KR20110113105A

KR20110113105A - Outering gripper

Info

Publication number: KR20110113105A
Application number: KR1020100032462A
Authority: KR
Inventors: 윤동환
Original assignee: 다인시스템주식회사
Priority date: 2010-04-08
Filing date: 2010-04-08
Publication date: 2011-10-14
Also published as: KR101158887B1

Abstract

The present invention relates to an outer ring gripper device for supporting a guard frame attached to the edge of a roll-coil product for the packaging process of the roll-coil product.
The outer ring gripper device according to the present invention comprises a plurality of gripping units including a frame portion coupled to the robot arm, a gripping portion slidably coupled to the frame portion in a radial direction and gripping a guard frame, and the gripping portion. The gripping unit includes a sliding unit for sliding the unit, the gripping unit includes a movable body moving along the frame, a support provided at an end of the movable body to support an outer circumferential surface of the guard frame, and capable of moving back and forth toward the support. It is preferred that the moving body is provided with a retracting member for holding a guard frame together with the support, and a retracting driving part for advancing and driving the retracting member.
The outer ring gripper device according to the present invention is automatically mounted and supported by the protective frame used in the packaging of the roll-coil product, there is an advantage that can be applied regardless of the size of the protective frame.

Description

Outer gripper device {Outering gripper}

The present invention relates to an outer ring gripper device, and more particularly, to an outer ring gripper device for supporting a guard frame attached to the edge of the roll-coil product for the packaging process of the roll-coil product.

In general, roll-coil products, including reinforcing coils produced in steel mills, are wound and shipped in coil form.

These roll-coil products wrap the packaging on the outside to prevent breakage during transport and storage.

Typically, the packaging of the product is made by coating the outer circumferential surface and both sides of the roll-coil with a packaging material and taping it. Since the circumferential edge has a particularly high risk of breakage, a separate protective frame is prevented by this part. .

In general, in the packaging process, the protective frame is supported on the roll-coil by using a separate fastener, and then the tape is performed. However, the installation of the fastener by the worker is performed by a worker. There is a growing problem, and there is a risk of safety accidents.

Therefore, there was a need for an apparatus in which mounting and support of a protective frame used for packaging roll-coils can be made automatically.

The present invention has been made to solve the above problems, it is easy to install and support the protective frame used for the packaging of roll-coil products, and provides an outer ring gripper device that can install a protective frame of various sizes There is a purpose.

The outer ring gripper device according to the present invention for achieving the above object is a plurality of frame parts coupled to the robot arm, and a plurality of gripping parts to be slidably fastened in the radial direction to the frame part for holding a guard frame And a gripping unit and a sliding driving portion for allowing the gripping unit to slide.

The holding unit is a movable body moving along the frame, a support provided at an end of the movable body to support the outer circumferential surface of the guard frame, and is installed on the movable body to be able to move forward and backward to the support, and the guard frame together with the support It may be provided with a retracting member for holding, and a retracting driving unit for retracting and driving the retracting member.

In addition, the gripping unit is installed at a position opposite to each other relative to the center of the frame portion in a direction orthogonal to the first direction and the first gripping unit installed in a position opposite to each other in the first direction from the center of the frame portion And a second gripping unit, wherein the first gripping unit includes a movable body moving in a radial direction by the sliding driver, a first support mounted on an end of the movable body, and moved toward and away from the first support. A first retracting member configured to hold a guard frame together with a first support, and a first retracting driving part installed on the movable body to drive the first retracting member forward and backward, wherein the second holding unit is radially provided by the sliding driving part. The main moving plate moving along the direction of the sliding direction in the direction perpendicular to the moving direction of the main moving plate and the main moving plate Two movable plates which are installed to be capable of being installed, a second support which is provided at each end of the two movable plates to support the outer circumferential surface of the guard frame, and is retracted toward the second support to hold the guard frame together with the second support. It is preferable to have a second retraction member, a second retraction drive unit installed on the movable plate to drive the second retreat member forward and backward and the movable plate driving unit for driving the movable plate to move in a direction closer or farther from each other. Do.

The frame part includes a main body and four extension frames spaced apart at equal intervals from the main body and extending in a radial direction. The sliding driving part includes a driving bevel gear installed in the main body and a driving bevel gear. A motor, four driven bevel gears meshed with the driving bevel gears, screw members connected to the four driven bevel gears and rotatably supported on each extension frame so as to extend along the respective extension frames; It is preferable to have a connecting bracket fixed to each holding unit and screwed with the screw member to move along the screw member during rotational driving of the screw member.

The outer ring gripper device according to the present invention is automatically mounted and supported by the protective frame used in the packaging of the roll-coil product, there is an advantage that can be applied regardless of the size of the protective frame.

1 is a perspective view showing a state of use of the outer ring gripper device according to the present invention,
2 is a perspective view showing an embodiment of the outer ring gripper device of FIG.
Figure 3 is a partial perspective view showing a sliding drive of the outer ring gripper device of Figure 2,
4A and 4B are partial excerpt perspective views illustrating first and second gripping units, respectively;
5 is a bottom view illustrating a lower portion of the second gripping unit.

Hereinafter, the outer ring gripper device according to the present invention will be described in detail with reference to the accompanying drawings.

The outer ring gripper device 100 according to the present invention is for mounting of the guard frame 10 used for the packaging of the roll-coil product 20 as shown in FIG. 1.

Guard frame 10 is typically able to wrap the circumferential edge of the roll-coil product 20, the cross-section is made of a semi-circular shape of the 'b' shape. Therefore, the two guard frames 10 are superimposed and placed on the edge of the roll-coil product 20 and then taped to fix them.

The outer ring gripper device 100 includes a frame unit 110, a gripping unit 120 installed on the frame unit 110, and a sliding driving unit 150 for slidingly driving the gripping unit 120.

The frame includes a main body 111 having a predetermined internal space and four extension frames 112 extending in the radial direction from the main body 111, which extend at equal intervals along the circumferential direction. And extend in directions perpendicular to each other.

The guide rail 114 is formed to extend in the longitudinal direction on the lower surface of the extension frame 112 so that the gripping unit 120 can be easily slid by the sliding driving part 150.

Referring to FIG. 2, the sliding driving unit 150 is to provide a driving force for the gripping unit 120 to slide in a radial direction along the extension frame 112, and includes a driving motor 151 and a driving shaft ( 153, drive bevel gear 154, driven bevel gear 155, screw member 156 and connecting bracket 158.

The drive motor 151 is installed on the upper side of the frame portion 110 and to provide a rotational force that the screw member 156 can rotate.

The drive shaft 153 is installed to extend in the vertical direction to the main body 111, the upper and lower portions are supported by the main body 111 by bearings, respectively, to enable magnetic axis rotation. And the upper end of the drive shaft 153 is connected to the reducer 152 connected to the drive motor 151 is enabled to rotate through the driving force of the drive motor 151.

The driving bevel gear 154 is formed on the drive shaft 153 to rotate integrally with the drive shaft 153.

The screw member 156 is formed with a screw thread on the outer circumferential surface, and is installed to extend in the longitudinal direction on each extension frame 112. The screw member 156 is rotatably supported by the pillow block 157 provided on the extension frames 112, and the driven bevel gear 155 is connected to an end of the screw member 156.

The driven bevel gear 155 is engaged with the driving bevel gear 154 so that the driving force of the driving motor 151 rotates the screw member 156 through the driving bevel gear 154 and the driven bevel gear 155. Is delivered.

The connecting bracket 158 is installed in each holding unit 120, the screw hole is formed on the inner peripheral surface is provided, the screw member 156 is screwed to pass through the screw hole.

The holding unit 120 to be described later is supported by the extension frame 112, it is limited only to slide along the longitudinal direction of the extension frame 112 can not be made rotation.

Therefore, the connecting bracket 158 installed in the gripping unit 120 is advanced toward the main body 111 or retracts away from the main body 111 in accordance with the rotational direction of the screw member 156. 120 is also made to move along the extension frame (112).

Since the elongated hole 113 is formed in the extension frame 112 so that the screw member 156 and the gripping unit 120 communicate with each other as shown, the connection bracket 158 within the range in which the long hole 113 is formed. ) Is movable in the front-rear direction.

The holding unit 120 is for holding the guard frame 10 to be mounted on the roll-coil product 20.

The gripping unit 120 is a first gripping unit installed on two extension frames 112 (hereinafter referred to as 'first extension frame 115') extending in a direction facing each other among the four extension frames 112. And a second gripping unit 131 installed on two extension frames 112 (hereinafter referred to as 'second extension frames 116') perpendicular to the first extension frame 115. 4A and 4B, first and second gripping units 121 and 131 are shown, respectively.

The first gripping unit 121 is to hold the center portion of the semi-circular guard frame 10, the movable body 122 and the front end of the movable body 122 sliding sliding along the first extension frame 115 The first support base 123 is installed, the first retreat drive unit 124 attached to the moving body 122, and the first retreat member 125 driven by the first retreat drive unit 124.

The movable body 122 may slide along the first extension frame 115 by the sliding driving unit 150 described above, and the rail coupling member 126 coupled to the guide rail 114 at the top for ease of movement. Is provided. The movable body 122 may move so that the distance from the center of the main body 111 to the first support 123 corresponds to the radius of curvature of the guard frame 10 so that the gripping unit 120 may hold the guard frame 10. To be.

When the inner circumferential surface of the first support 123 is supported on the outer circumferential surface of the guard frame 10 and then the first retreat drive unit 124 is driven to advance the first retreat member 125 toward the first support 123. The guard frame 10 is gripped by the first retracting member 125 and the first support 123 while the first retracting member 125 contacts the inner circumferential surface of the guard frame 10.

In this embodiment, the first forward and backward drive unit 124 is applied to the pneumatic cylinder installed in the moving body 122. When the cylinder rod of the pneumatic cylinder is drawn out or drawn in from the cylinder by the compressor (not shown), the first retracting member 125 mounted at the end of the cylinder rod is retracted to grip the guard frame 10. You can do it.

The second gripping unit 131 is for holding both ends of the guard frame 10, and the main moving plate 132, the movable plate 135, the second support 137, the second forward and backward drive unit 138 The second advance member 139 and the movable plate driving unit 140 are provided.

The main moving plate 132 has the connection bracket 158 installed on the upper surface of the main moving plate 132 so as to move in the radial direction along the second extension frame 116 like the movable body 122. The first rail member 133 is provided to be connected to the guide rail 114 is formed in the. The lower surface of the second rail member 134 extends in a direction orthogonal to the first rail member 133.

Two movable plates 135 are installed below the main moving plate 132 and extend a predetermined length side by side in the extending direction of the second extension frame 116, and the second rail member 134. A third rail member 136 to be coupled is formed on the upper surface. The second rail member 134 is spaced apart from each other by a predetermined distance along the longitudinal direction. The movable plate 135 may move in a direction away from or near each other along the longitudinal direction of the second rail member 134 by the movable plate driving unit 140 to be described later.

The second support stand 137 is formed in the front-end | tip part of each movable board 135, respectively, and the 2nd advance drive part 138 is provided in the rear end part. The second retreat drive unit 138 is connected to the second support 137 to drive the second retreat member 139 holding the guard frame 10.

As described above, the movable plate driving unit 140 slides the movable plates 135 in a direction in which the movable plates 135 are closer or farther along the second rail member 134. In this embodiment, two pneumatic cylinders are applied.

As shown in FIG. 5, one movable plate driving unit 140 is installed such that a cylinder body is fixed to the front end of one movable plate 135 and a cylinder rod is fixed to the front end of the other movable plate 135. The cylinder rod is fixed to the rear end of one side of the movable plate 135, and the cylinder body is fixed to the rear end of the other side of the movable plate 135, so that the cylinder rod of each of the movable plate driving units 140 is withdrawn or drawn in. As the movable plate 135 moves toward or away from each other, the sliding drive is made possible.

As described above, the guard frame 10 is semi-circular, and the two guard frames 10 are circularly connected to be mounted on the roll-coil product 20. The first holding unit is formed at the end of the first extension rod. Each of the 121 members grips the center portion of the guard frame 10, and each of the second holding units 131 includes the second support 137 and the second retreating member 139, respectively. The other end of the guard frame 10 is connected to hold.

When holding the guard frame 10 for the first time, the movable plates 135 are set to be spaced apart from each other, and after holding the guard frame 10, the movable plates 135 are adjacent to each other in a direction of mutual proximity. As the ends of the guard frame 10 overlap a predetermined length, the two guard frames 10 are connected to form one circular frame.

In the present embodiment, the pneumatic cylinder is applied as both the movable plate driving unit 140 and the first and second forward and backward driving unit 138, but unlike the type or hydraulic cylinder, such as a sliding drive to move back and forth by the rotation of the screw Actuators of the type may be applied.

Operation of the outer ring gripper device 100 of the present invention is made through the following process.

First, the guard frame 10 corresponding to the diameter of the roll-coil product 20 to be packaged is prepared.

The driving motor 151 is driven so that the first and second supports 137 can support the outer circumferential surface of the guard frame 10, that is, the first and second supports 137 are centered on the frame part 110. The first and second gripping units 121 and 131 are moved in the radial direction so that a distance spaced from the first frame may be located to correspond to the radius of the guard frame 10.

After the first and second supports 137 are supported on the outer circumferential surface of the guard frame 10, the first and second retreat drives 138 are driven to drive the first and second retreat members 139 to the guard frame ( The guard frame 10 is gripped by bringing it into contact with the inner circumferential surface of 10).

Thereafter, the guard frame 10 is attached to the side of the roll-coil product 20 by the driving of the robot arm connected to the frame unit 110 and fixed by taping to finish the mounting of the guard frame 10.

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. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100; Outer ring gripper device
110; Frame part
111; Main body 112; Extension frame
120; Gripping Unit
121; 1st Gripping Unit
122; Moving object 123; First support
124; First forward and backward drive unit 125; First Retreat Member
131; 2nd holding unit
132; Main moving plate 135; Movable plate
137; Second support 138; Second Recession Drive
139; Second retracting member 140; Movable plate driving part
150; Sliding drive part
151; Drive motor 152; reducer
153; Drive shaft 154; Drive Bevel Gears
155; Driven bevel gear 156; Screw member
158; Connection bracket

Claims

A frame portion coupled to the robot arm;
A plurality of gripping units slidably fastened in the radial direction to the frame part and including a gripping part for gripping a guard frame;
An outer ring gripper device comprising a; sliding drive unit for driving the gripping unit sliding.

The method of claim 1,
The holding unit is a moving body moving along the frame,
A support provided at an end of the movable body to support an outer circumferential surface of the guard frame;
A retraction member installed in the movable body to be able to move forward and backward toward the support, and holding a guard frame together with the support;
An outer ring gripper device comprising a forward and backward drive unit for forward and backward driving the forward and backward members.

The method of claim 1,
The gripping unit may include a first gripping unit installed at a position opposite to each other in a first direction from the center of the frame part;
And a second gripping unit installed at a position opposite to each other based on the center of the frame portion in a direction orthogonal to the first direction,
The first gripping unit includes a movable body moving in a radial direction by the sliding driver, a first support mounted to an end of the movable body, and a first frame supported by the sliding support to hold a guard frame together with the first support. A first retraction member and a first retraction drive unit provided in the movable body to drive the first retraction member forward and backward;
The second gripping unit includes a main movable plate which is moved along a radial direction by the sliding driver, and two movable plates which are slidably installed in the direction perpendicular to the moving direction of the main movable plate on the main movable plate. A second support member installed at each end of the two movable plates to support the outer circumferential surface of the guard frame, and a second retracting member to be retracted toward the second support member to hold the guard frame together with the second support member; An outer ring gripper device having a second forward and backward drive unit respectively installed on the movable plate to drive the second forward and backward member and a movable plate driving unit for driving the movable plates to move in a direction approaching or away from each other.

The method of claim 3, wherein
The frame unit includes a main body and four extension frames spaced from the main body at equal intervals and extending in a radial direction.
The sliding drive unit is connected to the drive bevel gear installed in the main body, a drive motor for rotationally driving the drive bevel gear, four driven bevel gears meshed with the drive bevel gear, and the four driven bevel gears, respectively. A screw member rotatably supported on each of the extension frames so as to extend along an extension frame of the connection, and fixed to the respective holding units and screwed with the screw members to move along the screw members during rotational rotation of the screw members. An outer ring gripper device comprising a bracket.