state where the band surrounds the conveyed object.

In addition, the band guide part includes a guide frame part in which a moving channel part through which the band moves is formed; a cover guide part installed on the guide frame part and opening or closing the moving channel part; and a guide driving unit that moves the cover guide unit so that the cover guide unit opens and closes the moving channel unit.

In addition, as the transport gripper part is connected to the band guide part, both sides communicate with both sides of the moving channel part, respectively.

Additionally, the guide frame part has an upper side open so that the transfer gripper part is seated.

In addition, the cover guide part may include a first cover part movably installed on one side of the movable channel part in the width direction; and a second cover part disposed to face the first cover part and movable to the other side in the width direction of the movable channel part.

Additionally, the guide driving unit may include a first guide rack gear unit installed on the first cover unit; a second guide rack gear unit installed on the second cover unit; a guide pinion portion installed to engage the first guide rack gear portion and the second guide rack gear portion; and a guide motor unit that rotates the guide pinion unit so that the first guide rack gear unit and the second guide rack gear unit move in opposite directions.

In addition, the band transfer unit unwinds the band after the transfer gripper unit is connected to the band guide unit, draws out the end of the band to one side of the transfer gripper unit, and transfers the end of the band moved along the band guide unit to the band guide unit. Insert it into the other side of the gripper part.

In addition, the band transfer unit wraps the band so that the band is in close contact with the outer surface of the conveyed object after the band restraint unit restrains the band.

In addition, the band transfer unit includes a transfer roller unit rotatably in contact with the band and releasing or winding the band according to the direction of rotation; and a transfer drive unit connected to the transfer roller unit and generating driving force to rotate the transfer roller unit.

In addition, the transfer roller unit includes a first transfer roller supporting one side of the band; And a second transfer roller that supports the other side of the band and is connected to the transfer drive unit to rotate.

In addition, it further includes a retraction detection unit that detects whether the band is retracted from the other side of the transfer gripper unit.

In addition, it further includes a recovery detection unit that detects the recovery state of the band on one side of the transfer gripper unit.

In addition, an identification part having a color different from that of the band is formed at the end of the band, and the collection detection unit detects the color of the identification part recovered to one side of the transfer gripper unit.

In addition, the band restraint portion includes a first restraint member disposed to face one side of the band; a second restraining member disposed to face the other side of the band; and a restraining drive unit that moves the second restraining member toward the first restraining member so that the first restraining member and the second restraining member press the band.

In addition, it further includes a lifting driving unit that lifts and moves the band guide unit up and down.

In addition, it further includes an adsorption gripper part that is connected to the transport gripper part and sucks air and is adsorbed to the transported object accommodated in the receiving part.

According to the present invention, since the transfer gripper unit has a movement trajectory in the vertical direction from the upper side of the band guide unit, even if the transfer object is located in a narrow place, the transfer gripper unit can be prevented from interfering with or colliding with surrounding structures.

In addition, according to the present invention, since the band restrains the conveyed object while being unwound from the band winding unit, conveyed objects of various sizes, various shapes, and various materials can be transported. Since the wide band surrounds and restrains the conveyed material, it is possible to easily transport conveyed materials that are easily damaged or whose shape is deformed.

Additionally, according to the present invention, the transfer gripper unit does not need to calculate an exact gripping point to restrain the conveyed object, and the time for wrapping and restraining the transported object with a band can be significantly shortened.

Figure 1 is a side view showing a state in which a bending type transfer device according to an embodiment of the present invention is installed on a transfer table.
Figure 2 is a perspective view schematically showing the configuration of a bending type transfer device according to an embodiment of the present invention.
Figure 3 is a perspective view showing a state in which the transfer gripper part is raised from the band guide part in the banding type transfer device according to an embodiment of the present invention.
Figure 4 is a front view schematically showing the configuration of a bending type transfer device according to an embodiment of the present invention.
Figure 5 is a cross-sectional perspective view schematically showing the configuration of a bending-type transfer device according to an embodiment of the present invention, and Figure 6 is a front cross-sectional view schematically showing the configuration of a bending-type transfer device according to an embodiment of the present invention.
Figure 7 is an exploded perspective view showing a cover guide part and a guide driving part in a bending type transfer device according to an embodiment of the present invention.
Figure 8 is a cross-sectional view showing a cover guide part and a guide driving part in a bending type transfer device according to an embodiment of the present invention.
Figure 9 is an enlarged view schematically showing the configuration of the band transfer unit and the band restraint unit according to an embodiment of the present invention.
10 to 17 are operational diagrams schematically showing the operation process of a bending type transfer device according to an embodiment of the present invention.

Hereinafter, an embodiment of a bending type transfer device according to the present invention will be described with reference to the attached drawings. In the process of explaining a banding type transfer device, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a side view showing a state in which a bending type transfer device according to an embodiment of the present invention is installed on a transfer table, and Figure 2 is a perspective view schematically showing the configuration of a bending type transfer device according to an embodiment of the present invention. Figure 3 is a perspective view showing the state in which the transfer gripper part is raised from the band guide part in the banding type transfer device according to an embodiment of the present invention, and Figure 4 schematically shows the configuration of the banding type transfer device according to an embodiment of the present invention. It is a front view shown by , and Figure 5 is a cross-sectional perspective view schematically showing the configuration of a bending-type transfer device according to an embodiment of the present invention, and Figure 6 is a schematic view of the configuration of a bending-type transfer device according to an embodiment of the present invention. This is a cross-sectional view showing the

Referring to Figures 1 to 6, the banding type transfer device 100 according to an embodiment of the present invention includes a band guide unit 110, a transfer gripper unit 120, an adsorption gripper unit 121, and a band winding unit ( 130), a band transfer unit 140, a band restraint unit 150, a lifting/lowering driving unit 160, an entry detection unit 170, and a recovery detection unit 180.

The band guide unit 110 is installed on one side of the transfer table 10 for transferring the transfer object 20 to the banding type transfer device 100. The transfer table 10 may be of various forms, such as a roller conveyor or a belt conveyor.

The band guide portion 110 is installed inside the base portion 101. The base portion 101 may be formed in a square frame shape. A plurality of wheel parts 103 may be installed on the lower side of the base part 101 to move the base part 101.

A receiving portion 110a is formed inside the band guide portion 110 so that the conveyed material 20 supplied from the conveying table 10 can be accommodated therein.

Figure 7 is an exploded perspective view showing the cover guide part and the guide driving part in the banding type transfer device according to an embodiment of the present invention, and Figure 8 is an exploded perspective view showing the cover guide part and the guide in the bending type transfer device according to an embodiment of the present invention. This is a cross-sectional view showing the driving part.

Referring to FIGS. 7 and 8, the band guide unit 110 according to an embodiment of the present invention includes a guide frame unit 111, a cover guide unit 114, and a guide driving unit 115.

The guide frame portion 111 forms a schematic appearance of the band guide portion 110, and a moving channel portion 112 is formed inside to allow the band 132 to move. The guide frame unit 111 according to this embodiment may be formed in the shape of a square frame with an open upper side. In this case, the receiving portion 110a may be exemplified as an empty space formed between the inner surfaces of the guide frame portion 111. The guide frame portion 111 is formed with an open inner surface so that the band 132 disposed on the movable channel portion 112, which will be described later, can be pulled out into the receiving portion 110a.

The moving channel unit 112 is installed inside the guide frame unit 111 and guides the movement of the band 132 pulled out from the transfer gripper unit 120, which will be described later. The movable channel unit 112 according to an embodiment of the present invention is formed to have the shape of a rectangular frame with one side open and is installed inside the guide frame unit 111. The movable channel portion 112 is disposed so that the open side faces the inner surface of the guide frame portion 111 in communication with the receiving portion 110a. The movable channel portion 112 extends in a longitudinal direction parallel to the longitudinal direction of the guide frame portion 111. The moving channel unit 112 is installed on each frame (not shown) on both sides of the guide frame unit 111. That is, the moving channel unit 112 is installed on the guide frame unit 111 in a state where it is separated into three pieces. Each of the mutually separated moving channel parts 112 may be connected to be curved at a predetermined curvature near both lower edges of the guide frame part 111. Accordingly, the moving channel unit 112 can prevent the movement of the band 132 from interfering with the corner side of the guide frame unit 111.

The cover guide part 114 is installed inside the guide frame part 111 and opens or closes the moving channel part 112. That is, the cover guide part 114 is provided to adjust the communication state between the movable channel part 112 and the receiving part 110a inside the guide frame part 111. Accordingly, when the cover guide portion 114 closes the movable channel portion 112, the band 132 is prevented from being arbitrarily separated from the movable channel portion 112 in the process of moving along the guide frame portion 111. You can. In addition, when the cover guide part 114 opens the moving channel part 112, the band 132, which has completed moving along the guide frame part 111, is separated from the moving channel part 112 and the conveyed object 20 can be bound. The cover guide unit 114 is installed on the lower frame (not shown) and both side frames (not shown) of the guide frame unit 111, respectively. That is, the cover guide part 114 is installed on the guide frame part 111 in a state where it is separated into three pieces.

The cover guide part 114 according to an embodiment of the present invention includes a first cover part 114a and a second cover part 114b.

The first cover part 114a forms one side of the exterior of the cover guide part 114. The first cover portion 114a is formed to have an approximately “ㄷ” shaped cross section and closes a portion of the open side of the moving channel portion 112. The first cover part 114a is installed to be slideable on one side of the movable channel part 112 in the width direction.

The second cover part 114b forms the outer appearance of the other side of the cover guide part 114. The second cover portion 114b is formed to have an approximately “ㄷ” shaped cross-section and closes the remaining portion of the open side of the moving channel portion 112. The first cover part 114a and the second cover part 114b are installed with their openings pressed against each other. The second cover portion 114b is installed to be slideable to the other side of the movable channel portion 112 in the width direction.

The guide driving unit 115 moves the cover guide unit 114 so that the cover guide unit 114 opens and closes the moving channel unit 112. Three guide driving units 115 are installed on the lower frame and both side frames to open each cover guide unit 114.

The guide driving unit 115 according to an embodiment of the present invention includes a first guide rack gear unit 116, a second guide rack gear unit 117, a guide pinion unit 118, and a guide motor unit 119. .

The first guide rack gear unit 116 is installed on the first cover unit 114a. The first guide rack gear portion 116 is arranged parallel to the width direction of the guide frame portion 111. The second guide rack gear unit 117 is installed in the second cover unit 114b. The second guide rack gear unit 117 is arranged parallel to the width direction of the guide frame unit 111. The guide pinion part 118 is installed to engage the first guide rack gear part 116 and the second guide rack gear part 117. At this time, the guide pinion part 118 is disposed between the first guide rack gear part 116 and the second guide rack gear part 117. The guide motor unit 119 rotates the guide pinion unit 118 so that the first guide rack gear unit 116 and the second guide rack gear unit 117 move in opposite directions.

When the guide motor unit 119 is rotated in one direction, the first guide rack gear unit 116 and the second guide rack gear unit 117 move in a direction that brings them together, and the first cover unit 114a and the second guide rack gear unit 117 The cover portion 114b closes the moving channel portion 112. When the guide motor unit 119 is rotated in the other direction, the first guide rack gear unit 116 and the second guide rack gear unit 117 move in a direction away from each other, and the first cover unit 114a and the second guide rack gear unit 117 move in a direction away from each other. The cover portion 114b opens the moving channel portion 112.

The transfer gripper unit 120 is detachably connected to the band guide unit 110, and includes an adsorption gripper unit 121, a band winding unit 130, a band transfer unit 140, a band restraint unit 150, and a suction gripper unit 121, which will be described later. The detection unit 170 and the recovery detection unit 180 are supported as a whole. The transfer gripper unit 120 according to an embodiment of the present invention is disposed to face the open side of the guide frame unit 111. The transfer gripper unit 120 is installed to be able to move up and down on the upper side of the guide frame unit 111. As the transfer gripper unit 120 is lowered over a predetermined distance toward the band guide unit 110, both sides are seated on both ends of the guide frame unit 111.

On both sides of the transfer gripper unit 120, rail units 120a and 120b are provided to guide the entry and exit of the band 132 wound around the band winding unit 130, which will be described later. The rail parts 120a and 120b according to an embodiment of the present invention are hollow on the inside and are formed to have a pipe shape that communicates with the internal space of the transfer gripper part 120. The rail units 120a and 120b are provided as a pair and are symmetrically disposed on both sides of the transfer gripper unit 120. When the transfer gripper unit 120 is lowered by a predetermined distance or more and is seated on the upper side of the guide frame unit 111, both ends of the pair of rail units 120a and 120b communicate with both ends of the moving channel unit 112, respectively. .

The adsorption gripper unit 121 is connected to the transfer gripper unit 120, and sucks air to be adsorbed to the transfer object 20 accommodated in the receiving unit 110a. The adsorption gripper unit 121 according to an embodiment of the present invention is coupled to the lower end of the transfer gripper unit 120 and is disposed to face the upper side of the transfer object 20 accommodated in the receiving unit 110a. The adsorption gripper unit 121 is moved up and down together with the transfer gripper unit 120. The adsorption gripper unit 121 is such that the band guide unit 110 and the transfer gripper unit 120 are lowered by a predetermined distance or more by the lifting and lowering drive unit 160, which will be described later, while the conveyed object 20 is accommodated in the receiving unit 110a. In this case, the lower side is in contact with the upper side of the conveyed object (20). The adsorption gripper unit 121 forms a vacuum inside by driving a pump, etc., and forms pressure on the lower side in contact with the upper side of the transported object 20, thereby adsorbing the transported object 20.

The band winding unit 130 is installed on the transfer gripper unit 120, and the band 132 is wound. The band winding unit 130 according to an embodiment of the present invention is formed to have a substantially drum shape, and is installed inside the transfer gripper unit 120 to be rotatable about the central axis. The band winding unit 130 may be connected to a separate electric motor, etc. and rotated on its own.

The band 132 is a component for fixing the conveyed object 20 to the conveyance gripper portion 120 together with the suction gripper portion 121, and is wound around the band winding portion 130. The band 132 according to an embodiment of the present invention has a substantially rectangular cross-sectional shape, is formed to have a band shape that is freely deformable, and is wound around the outer peripheral surface of the band winding unit 130. Accordingly, the band 132 can transport objects 20 of various sizes, shapes, and materials. The band 132 may be installed so that its end is disposed inside the transfer gripper unit 120 and connected to the band transfer unit 140 in its initial state, that is, before the band transfer unit 140, which will be described later, is operated.

An identification portion 132a having a color different from that of the band 132 is formed at the end of the band 132. The color of the band 132 and the color of the identification portion 132a can be designed in various ways within the range of mutually distinguishable colors. When the band 132 is maintained in its initial state, the length of the identification unit 132a can be designed in various ways within the range of the length that can be arranged to face the collection detection unit 170, which will be described later.

The band transfer unit 140 is installed on the transfer gripper unit 120 and generates a driving force to control the movement of the band wound around the band winding unit 130. More specifically, the band transfer unit 140 unwinds the band 132 from the band winding unit 130 after the transfer gripper unit 120 is connected to the band guide unit 110 and cuts one end of the band 132. It is pulled out to one side (right side in FIG. 6) of the transfer gripper unit 120 through the rail unit 120a. The band transfer unit 140 connects the band 132 to the band guide unit 110, that is, the moving channel unit 112, so that the end of the band 132 drawn out to one side of the transfer gripper unit 120 surrounds the transfer object 20. ) and move along. The band transfer unit 140 inserts the end of the band 132 moved along the band guide unit 110 into the other side (left side in FIG. 6) of the transfer gripper unit 120 through the remaining rail unit 120b. . The band transfer unit 140 is configured to bind the band 132 to the band winding unit 130 so that the band 132 is in close contact with the outer surface of the conveyed object 20 after the band restraint unit 150, which will be described later, restrains the band 132. ) and wind it around. Accordingly, the band 132 can be firmly fixed to the conveyed object 20 by tension and friction. In addition, the transfer gripper unit 120 does not need to calculate an exact gripping point to restrain the conveyed object 20, and the time required to wrap and restrain the transported object 20 with the band 132 can be significantly shortened.

After the transfer operation of the transfer object 20 is completed, the band transfer unit 140 wraps the band 132 around the band winding unit 130 and transfers the end of the band 132 from the other side of the transfer gripper unit 120. Recover to one side of (120).

Figure 9 is an enlarged view schematically showing the configuration of the band transfer unit and the band restraint unit according to an embodiment of the present invention.

Referring to Figure 9, the band transfer unit 140 according to an embodiment of the present invention includes a transfer roller unit 141 and a transfer drive unit 145.

The transfer roller unit 141 is rotatably in contact with the band 132, and releases the band 132 from the band winding unit 130 or wraps it around the band winding unit 130, depending on the direction of rotation.

The transfer roller unit 141 according to an embodiment of the present invention includes a first transfer roller 142 supporting one side of the band 132, a transfer drive unit 145 to be described later, and a first transfer roller 142 supporting the other side of the band 132. It includes a second transfer roller 143 that is connected to and rotates. The first transfer roller 142 and the second transfer roller 143 according to an embodiment of the present invention are installed inside one side of the transfer gripper unit 120. The first transfer roller 142 and the second transfer roller 143 may be formed to have the shape of a pair of rollers arranged to face each other in the vertical direction of the band 132. Since the transfer roller unit 141 rotates while pressing both sides of the band 132, the band 132 is unwound or wound around the band winding unit 130 and is connected to the movable gripper unit 120 and the movable channel unit 112. can be moved along.

The transfer drive unit 145 is connected to the transfer roller unit 141 and generates a driving force to rotate the transfer roller unit 141. The transfer driver 145 according to an embodiment of the present invention may be exemplified by various types of electric motors that receive power from the outside and generate rotational force. The transfer driver 145 is connected to the second transfer roller 143 and rotates the second transfer roller 143 about the central axis. As the transfer driver 145 is driven, the second transfer roller 143 rotates to transfer the band 132, and as the band 132 is transferred, the first transfer roller 142 rotates.

The band restraint unit 150 is installed on the transfer gripper unit 120, and the band 132 is inserted into the other side of the transfer gripper unit 120 to restrict the movement of the band 132 while surrounding the transfer object 20. do. Accordingly, the band restraint portion 150 can maintain the band 132 surrounding the conveyed object 20 when the conveyed gripper portion 120 is raised and moved. The band restraint parts 150 may be provided in pairs and arranged to face the inner ends of the pair of rail parts 120 a and 120 b on both sides of the transfer gripper part 120, respectively. More specifically, one of the pair of band restraint parts 150 is disposed to face the inner end of the rail portion 120b provided on the other side of the transfer gripper portion 120, and the other one The band restraint unit 150 may be disposed between the band winding unit 130 and the band transfer unit 140 on the other side of the transfer gripper unit 120. A pair of band restraint units 150 are provided to individually adjust the restraint state of the band 132. Therefore, in a state where the band 132 surrounds the conveyed object 20, the pair of band restraint parts 150 double restrain the band 132, so that the transport gripper unit 120 transports the transported object 20. This can further prevent the band 132 from loosening when doing so.

The band restraint unit 150 according to an embodiment of the present invention includes a first restraint member 151, a second restraint member 152, and a restraint drive unit 153.

The band restraint part 150 according to an embodiment of the present invention includes a first restraint member 151 disposed to face one side of the band 132, and a second restraint member disposed to face the other side of the band 132. (152) and a restraint drive unit that moves the second restraint member 152 toward the first restraint member 151 so that the first restraint member 151 and the second restraint member 152 press the band 132 ( 153).

The first restraining member 151 and the second restraining member 152 according to an embodiment of the present invention are formed to have the shape of a flat plate arranged to face each other with the band 132 in between. The first restraining member 151 and the second restraining member 152 are spaced apart from the band 132 while the band 132 is moved along the moving channel portion 112 by the band transfer unit 140. The first restraining member 151 and the second restraining member 152 compress both sides of the band 132 by the restraining drive unit 153 as the end of the band 132 is drawn into the other side of the transfer gripper unit 120. and arrest him.

The restraint drive unit 153 according to an embodiment of the present invention is designed with various means that can lift and move the second restraint member 152 in the vertical direction with respect to the first restraint member 151, such as a hydraulic cylinder and gearbox. This is possible.

The lifting drive unit 160 is installed on the guide frame unit 111 to lift the guide frame unit 111 up and down. When the conveyed object 20 is accommodated inside the guide frame unit 111, the guide frame unit 111 and the transfer gripper unit 120 are lowered together as the lifting drive unit 160 is driven. Accordingly, the guide frame unit 111 and the transfer gripper unit 120 can be moved to an appropriate height depending on the size or height of the conveyed object 20.

The lifting driver 160 according to an embodiment of the present invention may include a linear motor including a stator arranged in parallel in the vertical direction and a mover movably installed on the stator. As power is supplied to the stator, the mover can be moved to a specific position. The lifting drive unit 160 may be of various types, such as a ball screw type drive unit, a belt type drive unit, and a gear thrust drive unit.

The retraction detection unit 170 detects whether the band 132 is retracted from the other side of the transfer gripper unit 120. More specifically, the intrusion detection unit 170 has the end of the band 132 moved along the band guide unit 110 by the band transfer unit 140 to the other side of the transfer gripper unit 120 through the rail unit 110a. Detect whether it has been inserted correctly. Accordingly, the intrusion detection unit 170 allows the user or the control unit to adjust the operating states of the band transfer unit 140 and the band restraint unit 150 during the process of the band 132 being released from the band winding unit 130. . The intrusion detection unit 170 according to an embodiment of the present invention is an intrusion path of the band 132 leading from the other side of the transfer gripper unit 120 to the inner space of the rail units 120a and 120b and the transfer gripper unit 120. It is placed facing the. The entry detection unit 170 may be exemplified by various types of optical sensors that can detect whether the end of the band 132 enters or exits from the other side of the transfer gripper unit 120 using light.

The recovery detection unit 180 detects the recovery state of the band 132 on one side of the transfer gripper unit 120. More specifically, the recovery detection unit 180 is a band that is wound around the band winding unit 130 by the band transfer unit 140 and recovered to one side of the transfer gripper unit 120 after the transfer of the transfer object 20 is completed. The color of the identification portion 132a formed at the end of 132 is detected. Accordingly, the recovery detection unit 180 prevents the control unit from exceeding the initial state of the end of the band 132 from being separated from the band transfer unit 140 and being wound around the band winding unit 130 during the recovery process of the band 132. You can do it. The recovery detection unit 180 according to an embodiment of the present invention detects the movement of the band 132 extending from one side of the transfer gripper unit 120 to the inner space of the rail units 120a and 120b and the transfer gripper unit 120. It is placed facing the path. A plurality of collection detection units 180 may be provided. The number detection unit 180 may be exemplified by various types of optical sensors that can detect the color difference between the band 132 and the identification portion 132a formed at the end of the band 132 using light.

Hereinafter, the operation of the bending type transfer device according to an embodiment of the present invention configured as described above will be described.

10 to 17 are operational diagrams schematically showing the operation process of a bending type transfer device according to an embodiment of the present invention.

Referring to FIG. 10, the transfer gripper unit 120 is lowered and seated on the upper side of the band guide unit 110.

As both sides of the transfer gripper unit 120 are seated on the upper end of the band guide unit 110, a pair of rail parts 120a and 120b provided on both sides of the transfer gripper unit 120 are connected to the band guide unit 110. It communicates with both sides of the moving channel portion 112.

When the conveyed object 20 is accommodated inside the band guide unit 110, the band guide unit 110 and the transfer gripper unit 120 are lowered together as the lifting drive unit 160 is driven. When the lower surface of the adsorption gripper unit 121 contacts or almost contacts the upper side of the transported object 20 due to the lowering of the transport gripper unit 120, the lifting drive unit 160 is stopped.

Afterwards, the adsorption gripper unit 121 sucks air by driving a pump, etc. to form a vacuum inside, and forms pressure on the lower side in contact with the upper side of the conveyed object 20, thereby forming a vacuum on the transported object 20. is absorbed.

Referring to Figures 11 and 12, when the transport drive unit 145 of the band transport unit 140 is driven by the control unit, the transport roller unit 141 is rotated to one side and the band wound around the winding unit 130 The band 132 is released.

The band 132 passes through the rail unit 120a provided on one side of the transfer gripper unit 120 by rotation of the transfer roller unit 141 and is introduced into the moving channel unit 112 of the band guide unit 110.

Next, the band 132 is moved along the extension direction of the moving channel part 112 and then is introduced into the rail part 120b provided on the other side of the transfer gripper part 120.

As the end of the band 132 passes through the rail portion 120b and the band restraint portion 150, the intrusion detection unit 170 detects that the band 132 has entered the other side of the transfer gripper unit 120, and the control unit The transfer drive unit 145 of the band transfer unit 140 is stopped.

Referring to FIG. 13, as the restraint drive unit 153 of the band restraint unit 150 disposed on the other side of the transfer gripper unit 120 is driven by the control unit, the second restraint member 152 is lowered, and the second restraint member 152 is lowered. The member 152 and the first restraining member 151 constrain the ends of the band 132 while compressing them.

Referring to FIG. 14, the guide driving unit 115 of the band guide unit 110 is driven while the end of the band 132 is restrained by the band restraint unit 150. As the guide driving unit 115 is driven, the first guide rack gear unit 116 and the second guide rack gear unit 117 are moved away from each other. Therefore, the first cover part 114a and the second cover part 114b are arranged on both sides in the width direction of the band guide part 110 by the first guide rack gear part 116 and the second guide rack gear part 117. As it opens, the inside of the moving channel portion 112 opens.

15 and 16, when the moving channel unit 112 is opened, the control unit causes the transfer drive unit 145 of the band transfer unit 140 to rotate the transfer roller unit 141 in the opposite direction so that the band 132 It is wound around the band winding unit 130. At this time, as the transfer roller unit 141 pulls the band 132 in the winding direction, the band 132 escapes from the moving channel unit 112 to the receiving unit 110a and is attached to the outer surface of the conveyed object 20. adheres closely to

When the band 132 completely restrains the conveyed object 20, the band restraint portion 150 disposed on the other side of the conveying gripper portion 120 is between the band winding portion 130 and the band conveying portion 140 ( 132) on both sides. Accordingly, the band 132 can be more firmly fixed to the outer surface of the conveyed object 20 by being restrained on both sides by a pair of band restraint parts 150.

Referring to FIG. 17, the conveyed object 20 is lifted together with the conveyed gripper unit 120 while being restrained by the band 132. At this time, since the movement trace of the transfer gripper unit 120 is formed in the vertical direction, the transfer gripper unit 120 can be prevented from interfering with or colliding with surrounding structures even if the transfer object 20 is located in a narrow place.

The transfer gripper unit 120 is transferred to a desired location by a transfer robot or the like. When the conveyed object 20 is seated in the desired location, the band restraint unit 150 releases the restraint of the band 132, and the band transfer unit 140 winds the band 132 toward the band winding unit 130 to form a band ( The end of 132) is recovered to one side of the transfer gripper unit 120.

In the process of recovering the band 132 to one side of the transfer gripper unit 120, the recovery detection unit 180 is the color of the identification portion 132a formed at the end of the band 132 inside the transfer gripper unit 120. Upon detecting, the control unit stops driving the band transfer unit 140. Accordingly, the end of the band 132 does not separate from the band transfer unit 140, and the band 132 can be prevented from being wound around the band winding unit 130 beyond its initial state more than necessary.

When the band 132 is wound around the band winding unit 130 in its initial state, the transfer gripper unit 120 moves back to the band guide unit 110 and repeatedly performs the transfer operation of the transfer object 20.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the true technical protection scope of the present invention should be determined by the claims.

10: transfer table 20: transfer object
100: Banding type transfer device 101: Base portion
103: wheel part 110: band guide part
110a: receiving part 111: guide frame part
114: cover guide part 114a: first cover part
114b: second cover part 115: guide driving part
116: first guide rack gear unit 117: second guide rack gear unit
118: Guide pinion part 119: Guide motor part
120: transfer gripper part 120a, 120b: rail part
130: Band winding part 132: Band
132a: identification unit 140: band transfer unit
141: Transfer roller unit 142: First transfer roller
143: second transfer roller 145: transfer drive unit
150: Band restraint part 151: First restraint member
152: second constraint member 153: constraint driving unit
160: lifting driving unit 170: retraction detection unit
180: Recovery detection unit

Claims (16)

A band guide unit installed on the transfer table and having a receiving part for receiving the transfer material;
A transfer gripper part detachably connected to the band guide part;
A band winding unit installed on the transfer gripper unit and around which a band is wound;
a band transfer unit installed on the transfer gripper unit and moving the band along the band guide unit so that the band surrounds the transfer object;
a band restraint portion installed on the transfer gripper unit and restraining the band in a state in which the band surrounds the conveyed object; and
It includes a recovery detection unit that detects the recovery state of the band on one side of the transfer gripper unit,
The band transfer unit unwinds the band after the transfer gripper unit is connected to the band guide unit, draws out the end of the band to one side of the transfer gripper unit, and moves the end of the band along the band guide unit to the transfer gripper unit. Bring it in to the other side,
An identification portion having a color different from that of the band is formed at the end of the band,
A banding type transfer device, wherein the recovery detection unit detects the color of the identification unit recovered to one side of the transfer gripper unit.
According to paragraph 1,
The band guide part,
A guide frame portion in which a moving channel portion through which the band moves is formed;
a cover guide part installed on the guide frame part and opening or closing the moving channel part; and
A banding type transfer device comprising: a guide driving unit that moves the cover guide unit so that the cover guide unit opens and closes the moving channel unit.
According to paragraph 2,
A banding type transfer device, wherein both sides of the transfer gripper unit communicate with both sides of the moving channel unit as the transfer gripper unit is connected to the band guide unit.
According to paragraph 2,
A banding type transfer device, wherein the guide frame part has an upper side open so that the transfer gripper part is seated.
According to paragraph 2,
The cover guide part,
a first cover portion movably installed to one side in the width direction of the movable channel portion; and
A banding type transfer device comprising: a second cover part disposed to face the first cover part and movable to the other side in the width direction of the movable channel part.
According to clause 5,
The guide driving unit,
A first guide rack gear unit installed on the first cover unit;
a second guide rack gear unit installed on the second cover unit;
a guide pinion portion installed to engage the first guide rack gear portion and the second guide rack gear portion; and
A bending type transfer device comprising a guide motor unit that rotates the guide pinion unit so that the first guide rack gear unit and the second guide rack gear unit move in opposite directions.
delete According to paragraph 1,
The band transfer unit is a banding type transfer device, characterized in that the band restraint unit restrains the band and then winds the band so that the band is in close contact with the outer surface of the conveyed object.
According to paragraph 1,
The band transfer unit,
a transfer roller unit rotatably in contact with the band and releasing or winding the band depending on the direction of rotation; and
A banding type transfer device comprising: a transfer drive unit connected to the transfer roller unit and generating driving force to rotate the transfer roller unit.
According to clause 9,
The transfer roller unit,
a first transfer roller supporting one side of the band; and
A banding type transfer device comprising a second transfer roller that supports the other side of the band and is connected to the transfer drive unit to rotate.
According to paragraph 1,
A banding type transfer device further comprising a retraction detection unit that detects whether the band is retracted from the other side of the transfer gripper unit.
delete delete A band guide unit installed on the transfer table and having a receiving part for receiving the transfer material;
A transfer gripper part detachably connected to the band guide part;
a band winding unit installed in the transfer gripper unit and around which a band is wound;
a band transfer unit installed on the transfer gripper unit and moving the band along the band guide unit so that the band surrounds the transfer object; and
A band restraint portion installed on the transfer gripper unit and restraining the band while the band surrounds the conveyed object,
The band restraint part,
a first restraining member disposed to face one side of the band;
a second restraining member disposed to face the other side of the band; and
A banding type transfer device comprising: a restraining drive unit that moves the second restraining member toward the first restraining member so that the first restraining member and the second restraining member press the band.
According to claim 1 or 14,
A banding type transfer device further comprising a lifting driving unit that lifts and moves the band guide unit up and down.
According to claim 1 or 14,
A banding type transfer device further comprising: an adsorption gripper unit connected to the transfer gripper unit, sucking air and adsorbing the transfer material accommodated in the receiving unit.

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