KR20200043717A - Gantry loader system for limited ceiling height - Google Patents

Abstract

The present invention provides a gantry loader system comprising a multi-step arm available in a limited space with a high space use efficiency. According to the present invention, the gantry loader system comprising the multi-step arm available in a limited space is characterized by comprising: a large number of processing housings which have an access opening on an upper side and accommodate processing apparatuses inside to be successively arranged; the multi-step arm which includes horizontal guide rails arranged on an upper side of the processing housings in the direction of arrangement of the processing housings, an arm base, and a large number of arm sliders installed on the arm base, and which can be extended/contracted and elevated/lowered inside the processing housings through the access opening; a first multi-step pickup unit which includes a grip unit installed on a front end of the multi-step arm, and an elevation/lowering driving unit which drives the elevation/lowering of the multi-step arm; a trolley which includes a trolley main body which is able to slide/drive along the horizontal guide rails by supporting the first multi-step pickup unit, and a driving operation unit which drives the trolley main body; and a control unit which controls the elevation/lowering driving unit and the driving operation unit.

Description

Gantry loader system including multi-stage arms that can be used in limited spaces {GANTRY LOADER SYSTEM FOR LIMITED CEILING HEIGHT}

The present invention relates to a gantry loader system including a multi-stage arm usable in a limited space.

Recently, as part of automation of production facilities, gantry loaders have been installed on top of existing manufacturing facilities to automate material transfer. The gantry loader enters and exits the upper part of the production facility, and after grasping and releasing the material, the gantry loader moves up and down and then moves to the next process.

However, the structure for holding and elevating the material in the existing gantry loader has a structure that protrudes as much as the length from the support point to the work in the elevated state, so there is a problem in that the use of the gantry loader is limited in buildings with low floor height. .

An object of the present invention is to provide a gantry loader system including a multi-stage arm usable in a limited space with high space use efficiency.

The object is in the gantry loader system including a multi-stage arm usable in a limited space according to the present invention, a plurality of housings arranged sequentially by receiving a processing device therein with an access opening on the top, and on the top of the housing A multi-stage arm that is horizontally arranged along the arrangement direction of the housing, an arm base and a plurality of arm sliders installed on the arm base, and is expandable and elevable to the interior of the housing through the access opening, and a tip of the multi-stage arm A first multi-stage pick-up unit having a gripping portion installed on the multi-stage arm for lifting and lowering, and a trolley main body capable of sliding along the horizontal guide by supporting the first multi-stage pick-up unit and driving the trolley body A trolley having a driving driving unit, and the lifting driving unit and the driving driving unit are provided. This is achieved by a gantry loader system comprising a multi-stage arm usable in a limited space characterized by having a control unit.

Here, the second multi-stage pickup unit is supported by the trolley and has the same structure as the first multi-stage pickup unit, wherein the first multi-stage pickup unit picks up a raw material and inserts it into the housing, and the second multi-stage pickup unit By drawing the processed material in the housing, it is possible to supply and withdraw the material while minimizing the movement of the trolley.

And, further comprising a lifting cylinder that provides a lifting force to at least one of the arm slider, The control unit may raise the arm slider more stably by driving the elevating cylinder when elevating the multi-stage arm through the elevating driving unit.

In addition, the housing further includes an opening door for opening and closing the access opening, and a closing driving unit for driving the opening door in a closing direction, and the trolley further includes a door opening interlocking unit capable of downward protruding and upward retracting, and the control unit. In the case of sliding movement of the trolley, the door opening interlocking part is projected downward to open the target opening door to open the opening door only when necessary.

In addition, it is preferable that the closing driving part has a tension spring that provides elastic force in a direction to close the opening door.

The gantry loader system including a multi-stage arm usable in a limited space according to the present invention has high space use efficiency.

1 is a view showing a gantry loader system according to the present invention.
2 (a) to 2 (d) are views showing the operation sequence of the gantry loader according to the present invention.
3A and 3B are diagrams showing the rising and falling of the multi-stage pickup.
4 is a view showing the lifting driving unit and the lifting cylinder.
5 is a view showing a multi-stage arm and an interlocking drive.
6 (a) and (b) are perspective and plan views of a multi-stage arm.
7A and 7B are diagrams showing the rising and falling of the multi-stage pickup according to another embodiment.
8 is a view showing a lift driving unit and a lifting cylinder of a multi-stage pickup unit according to another embodiment.
9 is a view showing a multi-stage arm and an interlocking driving unit in a multi-stage pickup unit according to another embodiment.
10A and 10B are perspective and plan views of a multi-stage arm according to another embodiment.

Hereinafter, a gantry loader system including a multi-stage arm usable in a limited space according to the present invention will be described in detail with reference to FIGS. 1 to 10.

1 is a view showing a gantry loader system according to the present invention, Figure 2 (a) to (d) is a view showing the operation sequence of the gantry loader according to the present invention. Referring to FIGS. 1 and 2, the gantry loader system according to the present invention includes a plurality of housings that are largely and regularly arranged, and a horizontal guide rail 110 that is installed to be extended and extended along an arrangement direction on the upper part of the housing, The horizontal guide rail 110 is slidably installed along the longitudinal direction and is made of a trolley 200 having a multi-stage pick-up unit 300.

The housing is installed in a factory and collectively refers to a structure that accommodates a processing device or material 10, and stores a processing housing 500B that accommodates a processing device, a material housing 500A that accommodates a material 10, and a finished product. It includes all of the finished product housings (500C). These housings are regularly arranged in the factory mainly according to the work order. That is, as shown in FIG. 1, the material housing 500A, the processing housing 500B, and the finished product housing 500C may be sequentially disposed from one side, and a plurality of housings may be disposed as needed. have. The gantry loader system according to the present invention is automated through the trolley 200 and the multi-stage pick-up unit 300 that moves the upper part of the housing to draw and load the material 10 between the housings manually or through the front entrance. It is to do.

The housing according to the present invention can accommodate various types of processing devices therein, and an access opening 510 that can be opened and closed by an opening door 520 on the top, and a closing driving unit for driving the opening door 520 in the closing direction Have The closed driving part is made of a tension spring 530 that provides elastic force in the direction of blocking the access opening 510 to the opening door 520, and the opening door 520 has a locking jaw 540 protruding upward. The opening door 520 opens the access opening 510 when the external force acts on the locking jaw 540 and is pushed in the direction of opening the access opening 510. When the external force disappears, the elastic spring returns by the tension spring 530 And blocks access opening 510. In the present invention, although the closed driving unit is described as being composed of a tension spring 530, an external force acts on the opening door 520, and then, after opening, it can be selected from various configurations for automatically closing when the external force is lost.

The processing device inside the processing housing 500B generates harmful elements such as gas, spark, heat, iron powder, etc. according to the processing. The opening door 520 includes a multi-stage pick-up unit 300, which will be described later, for the material 10. Except when charging or withdrawing into the processing housing 500B through the access opening 510, harmful elements inside the processing housing 500B are not leaked to the outside.

The horizontal guide rail 110 is disposed along the direction in which the housing is regularly arranged. More specifically, the housings are arranged such that each access opening 510 is arranged along a constant axis, and the horizontal guide rail 110 is a multi-stage pickup 300 to be described later along the axis along which the access opening 510 is arranged. ), The gripping portion 322 at the end is installed at a predetermined distance from the top of the housing in consideration of the height at which the material 10 can be gripped or released. Although not shown in the drawing, a pair of vertical pillars installed vertically from the bottom is installed at both ends of the horizontal guide rail 110. The vertical column has a structure capable of sufficiently supporting the members supported by the horizontal guide rail 110 and the horizontal guide rail 110.

The horizontal guide rail 110 is slidably installed along the longitudinal direction, and a trolley 200 having a multi-stage pickup 300 is installed.

The trolley 200 has a trolley body 210 that is capable of sliding along the horizontal guide rail 110 and a travel driving unit 220 for driving the trolley body 210. A guide is installed between the horizontal guide rail 110 and the trolley body 210 so that the trolley body 210 is fixed to the horizontal guide rail 110 to be slidable along the longitudinal direction. In addition, a driving rack is installed along the longitudinal direction of the horizontal guide rail 110 and the driving driving unit 220 has a driving pinion. The driving pinion is engaged with the driving rack, rotated or reversed by the driving driving unit 220, and causes the trolley body 210 to slide left and right along the horizontal guide.

The trolley 200 is equipped with a trolley positioning sensor. The trolley positioning sensor detects the initial position of the trolley 200 when the initial positioning sensor 841, the trolley 200 slidingly moves in the left and right directions to check whether the initial position value of the trolley 200 is always in the correct position. It consists of a movement confirmation sensor 842, a limit confirmation sensor 843 that prevents the trolley 200 from falling off both ends of the horizontal guide rail 110. These trolley positioning sensors are respectively installed in pairs on both left and right ends of the trolley body 210.

The trolley 200 is provided with a door opening interlocking unit 230 capable of protruding downward and retracting upwards. The door opening interlocking portion 230 protrudes downward from the trolley 200 and is formed so that the end is caught by the locking jaw 540 of the opening door 520. When the trolley 200 slides in the downwardly protruding state, the door opening interlocking unit 230 opens the opening door 520 by using the force of the sliding movement of the trolley 200, and when the upward retract is withdrawn, the locking jaw ( Interlocking with 540) is blocked so that the opening door 520 automatically closes the access opening 510 by the closing driving unit. The door opening interlocking unit 230 opens the opening door 520 by sliding to the processing housing 500B targeted by the trolley 200, and the multi-stage pick-up unit 300, which will be described later, performs all predetermined operations. During the completion, it acts on the opening door 520 so that the access opening 510 can be opened.

The multi-stage pick-up unit 300 is installed in the trolley 200. A plurality of multi-stage pickup units 300 can be installed on the trolley 200, and in the present invention, the first multi-stage pickup unit 300 and the second multi-stage pickup unit 300 having the same shape as the first multi-stage pickup unit 300 ).

The multi-stage pick-up unit 300 is composed of an arm base 310 installed on the trolley body 210 and a plurality of arm sliders installed on the arm base 310, and the inside of the processing housing 500B through the access opening 510 It has a multi-stage arm 320 that can be moved up and down, a gripping portion 322 installed at the front end of the multi-stage arm 320, and an elevation driving unit for elevating and driving the multi-stage arm 320. Multi-stage pick-up unit 300 is a multi-stage arm 320 is installed on the trolley 200 is telescopic downward by the lift driving unit, the gripping portion 322 installed on the arm slider disposed at the end of the multi-stage arm 320 (10) is gripped and released by gripping to be charged or withdrawn to the processing housing 500B.

The gripping portion 322 has a gripper and a gripping control portion having a structure generally used, and is selectable from various configurations capable of gripping or releasing the material 10. In addition, the processing device of the processing housing 500B has a separate gripping device and a gripping device control unit for gripping or releasing the material 10. The gripping part 322 transfers the material 10 to the inside of the processing housing 500B so that the material 10 is located in a section capable of being gripped by the gripping device of the processing device so that the material 10 is loaded into the gripping device. When the gripping device grips the loaded material 10, the gripper releases the gripping material 10. In addition, when the gripping device of the processing device releases the processed material 20, the gripper grips the processed material 20 so that it can be moved to the outside of the processing housing 500B.

In addition, a door confirmation sensor 830 is installed in the gripping portion 322 to check whether the opening door 520 is closing the access opening 510. The door confirmation sensor 830 is installed downward at the side end of the gripper to check whether the opening door 520 is closed. If the door confirmation sensor 830 detects the opening door 520, the descent of the multi-stage pickup 300 is stopped.

The multi-stage pick-up unit 300 has a separate cable rack for supplying and controlling power to the gripping unit 322. The cable rack has a structure capable of flexibly supplying cables when the multi-stage arm 320 is telescopic.

Due to the above configuration, the multi-stage pick-up unit 300 of the present invention charges or withdraws the material 10 by using the telescopic of the multi-stage arm 320, so that it is at the top of the multi-stage pick-up unit 300 when it is not telescopic. Above the height, a separate member does not protrude upward. That is, even if the height of the upper portion of the processing housing 500B in the building is not sufficient, the gantry loader system according to the present invention can be applied even if there is a margin as high as the height of the multi-stage pickup unit 300.

The gantry loader system according to the present invention has a control unit for controlling the lift driving unit, the driving driving unit 220, the gripping unit 322, and the like. As shown in FIG. 2, the control unit controls each driving unit and the gripping unit 322 to charge or withdraw the material 10.

FIG. 2 (a) shows a state for supplying the material 10 before processing from the material housing 500A to the processing housing 500B, and (b) shows the state in which the processed material 20 is gripped and withdrawn. (C) shows a state in which the material 10 is supplied to the processing housing 500B before processing, and (d) indicates a state for supplying the processed material 20 to the finished product housing 500C.

1 and 2, the gantry loader according to the present invention has a first multi-stage pickup unit 300 and a second multi-stage pickup unit 400, a material housing 500A, a processing housing 500B, and a finished product housing The operation in which the control unit charges or withdraws the material 10 in the state having 500C will be described.

In all operations, the driving driving unit 220 slides the trolley 200 in the left-right direction along the longitudinal direction of the horizontal guide rail 110, the lifting driving unit elevates the multi-stage pickup unit 300, and the grip control unit grips the gripper. Gripping or holding is released, and the gripping device control unit grips or releases the gripping device. The driving driving unit 220, the lifting driving unit, the gripping control unit and the gripping device control unit are controlled by a control unit, and each operation is a driving sensor 810, a positioning sensor 820, a door confirmation sensor 830, and a trolley position It is detected and managed by confirmation sensors.

First, the trolley 200 is fixed to the initial position using the initial positioning sensor 841. As illustrated in FIG. 1, one of the first multi-stage pickup unit 300 and the second multi-stage pickup unit 400 is positioned on the upper part of the material housing 500A by moving the trolley 200. If the second multi-stage pick-up unit 400 is located on the upper part of the material 10, the second multi-stage pick-up unit 400 performs an elevating and gripping operation. Here, the elevating operation refers to an operation in which the elevating driving unit extends and lowers the multi-stage arm 320, and the gripping operation and the gripping release operation refers to an operation in which the gripping control unit grips or releases the gripper. When the second multi-stage pick-up unit 400 grips the material 10, it moves to the upper portion of the processing housing 500B targeting the trolley 200. At this time, while the trolley 200 approaches the processing housing 500B, the door opening interlocking unit 230 protrudes downward to open the target opening of the processing housing 500B, thereby opening the access opening 510. Secure. The second multi-stage pickup 400 lifts and releases the grip, and the gripping device grips the material 10.

Through the above operation, the material 10 is supplied to the processing housing 500B, and when there are many processing housings 500B, the material 10 is supplied to each processing housing 500B through repetition. In addition, when the trolley 200 completes the work in the specific processing housing 500B, the door opening interlocking unit 230 retracts upward, and the opening door 520 closes the access opening 510 by the closing driving unit, thereby processing the material. (10) to be processed.

When the processing of the material 10 in the specific processing housing 500B is completed, the second multi-stage pick-up unit 400 of the trolley 200, as shown in Figure 2 (a), the material in the material housing 500A (10) is gripped and moved to the top of the processing housing (500B). Thereafter, as shown in FIG. 2B, the door opening interlocking unit 230 protrudes downward to open the opening door 520. In addition, the first multi-stage pickup unit 300 descends to allow the gripping unit 322 to grip the finished material 20. At this time, the gripping device releases gripping by the gripping device control unit to release the processed material 20. After the first multi-stage pick-up unit 300 grips the processed material 20 and rises, the trolley 200 moves at a predetermined interval, as shown in FIG. 2 (c), so that the second multi-stage pickup unit 400 After being positioned on the upper portion of the gripping device, the second multi-stage pickup unit 400 is lowered to supply the gripped material 10 to the gripping device so that the gripping device can grip the material 10. At this time, the opening door 520 continues to open the access opening 510 by the door opening interlocking unit 230. Thereafter, as shown in FIG. 2 (d), the trolley 200 moves while the first multi-stage pick-up unit 300 grips the processed material 20. At this time, the door opening interlocking unit 230 is retracted upward so that the opening door 520 blocks the access opening 510 so that the processing device can process the material 10 within the processing housing 500B. The trolley 200 holding the processed material 20 moves to the finished product housing 500C shown in FIG. 1 to store the processed material 20 in the finished product housing 500C, or requires subsequent processing. In this case, it can be moved to another processing housing 500B capable of subsequent processing.

As described above, the gantry loader system including the multi-stage arm 320 usable in a limited space according to the present invention through the operation is the trolley 200 using the first multi-stage pickup unit 300 and the second multi-stage pickup unit 400 It is possible to minimize the moving distance to supply or withdraw the material (10, 20), and simply operate the opening door 520 through sliding movement of the trolley 200 to simplify the structure required to open and close the opening door 520. can do.

In addition, accurate and safe driving is possible through the door confirmation sensor 830 and the trolley positioning sensor while the trolley 200 moves and the multi-stage pickup 300 moves up and down.

3 (a) and (b) is a diagram showing the rise and fall of the multi-stage pick-up part, FIG. 4 is a view showing the lift driving unit and the lifting cylinder, FIG. 5 is a view showing the multi-stage arm and the interlocking driving unit, and FIG. 6 Silver (a) and (b) is a perspective view and a plan view of a multi-stage arm, Figure 7 (a) and (b) is a view showing the rise and fall of the multi-stage pickup according to another embodiment, Figure 8 is another embodiment FIG. 9 is a view showing a lift driving unit and a lifting cylinder according to a multi-stage pickup unit. FIG. 9 is a view showing a multi-stage arm and an interlocking driving unit of a multi-stage pickup unit according to another embodiment. It is a perspective view and a plan view of the multi-stage arm according to the. Hereinafter, a multi-stage pickup unit used in a gantry loader system including a multi-stage arm usable in a limited space according to the present invention will be described based on the items illustrated in FIGS. 3 to 10.

The multi-stage pick-up unit 300 refers to a multi-stage telescopic lift pick-up device, and may be installed in a plurality of trolley bodies 210. The multi-stage pick-up unit 300 is installed on the arm base 310 and a plurality of arm sliders that can be moved up and down on the arm base 310 and the multi-stage arm 320 installed on the trolley body 210. It consists of an elevator driving unit for driving and an elevator cylinder that provides an upward force to any of the arm sliders. At this time, the gripping portion 322 is formed on the arm slider stacked last.

The arm base 310 is installed on the trolley body 210 and has a rectangular plate shape. The arm base 310 is shorter than the arm slider and is fixed without sliding.

The arm sliders have the same length and are stacked and installed at a predetermined distance from the plate surface of the arm base 310 so as to be parallel to the arm base 310. The arm base 310 and the arm slider or arm sliders are slidably movable in parallel with each other. In each of these arm sliders, each arm slider is moved relative to each other by the same distance, and the sum of the moving distances of all arm sliders is the distance for the gripping part 322 to grip the material 10 from the trolley 200. That is, each of the arm sliders is moved at the same distance from each other. This movement is carried out by an interlocking drive which will be described later.

An elevating rack 333 is elongated along the longitudinal direction of the arm slider in one region of the first arm slider 321a, which is installed closest to the arm base 310, and the elevating rack 333 is installed on the trolley body 210. A lifting driving unit having a lifting pinion 332 engaged with and rotatably fixed and a lifting motor 331 for rotationally driving the lifting pinion 332 is installed.

The lifting pinion 332 is engaged with the lower portion of the lifting rack 333 while the multi-stage arm 320 is raised. Accordingly, when the elevating motor 331 rotates the elevating pinion 332 in one direction, the elevating pinion 332 is fixed in position, so that the first arm slider 321a coupled with the elevating rack 333 moves downward. do. When moved downward like this, the lifting pinion 332 will be engaged with the upper portion of the lifting rack 333. And when the lifting pinion 332 rotates in the other direction, the first arm slider 321a moves upward. At this time, the lifting pinion 332 will again be located at the bottom of the lifting rack 333. With this structure, the elevating driving unit elevates the first arm slide. In addition, the other arm sliders, which will be described later, are moved by a distance equal to an interval at which the first arm slider 321a moves by the interlocking driving unit. After all, multiplying the distance by which the elevation driving unit moves the first arm slider 321a by the number of arm sliders stacked and disposed from the first arm slider 321a calculates the total distance that the last arm slider moves. And the gripping part 322 is lifted up to a height capable of gripping the material 10 using this distance.

The multi-stage pick-up unit 300 has a large number of arm sliders, and the larger the weight of the material 10, the greater the load that the lifting motor 331 of the lifting driving unit receives. This is because, when the multi-stage arm 320 descends, a large force is not required by gravity, but when rising, both the gravity and the weight of the arm sliders and the weight of the material 10 must be handled. Accordingly, the present invention may have an elevating cylinder that provides an ascending force to at least one of the arm sliders.

The lifting cylinder is composed of a cylinder body 341, a lifting rod 342, and a rod bracket 343. The cylinder body 341 is installed on the trolley body 210, and the lifting rod 342 is installed on the rod bracket 343. Here, the rod bracket 343 is a type of connection bracket that is installed on the lower side of the arm slider to connect the arm slider and the lifting cylinder. The rod bracket 343 may be installed on any one of the arm sliders, but is preferably installed on the first arm slider 321a because the first arm slider 321a receives the most load.

The elevating cylinder elevates the arm slider coupled with the rod bracket 343 with the elevating driving unit using compressed air when the multi-stage arm 320 elevates. At this time, when the multi-stage arm 320 descends, the lifting cylinder allows the outside air to flow in, so that the elevating rod 342 naturally descends, and the compressed air at the bottom of the cylinder body 341 only when the multi-stage arm 320 rises. By injecting, the lifting rod 342 can raise the arm slider in which the rod bracket 343 is installed together with the lifting driving unit, thereby simplifying the configuration.

That is, the controller can supply the compressed air to the elevating cylinder only when the elevating driving unit raises the arm slider so that the arm slider can be raised to the elevating driving unit and the elevating cylinder.

Due to the lifting cylinder, the load of the lifting driving unit is reduced, and a more stable lifting is possible. In addition, it is possible to use a small-capacity lifting motor 331, thereby reducing the weight of the trolley 200 as a whole and reducing the energy used.

On the other hand, the rod bracket 343 may be installed on the arm slider disposed at the most distal end, the lifting cylinder may be installed telescopically. If the material 10 has a large weight, a large moment occurs between the arm base 310 and the first arm slider 321a, which is the largest load due to the structure of the multi-stage arm 320, so that the multi-stage arm 320 is generated. When unfolded, the arm slider may bend or a phenomenon in which it is impossible to maintain bonding between the arm sliders may occur. At this time, if the rod bracket 343 is installed on the arm slider at the most distal end and a telescopic capable lifting cylinder is combined, the weight of the material 10 can be handled through the lifting cylinder, thereby reducing warpage.

The trolley main body 210 has a driving sensor 810 that checks whether the first arm slider 321a is operating correctly, and a positioning sensor 820 that checks whether the most distal arm slider has returned to the correct initial position. , The first arm slider (321a) and the end of the arm slider has a sensor confirmation bracket corresponding to the driving sensor 810 and the positioning sensor 820 on the side. If the positioning sensor 820 does not detect the sensor confirmation bracket installed on the most distal arm slider, it is possible to suspect wear caused by frequent driving or abnormality of the interlocking drive.

The following describes the interlocking driving unit. 3 to 6 are views showing a multi-stage pickup unit to which a rack-and-pinion type interlocking driving unit according to the present invention is applied, and FIGS. 7 to 10 are views illustrating a multi-stage pickup unit according to another embodiment of a chain and sprocket method.

Referring to the interlocking drive unit based on the items shown in Figures 3 to 6, the interlocking drive unit according to the present invention, as shown in (a) and (b) of Figure 3, the arm slider of the multi-stage arm 320 These are spaced apart at regular intervals to allow the multi-stage arm 320 to be telescopic, and the sliding guide 631, the sliding protrusion 632, the arm base 310, and the multi-stage arm 320 for allowing the arm sliders to slide. It is installed between them, and consists of an interlocking pinion 610 exposed toward the senior and subordinate sliders, and an interlocking rack installed on the senior and subordinate sliders to mesh with the interlocking pinion 610.

The sliding guides 631 and 741 and the sliding protrusions 632 and 742 are commonly applied to the interlocking driving portion, as shown in FIGS. 3 to 10, and the arm slider has one side on both sides spaced a predetermined distance from the central axis. A pair of sliding guides (631, 741) and a pair of sliding projections (632, 742) on the other side. The sliding guides 631 and 741 and the sliding protrusions 632 and 742 are engaged with each other, and the arm sliders are fixed in the longitudinal direction due to their coupling, and are slidable. In the present invention, although the sliding guides 631 and 741 are installed on the arm base 310, the sliding projections 632 and 742 are installed on the side of the plate surface of the first arm slider 321a toward the arm base. Their installation positions may be opposite to each other. It is natural that the sliding guides 631 and 741 or the sliding protrusions 632 and 742 are formed on only one side of the last arm slider.

The sliding guides 631 and 741 and the sliding protrusions 632 and 742 are formed with the sliding protrusions 632 and 742 elongated in the longitudinal direction of the arm slider to reduce weight, but the sliding guides are intermittently arranged.

The interlocking pinion 610 and the interlocking rack are composed of one unit, and the interlocking pinion 610 is installed on one arm slider, and the interlocking rack is a pair of the support interlocking rack 621 and the movable interlocking rack 622. It is prepared and installed on a pair of arm sliders adjacent to the arm slider in which the interlocking pinion 610 is installed.

The arm slider has a pinion installation portion at a position spaced apart from the longitudinal central axis at an intermediate position, and a pinion shaft pin and an interlocking pinion 610 are installed at the pinion installation portion. The pinion shaft pin is installed in the plate direction of the arm slider, and the interlocking pinion 610 is rotatably installed on the pinion shaft pin. The interlocking pinion 610 is installed such that the teeth are exposed to the front and rear surfaces of the arm slider.

The interlocking rack is prepared as a pair of the support interlocking rack 621 and the movable interlocking rack 622 and is installed to mesh with the exposed front and rear teeth of the interlocking pinion 610. The supporting interlocking rack 621 is installed on the arm base 310 or the senior arm slider positioned at the priority of the arm slider where the interlocking pinion 610 is installed, and the movable interlocking rack 622 is installed on the subordinate arm slider. Support interlocking rack 621 is installed extending downward from the center at a position spaced apart from the central axis of the arm slider so as to mesh with the interlocking pinion 610, the movable interlocking rack 622 is installed extending upward from the center do. In addition, when defining the plane direction in which the arm base 310 is exposed or the plane direction in which the arm slider is stacked is the front side and the opposite direction as the rear side, the supporting interlocking rack 621 includes the arm base 310 and the arm slider. It is installed on the front, and the movable interlocking rack 622 is installed on the rear.

Based on the contents shown in FIGS. 4 to 6, the interlocking pinion 610 and the interlocking rack will be described in detail. Here, the right and left sides are based on the illustrated state. The first arm slider 321a is provided with an interlocking pinion 610 on the right side from the central axis. A support interlocking rack 621 is installed to the right of the central axis of the front surface of the arm base 310 corresponding to the senior slider of the first arm slider 321a, and the second arm that is the subordinate slider of the first arm slider 321a A movable interlocking rack 622 is installed on the right side of the central axis of the rear side of the slider 321b. The support interlocking rack 621 and the movable interlocking rack 622 are engaged with the interlocking pinion 610 of the first arm slider 321a, respectively. In addition, the first arm slider 321a is provided with an elevating rack 333 engaged with the elevating pinion 332 of the elevating driving unit on the side. Due to this structure, when the elevating motor 331 is operated to rotate the elevating pinion 332, the first arm slider 321a in which the elevating rack 333 is installed is lowered, and the interlocking pinion 610 is a supporting interlocking rack. 621 and the movable interlocking rack 622 is rotated. The operation of the interlocking pinion 610 and the interlocking racks, when looking at the reference shown in FIG. 5, the interlocking pinion 610 rotates clockwise according to the contents arranged in the drawing and moves downward. At this time, the interlocking pinion 610 moves to the lower portion of the supporting interlocking rack 621, and moves downward due to the interlocking pinion 610 and the movable interlocking rack 622 of the second arm slider 321b. At this time, the interlocking pinion 610 moves to the upper portion of the movable interlocking rack 622.

Meanwhile, the interlocking pinion 610 of the second arm slider 321b is disposed on the left side based on the central axis of the second arm slider 321b. The support interlocking rack 621 engaged with the interlocking pinion 610 of the second arm slider 321b is installed on the front side of the first arm slider 321a relative to the central axis, and the movable interlocking rack 622 is It is installed on the left side of the third arm slider 321c with respect to the central axis. The second arm slider 321b having a movable interlocking rack 622 engaged with the interlocking pinion 610 of the first arm slider 321a by the downward movement of the first arm slider 321a is the first arm slider 321a ), The third arm having a movable interlocking rack 622 engaged with the interlocking pinion 610 installed in the second arm slider 321b according to the downward movement of the second arm slider 321b. The slider 321c is also moved downwardly at the same interval as the second arm slider 321b moves downward.

And, the interlocking pinion 610 of the third arm slider 321c is disposed on the right side with respect to the central axis, like the first arm slider 321a, and fits the interlocking pinion 610 of the third arm slider 321c. The supporting support interlocking rack 621 is installed on the front right of the second arm slider 321b, and the movable interlocking rack 622 is installed on the rear right of the fourth arm slider 321d. The third arm slider 321c also moves downward at the same interval as the downward movement of the second arm slider 321b.

The fourth arm slider 321d has the same structure as the second arm slider 321b, and when the fifth arm slider 321e is stacked at the most distal end as shown and has a gripping portion 322 at the bottom, , The fifth arm slider 321e does not have an interlocking pinion 610, and has a movable interlocking rack 622 that meshes with the interlocking pinion 610 of the fourth arm slider 321d on the rear left side.

The interlocking pinion 610 and the interlocking rack described above are in a state before the multi-stage arm 320 is telescopic when the interlocking pinion 610 is positioned above the support interlocking rack 621 and below the movable interlocking rack 622. And, when the interlocking pinion 610 is located below the supporting interlocking rack 621, and when it is located above the movable interlocking rack 622, the multi-stage arm 320 is in a telescopic state.

Due to the arrangement and structure of the interlocking pinion 610 and the interlocking rack, as shown in (b) of FIG. 6, a unit constituting one interlocking pinion 610 and the interlocking rack has a central axis with each other. Each interlocking pinion 610 and interlocking rack can be telescopically installed without being interfering with each other, and each interlocking pinion 610 and interlocking rack are unified to allow each arm slider to cross each other. It can be moved at equal intervals.

The multi-stage pick-up unit having a rack-and-pinion type interlocking driving unit according to the present invention may have a slider fixing bracket 640 that limits the upward height of the arm slider and prevents the arm slider from falling off and falling. The slider fixing bracket 640 is installed to have a shape that extends a predetermined width in the horizontal direction of the plate surface from the upper side of the arm slider. The slider fixing bracket 640 is formed to be extended to be in contact with the upper surface of the support interlocking rack 621, and when the arm slider moves downward, the interlocking pinion 610 is positioned at the bottom of the support interlocking rack 621. It contacts the top surface of the rack 621. Therefore, the slider pinning bracket 640 prevents the interlocking pinion 610 from moving downward further than the lower end of the supporting interlocking rack 621. That is, when the interlocking pinion 610 and the support interlocking rack 621 are disengaged and the arm slider tries to fall downward, the slider fixing bracket 640 contacts the upper surface of the support interlocking rack 621 to prevent the arm slider from falling. do.

The multi-stage pick-up unit having an interlocking driving unit according to the present invention of the rack-and-pinion method as described above has a compact structure, and the multi-stage arm ( The telescopic distance of 320) can be easily adjusted.

Next, a linkage driving unit according to another embodiment will be described with reference to FIGS. 7 to 10.

Interlocking drive according to another embodiment follows the chain and sprocket method, as shown in Figure 7 (a) and (b), the arm sliders of the multi-stage arm 320 are spaced at regular intervals, respectively, and the multi-stage arm 320 ) To be telescopic.

The multi-stage arm 320 having an interlocking driving unit according to another embodiment is exposed toward the senior and subordinate sliders, and the sprocket portion including the upper sprocket 711 and the lower sprocket 712 installed on both upper and lower sides of the arm slider. Wow, it has an upper chain fixing portion 731 and a lower chain fixing portion 732 to which the chain portion is fixed, and a chain portion to which the one end is fixed to the priority slider and the other end is fixed to the subordinate slider in engagement with the sprocket portion. The sprocket portion having a pair of the upper sprocket 711 and the lower sprocket 712, and the chain portion and the upper chain fixing portion 731 and the lower chain fixing portion 732 meshing with the sprocket portion are composed of one unit, and the sprocket The part is installed at the upper and lower ends of the arm slider, and the chain part is engaged with the sprocket part, one end being fixed to the lower chain fixing part 732 installed on the senior arm slider, and the other end being fixed to the upper chain fixing part 731 installed on the lower arm slider. .

The arm slider has sprocket installation portions formed by cutting inwards at both ends of the upper and lower sides, and the sprockets are fixed to the sprocket shaft pins installed in the plate surface direction of the arm sliders and rotatably installed. The upper sprocket 711 and the lower sprocket 712 of the sprocket portion are installed so that the teeth are exposed in the direction of both front and rear surfaces of the arm slider.

  When the direction of the exposed surface of the arm base 310 or the direction in which the arm sliders are stacked is defined as the front and the opposite direction is defined as the rear, the lower portion of the base arm or the priority slider corresponding to the priority based on the arm slider having the sprocket portion The lower chain fixing portion 732 is installed in the upper portion, and the upper chain fixing portion 731 is installed in the upper portion of the subordinate slider.

The sprocket portion, the chain portion, and the upper chain fixing portion 731 and the lower chain fixing portion 732 are installed as one unit in one direction relative to the longitudinal center axis of the arm slider.

The chain portion consists of an upper chain 721 and a lower chain 722.

The upper chain 721 is fixed to the upper portion of the arm base 310 or the lower chain fixing portion 732 formed on the lower portion of the front of the senior slider, meshes with the upper sprocket 711, and the other end to the upper portion of the rear of the subordinate slider. It is fixed to the upper portion of the formed upper chain fixing portion (731). The lower chain 722 is fixed to the lower portion of the arm base 310 or the lower chain fixing portion 732 formed on the lower portion of the front side of the senior slider, meshes with the lower sprocket 712, and the other end to the upper portion of the rear side of the subordinated slider. It is fixed to the lower portion of the upper chain fixing portion 731 formed.

Based on the contents shown in FIGS. 8 to 10, the sprocket portion, the chain portion, and the upper chain fixing portion 731 and the lower chain fixing portion 732 will be described in detail. The first arm slider 321a is a central axis. The upper and lower sprockets 712 and the upper and lower sprockets 712, respectively, are spaced apart from each other. A lower chain fixing part 732 is formed on the lower right side of the center axis of the front surface of the arm base 310 corresponding to the seniority slider of the first arm slider 321a, and corresponds to the lower ranking slider of the first arm slider 321a The upper chain fixing portion 731 is formed on the upper right side of the central axis of the rear surface of the second arm slider 321b. The upper chain 721 has one side fixed to the upper portion of the lower chain fixing portion 732 of the arm base 310 and the upper portion of the upper chain fixing portion 731 of the second arm slider 321b through the upper sprocket 711. On the other side is fixed. The lower chain 722 has one side fixed to the lower portion of the lower chain fixing portion 732 of the arm base 310, and a lower portion of the upper chain fixing portion 731 of the second arm slider 321b through the lower sprocket 712. On the other side is fixed. And the first arm slider 321a is provided with a lifting rack 333 that meshes with the lifting pinion 332 of the lifting driving unit on the side.

Due to this structure, when the elevating motor 331 is operated to rotate the elevating pinion 332, the first arm slider 321a in which the elevating rack 333 is installed descends, and at this time, the upper sprocket 711 and the lower sprocket 712 is rotated in engagement with the chain portion. The sprocket part rotates clockwise and moves downward according to the arrangement of the drawings. At this time, in contrast to the normal state in which the multi-stage arm 320 is not telescopic, the upper chain 721 has a shorter length between the lower chain fastener 732 and the upper sprocket 711 formed on the senior slider, and, conversely, the upper sprocket. The length between 711 and the upper chain fixing portion 731 formed in the subordinate slider becomes longer. On the contrary, the lower chain 722 has a longer length between the lower chain fixing portion 732 and the lower sprocket 712 formed on the senior slider, and between the lower sprocket 712 and the upper chain fixing portion 731 formed on the lower ranking slider. The length becomes shorter. When the first arm slider 321a moves downward due to the engagement of the chain portion and the sprocket portion, the second arm slider 321b moves downward from the first arm slider 321a by an interval at which the first arm slider 321a moves downward. Will move.

In this way, when moving downward, the lower chain 722 serves to block the arm slider from falling downwards. On the contrary, when moving upward, the upper chain 721 serves to pull the subordinate slider upwards to move upward.

On the other hand, the sprocket portions including the upper sprocket 711 and the lower sprocket 712 of the second arm slider 321b are respectively installed at both ends in the vertical direction on the left, based on the central axis of the second arm slider 321b. The upper chain 721 meshing with the upper sprocket 711 of the second arm slider 321b is fixed to the upper part of the lower chain fastener 732, one end of which is installed on the lower left front side of the first arm slider 321a. , The other end is fixed to the upper portion of the upper chain fixing portion 731, which is installed on the upper left upper side of the third arm slider 321c. And the lower chain 722 that meshes with the lower sprocket 712 of the second arm slider 321b is fixed to the lower portion of the lower chain fixing portion 732, one end of which is installed in the first arm slider 321a, and the other end It is fixed to the lower portion of the upper chain fixing portion 731 of the third arm slider (321c).

Accordingly, due to the downward movement of the first arm slider 321a, the lower chain fixing portion 732 of the arm base 310 and the upper chain fixing portion 731 and the first arm slider 321a of the second arm slider 321b. ), The lower chain 722 connected to the lower sprocket 712 has a longer distance between the lower sprocket 712 and the lower chain fixing portion 732 of the arm base 310 than before the downward movement, and the second arm slider 321b. The lower chain 722 connected to the lower sprocket 712 of the second arm slider 321b is also relatively long, and the distance from the lower chain fixing portion 732 of the first arm slider 321a is relatively long. Since the 3 arm slider 321c is moved downward, the 2nd arm slider 321b and the 3rd arm slider 321c are moved downward by the distance that the 1st arm slider 321a is moved downward.

Conversely, when the downwardly moved first arm slider 321a is moved upward by using the lift driving unit, it is engaged with the upper sprocket 711 of the first arm slider 321a, and one end is fixed to the lower chain of the arm base 310 ( 732), the upper chain 721, the other end of which is engaged with the upper portion of the upper chain fixing portion 731 of the second arm slider 321b, the upper chain fixing portion 731 and the lower chain fixing portion 732 The relative length of the lower chain fixing part 732 is increased based on the upper sprocket 711, and the second arm slider 321b is moved upward. That is, the upper chain 721 pulls the second arm slider 321b upward. At this time, the upper chain 721 engaged with the upper sprocket 711 of the second arm slider 321b also pulls the third arm slider 321c upward.

The sprocket portion of the third arm slider 321c is disposed on the right side with respect to the central axis, like the first arm slider 321a, and the chain portion and the chain portion engaged with the sprocket portion of the third arm slider 321c are fixed. The lower chain fixing portion 732 of the second arm slider 321b and the upper chain fixing portion 731 of the fourth arm slider 321d are also disposed on the right side with respect to the central axis. When the fifth arm slider 321e is shown and is stacked at the most distal end and has a gripping portion 322 at the bottom, the fifth arm slider does not have a sprocket portion and does not have a sprocket portion, and a fourth arm slider ( 321d) has an upper chain fixing portion 731 that secures the chain portion engaged with the sprocket portion.

The upper chain 721 described above has a longer length with the lower chain fixing portion 732 based on the upper sprocket 711 than the length with the upper chain fixing portion 731, and the lower chain 722 has a lower sprocket 712. As a standard, when the length with the lower chain fixing portion 732 is shorter than the length with the upper chain fixing portion 731, the upper chain 721 is lower chain fixing portion 732 based on the upper sprocket 711. ) Is shorter than the length with the upper chain fixing portion 731, and the lower chain 722 has a lower length with the lower chain fixing portion 732 based on the lower sprocket 712 than the length with the upper chain fixing portion 731. The long time has descended.

Due to the arrangement and structure of the sprocket portion and the chain portion, and the upper chain fixing portion 731 and the lower chain fixing portion 732, as shown in (b) of FIG. 10, the sprocket portion and the chain portion and the upper chain height One unit having the government 731 and the lower chain fastening 732 is installed to intersect the other units in opposite directions based on the central axis, so that each unit can telescopic arm sliders without interfering with each other. The size of the sprocket portion and the chain portion of can be unified so that the respective arm sliders move at the same distance from each other.

The multi-stage pick-up unit having a chain and a sprocket-type interlocking drive according to another embodiment of the present invention as described above, when the arm slider moves downward, the lower chain 722 bears the load of the arm slider, and when moving upward, the upper chain 721 This arm slider can be pulled up to separate the load due to the upward or downward movement, so durability is good. In addition, even if wear occurs due to frequent driving, only the corresponding chain and sprocket can be replaced or repaired separately, making maintenance relatively easy.

The following describes further embodiments.

The arm sliders according to the present invention are stacked and arranged from the base arm, and each of the arm sliders is disposed at a predetermined distance due to the sliding guides 631, 741, the sliding projections 632, 742, and the interlocking driving portion, thereby stacking the arm sliders. The larger the number of and the higher the weight of the material 10 held by the distal grip portion 322, the greater the moment around the coupling portion of the base arm and the first arm slide, resulting in the first arm slide from the base arm. Separation or bending of each arm slider may occur. The present invention may have a bending preventing portion 360 to prevent the bending phenomenon of the arm sliders.

The bending prevention portion 360 is formed to extend horizontally to the plate surface at both ends of the arm slider, and the cross-sectional shape of the bending prevention portion 360 and the arm slider is shown in FIGS. 6 (b) and 10 (b). It has the shape of 'H'. The bending preventing portion 360 is formed in a pair and has a large number of stacked arm sliders, and is prepared to increase in thickness as the material 10 to be gripped is heavy.

On the other hand, the bending prevention part 360 according to the present invention has an auxiliary sliding guide 361 formed along the longitudinal direction of the arm slider on one side, and is inserted into the auxiliary sliding guide 361 on the other side along the longitudinal direction of the arm slider. It may have a sliding auxiliary sliding projection (362). The auxiliary sliding guide 361 and the auxiliary sliding protrusion 362 are coupled to each other with the deflection preventing parts 360 as shown in FIGS. 6 and 10, so that the arm slider can slide in the telescopic direction. The bending preventing part 360 having the auxiliary sliding guide 361 and the auxiliary sliding protrusion 362 allows the multi-stage arm 320 to be telescopically more flexible, and the sliding guides 631 and 741 and the sliding protrusions ( 632, 742), even if the size of the auxiliary sliding guide 361 and the auxiliary sliding protrusion 362 can be distributed to support the force that is slidably coupled between the arm sliders, so sliding guides between the arm sliders (631, 741) And the spacing between the sliding protrusions 632 and 742 can be reduced, thereby reducing the overall moment.

10 material 20 processed material
110 Horizontal guide rail 200 Trolley
210 Trolley body 220 Travel drive
230 Door open interlocking section 300 multi-stage pick-up section, first multi-stage pick-up section
310 arm base 320 multi-stage arm
321a 1st arm slider 321b 2nd arm slider
321c 3rd arm slider 321d 4th arm slider
321e Fifth arm slider 322 Grip
331 elevating motor 332 elevating pinion
333 Lift Rack 341 Cylinder Body
342 Lift Rod 343 Rod Bracket
360 Bending Prevention 361 Auxiliary Sliding Guide
362 Secondary sliding projection 400 Second multi-stage pickup
500A material housing 500B processing housing
500C finished product housing 510 access opening
520 Opening door 530 Tensile spring
540 Hanging jaw 610 Interlocking pinion
621 Support interlocking rack 622 Operation interlocking rack
631, 741 Sliding guide 632, 742 Sliding projection
640 Slider fixing bracket 711 Upper sprocket
712 Lower sprocket 721 Upper chain
722 Lower chain 731 Upper chain fixing
732 Lower Chain Fixation 810 Driving Sensor
820 Precise Positioning Sensor 830 Door Checking Sensor
841 Initial Positioning Sensor 842 Movement Checking Sensor
843 Limit confirmation sensor

Claims (5)

In the gantry loader system including a multi-stage arm usable in a limited space,
A plurality of housings sequentially arranged by accommodating a processing device therein with an access opening at the top,
A horizontal guide rail disposed along the arrangement direction of the housing on the upper portion of the housing,
A multi-stage arm which is made up of an arm base and a plurality of arm sliders installed on the arm base and can be moved up and down to the inside of the housing through the access opening; A first multi-stage pick-up unit having a lift driving unit,
A trolley body supporting the first multi-stage pickup and sliding along the horizontal guide rail, and a trolley having a driving driving unit for driving the trolley body,
Gantry loader system including a multi-stage arm that can be used in a limited space, characterized in that it has a control unit for controlling the lifting driving unit and the driving driving unit. According to claim 1,
It is supported on the trolley and further includes a second multi-stage pickup having the same structure as the first multi-stage pickup,
The first multi-stage pick-up unit picks up the raw material and charges it in the housing,
The second multi-stage pick-up unit gantry loader system including a multi-stage arm usable in a limited space, characterized in that withdraw the finished material in the housing. According to claim 1,
Further comprising a lifting cylinder that provides a lifting force to at least one of the arm slider, the control unit can be used in a limited space characterized in driving the lifting cylinder when lifting the multi-stage arm through the lifting driving unit Gantry loader system with arms. According to claim 1,
The housing further includes an opening door for opening and closing the access opening, and a closing driving unit for driving the opening door in the closing direction,
The trolley further includes a door opening interlocking unit capable of protruding downward and upwardly retracting,
The control unit is a gantry loader system including a multi-stage arm usable in a limited space, characterized in that, when sliding the trolley, the door opening interlocking portion is projected downward to open the target opening door. The method of claim 4,
The closed driving unit gantry loader system including a multi-stage arm usable in a limited space, characterized in that it has a tension spring that provides elastic force in the direction of closing the opening door.

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