KR20160003486A - Apparatus for transporting a charge - Google Patents

Apparatus for transporting a charge Download PDF

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Publication number
KR20160003486A
KR20160003486A KR1020140081991A KR20140081991A KR20160003486A KR 20160003486 A KR20160003486 A KR 20160003486A KR 1020140081991 A KR1020140081991 A KR 1020140081991A KR 20140081991 A KR20140081991 A KR 20140081991A KR 20160003486 A KR20160003486 A KR 20160003486A
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KR
South Korea
Prior art keywords
gripper
frame
charge
driving
unit
Prior art date
Application number
KR1020140081991A
Other languages
Korean (ko)
Other versions
KR102050875B1 (en
Inventor
오승률
오재이
Original Assignee
한화테크윈 주식회사
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Priority to KR1020140081991A priority Critical patent/KR102050875B1/en
Publication of KR20160003486A publication Critical patent/KR20160003486A/en
Application granted granted Critical
Publication of KR102050875B1 publication Critical patent/KR102050875B1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/38—Loading arrangements, i.e. for bringing the ammunition into the firing position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)

Abstract

The charge transfer apparatus includes a frame, a transfer unit movably installed on the frame, a driving unit driving the frame and the transfer unit, and an explosive support unit for supporting the charge, and at least one gripper assembly installed in the transfer unit for gripping the charge Respectively.

Description

Apparatus for transporting a charge

More particularly, the present invention relates to a charge transfer device capable of safely extracting a charge placed in a chargeable position without damage and transferring the charge to a position of a complex charge at a high speed.

Generally, automation self-propelled artifacts are composed of a shell loading transfer device, a charge loading transfer device and a composite electric charger, and the charge transfer device is composed of an electric charge device and a charge transfer device.

The charge transfer device performs the function of extracting 3 ~ 6 charge independently from the fixed load and moving to the complex loader. At this time, the gripper of the charge transfer device that holds the charge is charged with the charge And serves to fix the charge while the charge transfer device is moving to the complex charge.

In this process, if the gripper is gripped by excessive force, there is a risk that the charge is damaged. On the contrary, if the gripper holds the charge weakly, there is a risk that the charge is released from the gripper.

In order to solve such a problem, conventionally, there has been used a method of controlling the gripping force of the gripper in contact with the load by controlling the current applied to the actuator for driving the gripper. However, in this method, the gripper, the motor There is a problem in that accuracy is degraded when the driving electric load is changed.

In the case of a shell having a highly rigid iron structure, the gripping force of the gripper may be increased to have a sufficient safety factor. However, since the gripping force is made of a material having a stiffness smaller than that of a shell, There is a limit to prevent the departure of the vehicle.

It is an object of the embodiments to provide a charge transfer device capable of safely extracting a charge from a fixed charge and safely transferring the charge to a complex charger.

Another object of the embodiments is to provide a charge transfer device which can reduce the risk of charge drop and damage of the charge transfer device at low cost by simply changing the mechanical shape without adding other parts.

The charge transfer apparatus according to an embodiment of the present invention includes a frame, a transfer unit movably installed in the frame, a driving unit for driving the frame and the transfer unit, and an explosive support unit for supporting the charge, And one gripper assembly.

The frame may include a first frame extending in a first direction and a second frame provided in the first frame so as to be movable in the first direction and extending in a second direction across the first direction.

The driving unit may include a first driving unit installed in the second frame and reciprocating the second frame in the first direction with respect to the first frame, and a second driving unit provided in the second frame to reciprocate in the second direction with respect to the second frame. And a second driving unit for driving the second driving unit.

The first driving unit may include a first rak unit provided in the first frame and a first driving motor that provides a driving force to reciprocate the second frame in the first direction, And a second drive motor for providing a driving force to reciprocate the conveying portion in the second direction, wherein the first drive motor has a first pinion gear engaged with the first rak portion, And the second drive motor may have a second pinion gear engaged with the second rak portion.

The conveying portion includes a rotation motor for providing a driving force for rotating the gripper assembly, a gripper grip portion for gripping the gripper assembly, a rotation motor connected to the gripper grip portion and extending in the first direction and the second direction And a gripper supporting portion provided on the second frame.

Further, the gripper assembly may further include a first side gripper and a second side gripper that grip side surfaces of the charge.

In addition, the charge support portion may be installed on at least one of the first side gripper and the second side gripper.

The gripper assembly may further include a gripper driver for driving at least one of the first side gripper and the second side gripper to adjust a gap between the first side gripper and the second side gripper.

The gripper assembly may further include a first link connecting the first side gripper and the gripper driving unit, and a second link connecting the second side gripper and the gripper driving unit.

According to the charged drug delivery device according to the embodiments as described above, it is possible to provide a charge delivery device capable of extracting a charge without damaging the gripper from the loaded position without controlling the gripping force of the gripper, and delivering it to the complex device at high speed.

1 is a plan view showing a schematic configuration of a charged drug delivery device according to an embodiment.
2A is a front view of the charged drug delivery device shown in FIG.
2B is a side view of the charged drug delivery device shown in FIG.
3 is an enlarged view showing an enlarged view of the first drive unit of the charged drug delivery device shown in FIG.
4 is an enlarged view showing an enlarged view of a second driving unit of the charged drug delivery device shown in Fig.
FIG. 5 is an enlarged view showing an enlarged transfer part of the charged drug delivery device shown in FIG.
6 is an enlarged view showing an enlarged view of the gripper assembly of the charged drug delivery device shown in Fig.
FIG. 7 is a front view of the gripper assembly shown in FIG. 6 in front view.
8A is an operational state view showing the operation of the gripper assembly when the gripper driving portion of the gripper assembly shown in Fig. 6 is driven.
FIG. 8B is a state diagram showing a state in which the first side gripper and the second side gripper shown in FIG. 6 grip the load.
9 is an enlarged view showing an enlarged view of a gripper assembly of a charged drug delivery device according to another embodiment.
10 is a front view of the gripper assembly shown in FIG.
11 is an operational state view showing the operation of the gripper assembly when the gripper driver of the gripper assembly shown in Fig. 9 is driven.
12 is an operational state view showing the operating state of the gripper assembly when the second side gripper of the gripper assembly of the charge transfer apparatus according to another embodiment is fixed.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the configuration and operation of a charge transfer device according to embodiments will be described in detail with reference to the accompanying drawings. The expression " and / or " used in the description refers to one of the elements or a combination of elements.

FIG. 1 is a plan view showing a schematic configuration of a charged drug delivery device according to an embodiment, FIG. 2 (a) is a front view of the charged drug delivery device shown in FIG. 1, and FIG. 2 (b) is a side view of the charged drug delivery device shown in FIG.

1 and 2, the charge transfer device 1 includes a frame 100, a transfer unit 200 installed on the frame so as to be movable with respect to the frame 100, a frame 100 and a transfer unit 200, And at least one gripper assembly 400 provided on the transfer unit 200 and gripping the charge 5 is provided. The gripper assembly 400 includes a drive unit 300 for driving the load 5, and a charge support unit 430 for supporting the charge 5.

The frame 100 includes a first frame 110 extending in a first direction and a second frame 110 extending in a second direction perpendicular to the first direction, The gripper assembly 400 includes a gripper assembly 120 and a feeder 200 connected to the gripper assembly 400. The gripper assembly 400 can be freely moved on a plane defined by the first direction and the second direction.

The transfer unit 200 includes a rotary motor 210, a gripper grip unit 220 and a gripper support unit 230. The transfer unit 200 will be described in detail with reference to FIG.

The driving unit 300 includes a first driving unit 310 installed on the second frame 120 and reciprocating the second frame 120 in the first direction with respect to the first frame 110, And a second driving unit 320 that reciprocates the transfer unit 200 in the second direction with respect to the second frame 120. The detailed structure of the first driving unit 310 and the second driving unit 320 will be described in detail with reference to FIG.

3 is an enlarged view showing an enlarged view of the first drive unit of the charged drug delivery device shown in FIG.

3, the first driving part 310 includes a first rak part 311 installed on the first frame 110, a second rak part 311 provided on the first frame 110, 1 drive motor 312. The first drive motor 312 may include a first pinion gear 313 that engages with the first lock portion 311 and transmits a driving force of the first drive motor.

The first driving unit 310 further includes a first position sensor (not shown) to control the first driving motor 312 based on the position of the second frame 120 on the first frame 110 The position of the second frame 120 can be controlled.

4 is an enlarged view showing an enlarged view of a second driving unit of the charged drug delivery device shown in Fig.

Referring to FIG. 4, the second driving unit 320 includes a second rack unit 321 installed in the second frame 120, a second driving unit 321 for providing driving force for reciprocally moving the feeding unit 200 in the second direction, And the second drive motor 322 may include a second pinion gear 323 that engages with the second lug portion 321 and transmits a driving force of the second drive motor 322 .

The second driving unit 320 further includes a second position sensor to control the second driving motor 322 based on the position of the conveyance unit 200 on the second frame 120, 200 can be controlled.

FIG. 5 is an enlarged view showing an enlarged transfer part of the charged drug delivery device shown in FIG.

5, the transfer unit 200 includes a rotary motor 210 for providing driving force for rotating the gripper assembly 400, a gripper grip unit 220 for gripping the gripper assembly 400, a rotary motor 210 And a gripper supporting part 230 connected to the gripper grip part 220 and extending in a direction orthogonal to the first and second directions and installed on the second frame 120.

More specifically, the rotary motor 210 is coupled to the gripper support 230, and the gripper grip 220 receives the driving force of the rotary motor 210 while being supported by the gripper support 230, 400). At this time, it is preferable that the gripper assembly 400 is installed so as to be rotatable 360 degrees with respect to the transfer unit 200.

6 is an enlarged front view of the gripper assembly shown in FIG. 6, and FIG. 8A is a front view of the gripper assembly of the gripper assembly of the gripper assembly shown in FIG. 6; FIG. Fig. 8B is a state diagram showing a state in which the first side gripper and the second side gripper shown in Fig. 6 grip the load. Fig.

6 and 7, the gripper assembly 400 further includes a first side gripper 410 and a second side gripper 420 for gripping the side surface of the charge 5, Is provided below the first side gripper 410 and the second side gripper 420 to support the charge 5 so as not to slide down.

The gripper assembly 400 includes a gripper driver 440 that drives the first side gripper 410 and the second side gripper 420 to adjust the distance between the first side gripper 410 and the second side gripper 420, And a second link 450 connecting the first side gripper 410 and the gripper driving unit 440 and a second link 450 connecting the second side gripper 420 and the gripper driving unit 440. [ 460)

Next, with reference to FIGS. 8A and 8B, the operating state of the gripper assembly 400 will be described in detail below when the gripper driver 440 is driven.

The gripper driving unit 440 is connected to the first link 450 and the second link 450 so that the first link 450 and the second link 460 Are connected to the first side gripper 410 and the second side gripper 420, respectively.

8B shows the gap between the first side gripper 410 and the second side gripper 420 by moving the first link 450 and the second link 460 by driving the gripper driving unit 440 counterclockwise, (5). After the charge 5 is gripped at the charge point (not shown) and the charge 5 is safely transferred to the composite charge (not shown), the gripper drive unit 440 is driven again in the clockwise direction, The first side gripper 410 and the second side gripper 420 return to the state before gripping the charge 5 as shown in FIG.

FIG. 9 is an enlarged view showing an enlarged view of a gripper assembly of a charge transfer apparatus according to another embodiment, FIG. 10 is a front view showing the gripper assembly shown in FIG. 9 from the front, and FIG. 11 is a front view of the gripper assembly of the gripper assembly shown in FIG. Lt; / RTI > is an operating state diagram showing the operation of the gripper assembly when it is driven.

9 and 10, the gripper assembly 400 further includes a first side gripper 410 and a second side gripper 420 for gripping the side of the charge 5, as shown in FIG. 6, The charge support portion 430 may be installed only on the lower side of the first side gripper 410. Although not shown, the charge support portion 430 may be installed at a lower portion of the second side gripper 420. That is, the charge support portion 430 may include at least one of the first side gripper 410 and the second side gripper 420 And serves to support the charge 5 so as to be slid under the gripper assembly 400 so as not to be dropped.

11 is a perspective view illustrating the operation of the gripper assembly 400 when the gripper assembly 400 shown in FIG. 9, that is, the charge support portion 430 is provided only below the first side gripper 410, Which is the same as that described above with respect to the operation state diagram of the gripper assembly 400 shown in Figs. 8A and 8B, and thus a detailed description thereof will be omitted.

12 is an operational state view showing the operating state of the gripper assembly when the second side gripper of the gripper assembly of the charge transfer apparatus according to another embodiment is fixed.

12, the first side gripper 410 provided with the charge support part 430 is connected to the gripper driving part 440 through the first link 450, while the second side gripper 420 is connected to the gripper grip part 440. However, (Not shown). The gripper driving unit 440 drives the first side gripper 410 through the first link 450 to grip the charge 5 while the second side gripper 420 moves to the gripper grip 220 And serves to support the side surface of the loading medicine 5.

The first side gripper 410 may be fixed to the gripper grip portion 220 without being connected to the gripper driving portion 440 through the first link 450. Instead of the second side gripper 420, Even when both the first side gripper 410 and the second side gripper 420 are provided on both sides of the first side gripper 410 and the second side gripper 420 as shown in FIG. One may be fixed without being connected to the gripper driving unit 440.

The construction and effect of the above-described embodiments are merely illustrative, 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 protection of the invention should be determined by the appended claims.

1: charge transfer device 313: first pinion gear
5: charge 320: second drive unit
100: frame 321: second rak part
110: first frame 322: second drive motor
120: second frame 323: second pinion gear
200: transfer part 400: gripper assembly
210: rotation motor 410: first side gripper
220: gripper grip portion 420: second side gripper
230: gripper support part 430:
300: driving part 440: gripper driving part
310: first driving part 450: first link
311: first rak part 460: second link
312: first drive motor

Claims (9)

frame;
A transporting unit movably installed in the frame;
A driving unit for driving the frame and the conveyance unit;
And at least one gripper assembly provided with a charge supporting part for supporting the charge and holding the charge. The method according to claim 1,
Wherein the frame comprises a first frame extending in a first direction and a second frame extending in a second direction across the first direction, the second frame being mounted on the first frame so as to be movable in the first direction, Conveying device. 3. The method of claim 2,
The driving unit may include a first driving unit installed on the second frame and reciprocating the second frame with respect to the first frame in the first direction and a second driving unit provided on the second frame, And a second driving part for reciprocating the first transfer part in the second direction. The method of claim 3,
Wherein the first driving unit includes a first rak unit mounted on the first frame and a first driving motor that provides driving force for reciprocating the second frame in the first direction,
Wherein the second driving unit includes a second rak unit mounted on the second frame and a second driving motor that provides a driving force to reciprocate the conveying unit in the second direction,
Wherein the first drive motor has a first pinion gear engaged with the first latch portion and the second drive motor has a second pinion gear engaged with the second latch portion. 5. The method of claim 4,
Wherein the grip portion includes a gripper grip portion for gripping the gripper assembly, and a grip portion for gripping the gripper grip portion, the grip portion being connected to the grip portion, And a gripper supporting portion extending in a transverse direction and provided on the second frame. 6. The method according to claim 1 or 5,
Wherein the gripper assembly further comprises a first side gripper and a second side gripper for gripping the side of the charge. The method according to claim 6,
Wherein the burden supporting portion is provided on at least one of the first side gripper and the second side gripper. 8. The method of claim 7,
Wherein the gripper assembly further comprises a gripper driver for driving at least one of the first side gripper and the second side gripper to adjust an interval between the first side gripper and the second side gripper. 9. The method of claim 8,
Wherein the gripper assembly further comprises a first link connecting the first side gripper and the gripper driving unit and a second link connecting the second side gripper and the gripper driving unit.
KR1020140081991A 2014-07-01 2014-07-01 Apparatus for transporting a charge KR102050875B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140081991A KR102050875B1 (en) 2014-07-01 2014-07-01 Apparatus for transporting a charge

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Application Number Priority Date Filing Date Title
KR1020140081991A KR102050875B1 (en) 2014-07-01 2014-07-01 Apparatus for transporting a charge

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KR20160003486A true KR20160003486A (en) 2016-01-11
KR102050875B1 KR102050875B1 (en) 2019-12-02

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018026053A1 (en) * 2016-08-01 2018-02-08 한화테크윈 주식회사 Ammunition monitoring apparatus, self-propelled artillery, and ammunition carrier
CN109502327A (en) * 2018-12-12 2019-03-22 深圳市诚捷智能装备股份有限公司 A kind of battery core conveying equipment
KR102266527B1 (en) * 2021-03-15 2021-06-18 유윤상 Substrate clamping device for surface treatment

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060056947A1 (en) * 2004-09-13 2006-03-16 Posly Louis M Water bottle lifting, rotating, and mounting apparatus
KR100702939B1 (en) * 2000-06-01 2007-04-03 삼성테크윈 주식회사 Shell transporting apparatus and shell transporting method using the same

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100702939B1 (en) * 2000-06-01 2007-04-03 삼성테크윈 주식회사 Shell transporting apparatus and shell transporting method using the same
US20060056947A1 (en) * 2004-09-13 2006-03-16 Posly Louis M Water bottle lifting, rotating, and mounting apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018026053A1 (en) * 2016-08-01 2018-02-08 한화테크윈 주식회사 Ammunition monitoring apparatus, self-propelled artillery, and ammunition carrier
US10866044B2 (en) 2016-08-01 2020-12-15 Hanwha Defense Co., Ltd. Ammunition monitoring apparatus, self-propelled artillery, and ammunition carrier
CN109502327A (en) * 2018-12-12 2019-03-22 深圳市诚捷智能装备股份有限公司 A kind of battery core conveying equipment
KR102266527B1 (en) * 2021-03-15 2021-06-18 유윤상 Substrate clamping device for surface treatment

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