KR20110046136A - Air finger gripper - Google Patents

Abstract

PURPOSE: An air finger gripper is provided to increase the operative efficiency of a thermal welder since in a welding process, preparation for the ejection and mounting of a product is completed. CONSTITUTION: An air finger gripper(100) comprises an arm joining unit(110), a frame(120) and a gripping unit. The arm fastening unit is fastened to the arm of a transporting robot. The frame is installed on the arm fastening unit. The gripping unit is fixed to the frame. The gripping unit is inserted into the hollow of a target, presses the inner circumferential surface of the target and transports the target.

Description

Air finger gripper

The present invention relates to an air finger gripper, and more particularly, to an air finger gripper installed in a transfer robot to mount and take out a product for heat welding in a heat welder.

In general, the balance weight is mounted in a spiral winding washing machine to reduce the vibration caused by the uneven load of the laundry. One of the manufacturing methods is a welding method using a heat welder to separate upper and lower members. It is made to have a sufficient weight to reduce the vibration by injecting brine into the inner space formed by the welding bond.

Therefore, it is necessary to mount the upper member and the lower member which are separated from each other in the heat welder and to take it out. In the related art, the upper member and the lower member are pressurized from the outside of the upper member and the lower member to be gripped, and then transported. The mounted or welded product was withdrawn from the heat welder.

However, when the gripper for holding the upper member and the lower member is formed to press the outer circumferential surface as in the related art, a problem that the defective molding rate of the product is increased is often caused by a defect such as a scratch on the outer circumferential surface of the product exposed to the outside. It was.

In addition, since the gripper should be formed to grip the outer circumferential surfaces of the upper member and the lower member, the size of the gripper, that is, the diameter of the gripper should be relatively larger than the diameter of the upper member and the lower member, so that there is sufficient free space for the gripper to move in the heat welder. The increase in size of the heat welder due to the formation was a problem.

The present invention has been made to solve the above problems, it is to provide an air finger gripper that can press and hold the inner circumferential surface of the upper member and the lower member coupled through heat welding and can be mounted or taken out in the heat welder. have.

Air finger gripper according to the present invention for achieving the above object is to be transferred to the transfer object is mounted on the arm of the transport robot and has a hollow circumferential surface, the arm fastening portion fastened to the arm of the transport robot, and the arm fastening portion And a gripping unit installed on the frame and fixed to the frame to be transported by being inserted into the hollow of the transport object and contacting and pressing the inner circumferential surface of the transport object.

The frame is extended to a predetermined length so that both ends are spaced apart from each other by a predetermined distance, the gripping unit is a mounting for mounting and transporting the two transfer objects that are installed and separated at one end of the frame with a heat welder A gripping portion and a gripping portion for taking out a transfer object which is installed at the other end of the frame and welded and coupled to the heat welder, wherein the mounting gripping portion and the gripping portion are coupled to the frame, respectively. A body which is installed to be capable of lifting up and down by the body and is driven up and down by pneumatically supplied from the outside, and is mounted to the piston to drive up and down together with the piston, and moves upward from the top to the outside A plunger having a first inclined portion inclined inward and sliding in the radial direction on the body The outer end exposed to the outside of the transfer object is formed with a contact pad contacting the inner circumferential surface of the transfer object, and the inner end located inside the body according to the position of the first inclined portion when the plunger is lowered. It is preferable to have a pressing finger including a second inclined portion in contact with the first inclined portion so that it can be withdrawn from or withdrawn from it.

The mounting gripping part may press down the upper end of the other transfer object that is not pressurized by the pressing finger to prevent separation or twisting of the transfer object during transfer of the two transfer objects that are not coupled. And a pushing member mounted to a body, wherein the mounting gripping portion and the gripping portion for ejecting are close to each body to detect that the body is inserted into the hollow of the object to be transported and adjacent to the inner circumferential surface of the object to be transported. It is preferable to include a sensor.

Since the air finger gripper according to the present invention can minimize the size, it is easy to mount or take out the upper member and the lower member, which are the welding targets, in the heat welder.

In addition, the air finger gripper of the present invention has an advantage of increasing the operating efficiency of the heat welder since the preparation for taking out and mounting the product is completed during the welding operation in the heat welder.

Hereinafter, an air finger gripper according to the present invention will be described in more detail with reference to the accompanying drawings.

1 is a perspective view showing an embodiment of the use of the air finger gripper 100 according to the present invention.

Referring to the drawings, the air finger gripper 100 of the present embodiment transfers the upper and lower balance members 12 and 13 for manufacturing the balance weight 10 mounted on the washing machine.

The upper and lower balance members 12 and 13 are coupled to each other by the heat welder 40, and when combined, the balance weight 10 is formed by the filled brine because a predetermined inner space is formed to fill the brine therein. You have enough weight.

The upper and lower balance members 12 and 13 and the balance weights 10 formed by combining them are formed in the shape of a donut having a central hole to be mounted on the washing machine.

When the upper and lower balance members 12 and 13 to be coupled to each other are transferred through the first conveyor belt 20 in a superimposed state, the upper and lower balance members 12 and 13 are stacked by the air finger gripper 100 of the present invention mounted on the transport robot 50. Lower balance members 12 and 13 are transported and mounted in heat welder 40.

The balance weight 10 welded by the heat welder 40 is again fixed by the air finger gripper 100 and then seated on the second conveyor belt 30 by the driving robot 50.

2, the air finger gripper 100 of the present embodiment is installed on the driving arm 51 of the transport robot 50, as described above, the upper and lower balance members 12 and 13 and the balance weight combined with each other. 10 is fixed to the heat welder 40 to be mounted or taken out, the arm fastening portion 110 mounted on the drive arm 51 of the transport robot 50, the frame is installed on the arm fastening portion 110 120 and a gripping unit installed on the frame 120.

The arm fastening part 110 connects the driving arm 51 and the frame 120, and may be variously manufactured according to the shape of the driving arm 51.

The frame 120 is installed at the lower end of the arm fastening part 110 and is formed in a plate shape extending from both the center where the arm fastening part 110 is coupled to both sides.

The gripping unit includes a mounting gripping portion 141 installed at one end of the frame 120 and a gripping portion 150 for taking out at the other end of the frame 120.

The mounting gripping portion 141 is for transferring the upper and lower balance members 12 and 13 before the thermal welding is performed, and when the mounting gripping portion 141 is mounted on the thermal welder 40, it is attached to the jig of the thermal welder 40. On one side of the frame 120, the mounting gripping portion 141 is installed so that the interference is minimized is formed an inlet groove 121 is inserted downward at the top so that the thickness of one side of the frame 120 relative to the thickness of the other side Thin as

The gripping portion 150 for discharging installed on the other side of the frame 120 is for taking out the balance weight 10 formed by welding the upper and lower balance members 12 and 13 to the heat welder 40. When the balance weight 10 is taken out, the lower jig is lowered, so that the space between the jigs of the heat welder 40 is wider than that of the upper and lower balance members 12 and 13, so that the thickness of the frame 120 is increased. Even without reducing the possibility of interference between the frame 120 and the heat welder 40 is low. Therefore, the other side of the frame 120 on which the gripping portion 150 for taking out is formed to have a relatively thick thickness than one side for maintaining the strength of the frame 120.

3 to 5, the gripping portion 150 for drawing is shown. As shown, an air chuck bracket 130 is installed at an end of the frame 120, and a lower end of the air chuck bracket 130 is shown. A gripping portion 150 for taking out is provided.

3 to 5 are shown so that the lower end of the gripping portion 150 for taking out to better understand the drawings.

The back cover 151 is mounted at the lower end of the air chuck bracket 130, and the body 152 is mounted at the bottom of the back cover 151. Although not shown, the back cover 151 is formed to be connected to the pneumatic line, and the mounting space 153 of the body 152, which will be described later, by the back cover 151 is sealed to serve as a kind of cylinder.

The mounting space 153 of the body 152 is equipped with a piston 159 and a plunger 163 to be described later, three sliding holes 154 are spaced at equal intervals along the circumferential direction in the radial direction It is formed to extend. The dust cover 155 and the CPI plate 156 are mounted at the lower end of the body 152, and the dust cover 155 is for blocking foreign substances from entering the body 152, and the CPI plate 156. ) Is supported by a compression spring 158, one end of which is supported by the body 152 through the push guide 157, on the belt plane of the jig or the second conveyor belt 30 for the transfer of the balance weight (10) It is intended to have a buffer effect when contacted with.

Inside the body 152, the piston 159 is installed to be elevated in the vertical direction, and a pneumatic line for supplying air pressure is connected to the upper and lower centers around the piston 159, respectively, according to the direction of supplying and withdrawing air pressure The piston 159 is to be raised or lowered. The packing member 160 is mounted on the outer circumferential surface of the piston 159, and the O-ring 161 is provided on the back cover 151 to prevent the outflow of air.

The plunger 163 is connected to the piston 159 by a wrench bolt 162 and is raised and lowered inside the body 152 together with the piston 159.

The plunger 163 has a cylindrical portion 164 coupled to the piston 159 and a first inclined portion 165 formed below the cylindrical portion 164.

Three first inclined portions 165 are formed in the radial direction from the lower portion of the cylindrical portion 164 material at intervals of 120 degrees. And it extends downward and inclines from the outer side to the inner side.

The pressing finger 170 is slidably installed in the sliding hole 154 of the body 152 and is connected to the first inclined portion 165 of the plunger 163 to move the body 152 according to the rising and falling of the plunger 163. Withdrawal or withdrawal is made from).

The pressure finger 170 is mounted on the front end of the base member 171 slidably installed in the sliding hole 154, the finger member 174 fastened to the base member 171, and the finger member 174. A contact pad 175.

Since the base jaw 171 is formed to correspond to the shape of the sliding hole 154, the base jaw 171 can slide in a radial direction from the center of the body 152 along the sliding hole 154. A second inclined portion 172 is formed at one end of the base jaw 171 in contact with the first inclined portion 165, and the second inclined portion 172 is in an inclined direction of the first inclined portion 165. It is inclined equally. In addition, the base jaw 171 is provided with a locking jaw 173 that is caught on the rear surface of the first inclined portion 165, and thus, when the plunger 163 and the base jaw 171 are coupled, the base jaw 171 of the base jaw 171 is formed. The second inclined portion 172 is coupled to form a wrap around the first inclined portion 165.

Therefore, when the plunger 163 descends together with the piston 159, the first inclined portion 165 descends while pushing the second inclined portion 172 of the base jaw 171 to move the base jaw 171 into the body 152. When the plunger 163 is raised and lowered with the piston 159, the base jaw 171 is pulled to move inwardly of the body 152 by the locking jaw 173. do.

The finger member 174 is detachably coupled to the base tank 171, so that the finger member 174 can be easily replaced in accordance with the specifications of the manufactured product to cope with changes in the product specifications.

A contact pad 175 is coupled to the front end portion of the finger member 174, and the contact pad 175 is made of urethane material and when contacted with the inner circumferential surface of the object to be transported by withdrawing the base tank 171, Prevents defects such as scratches from being transferred.

The body 152 is also mounted with a proximity sensor (not shown) fixed to the sensor bracket 166 for detecting that the body 152 is transferred to the holding position of the object to be transferred.

Three proximity sensors are installed on the body 152 at equal intervals so as to be positioned at the top of the jaw. When each proximity sensor detects that the inner circumferential surface of the object to be conveyed is close, the pressure finger 170 is removed from the body 152 and transferred. Press the object to fix it.

The driving process of the gripper for taking out according to the present invention is as follows.

When the balance weight 10 is welded in the heat welder 40, the gripper part for taking out is moved between the jig of the heat welder 40 opened by the driving robot 50, and the hollow 11 of the balance weight 10 is moved. Insert the body 152.

When the inner circumferential surface of the conveying object to be pressurized by the proximity sensor is sensed, the plunger 163 is lowered together while the piston 159 is lowered by the pneumatic pressure supplied into the body 152. Then, the pressing finger 170 connected to the plunger 163 is advanced a predetermined distance in the direction of drawing out from the body 152 along the sliding hole 154 so that the contact pad 175 at the end contacts the inner circumferential surface of the balance weight 10. Done.

The three pressing fingers 170 are spaced at equal intervals in the radial direction and pressurizes the inner circumferential surface of the balance weight 10 so that the balance weight 10 is fixed to the gripper for taking out, and the driving robot 50 is driven. Is removed from the heat welder 40 and seated on the second conveyor belt 30. When the piston 159 and the plunger 163 are raised, the locking jaw 173 of the pressure finger 170 is moved out of the plunger 163. As the pressure finger 170 retreats to the inside of the body 152 while moving along the first inclined portion 165, the contact between the pressure finger 170 and the balance weight 10 is released.

The mounting gripper part has the same configuration and operation principle as the takeout gripper part. However, since the mounting gripper portion must simultaneously transport the upper and lower balance members 12 and 13 in the separated state before being coupled by the heat welder 40, the contact pad 175 of the pressure finger 170 is lower in balance. A pushing member 142 is further provided to fix the upper balance member 12 in a state in which the inner circumferential surface of the member 13 is held, and the pushing member 142 protrudes in a radial direction above the body 152. By pressing the upper end of the upper balance member 12 downward, the upper balance member 12 is formed to be prevented from being separated from the lower balance member 13 or the engagement position is misaligned.

The air finger gripper 100 according to the present invention transfers the upper and lower balance members 12 and 13 before welding to the heat welder 40, instead of carrying both the conveying material before welding and the conveying material after welding with one gripper. Since the mounting gripper part and the take-out gripper which take out the welded balance weight 10 from the heat welder 40 are provided separately, the balance weight 10 with which welding was completed is taken out from the heat welder 40, After the upper and lower balance members 12 and 13 are mounted on the heat welder 40, the completed balance weight 10 is seated on the second conveyor belt 30 during the welding operation in the heat welder 40. The upper and lower balance members 12 and 13 to be newly mounted can be gripped to prepare for the next work, thereby maximizing the use efficiency of the heat welder 40.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

1 is a perspective view showing a use state in which the air finger gripper according to the present invention is mounted and used in a transporting robot;

2 is a perspective view showing an air finger gripper;

3 is a partially cutaway perspective view showing a gripping unit;

Figure 4 is an exploded perspective view of the gripping unit,

5 is an exploded perspective view illustrating the pressing finger and the plunger of the gripping unit.

<Explanation of symbols for the main parts of the drawings>

100; Air finger gripper

110; Cancer

120; frame

140; Gripping Unit

152; body

159; piston

163; plunger

170; Pressure finger

Claims (3)

It is mounted on the arm of the robot for transport and to transport the transfer object is formed to have an inner peripheral surface, An arm fastening portion fastened to an arm of the transport robot; A frame installed at the arm fastening part; And a gripping unit installed on the frame and fixed to the frame so that the transfer object can be transferred by being inserted into the hollow of the transfer object and contacting and pressing the inner circumferential surface of the transfer object. The method of claim 1, The frame is extended to a predetermined length so that both ends are spaced apart from each other by a predetermined interval, The gripping unit is a mounting gripping portion for transferring and mounting two transfer objects separated and installed at one end of the frame with a heat welder, and installed at the other end of the frame to be welded in the heat welder. Including a gripping portion for taking out the transported object, The mounting gripping portion and the take-out gripping portion are respectively coupled to the frame; A piston which is installed on the body so as to move up and down and is driven up and down by pneumatic pressure supplied from the outside; A plunger mounted to the piston and driven up and down together with the piston, the first inclined portion being inclined from the outer side to the inner side as it proceeds downward from the upper end; The outer end is slidably installed in the body and the outer end exposed to the outside is formed with a contact pad in contact with the inner circumferential surface of the transfer object, the inner end located inside the body when the lifting and lowering of the plunger And a pressing finger including a second inclined portion in contact with the first inclined portion so as to be withdrawn or drawn from the body according to the position of the first inclined portion. 3. The method of claim 2, The mounting gripping portion may be configured to press the upper end of the other transfer object that is not pressurized by the pressing finger downward to prevent separation or twisting of the transfer object during transfer of the two transfer objects that are not coupled. And a pushing member mounted on the The mounting gripping portion and the gripping portion for taking out an air finger comprising a proximity sensor mounted to each body to detect that the body is inserted into the hollow of the transfer object and is adjacent to the inner circumferential surface of the transfer object. Grippers.

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