KR20250111447A - The 3-axis driving device of a transfer robot system based on predictive maintenance technology for the press molding process of electric vehicle battery case parts - Google Patents

Abstract

The present invention provides a three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case parts press molding process, which is equipped with a drive unit that performs continuous movement when sequentially moving a workpiece, so that the workpiece can be moved stably and advance notice can be given in case of a breakdown or problem.
In a three-axis driving device, a slide bar is provided in a detachable bar shape on both sides of a feed bar, a vertical frame fixedly installed on an outer surface thereof is provided on both sides, a horizontal support frame is provided on the upper side between the vertical frames on both sides, an elevating frame is provided on the inner side of the horizontal support frame, and an elevating frame fixedly installed on the lower side thereof and having an adjustable height is provided, a Z-axis transport unit for precise height adjustment of elevating and lowering is provided on both sides of the elevating frame, a Y-axis transport unit for width spacing adjustment is provided on the lower side of the elevating frame, and an X-axis transport unit for precise movement is provided on the lower side of the Y-axis transport unit by which the slide bars on both sides are fastened and fixed.
Therefore, the present invention has the advantage of increasing production efficiency by enabling high-speed active production regardless of the size of the product to be molded using a sequential press jig method, and has the advantage of being able to monitor the three-axis driving device in real time between each process and indicate problems due to pre-operation by a predictive measurement means.

Description

{The 3-axis driving device of a transfer robot system based on predictive maintenance technology for the press molding process of electric vehicle battery case parts}

The present invention relates to a three-axis drive device of a transport robot system capable of sequentially moving a workpiece during the molding of an electric vehicle battery case component, and more specifically, to a three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process, which comprises a drive unit that sequentially moves a workpiece to achieve a continuous movement motion, thereby enabling stable movement of the workpiece and advance notification and monitoring in the event of a failure.

Generally, in large press mold processes, multiple molds are placed, and then the workpiece is placed on their upper surface, deformed sequentially, and then moved to one side to complete.

These workpieces are arranged so that several molds are fixed according to the deformation form of the product, and then the workpieces are sequentially moved and settled on the upper surface. Then, when the upper mold rises after pressurization, the workpieces are moved to the next mold, so that they can be moved quickly. A three-axis drive device of the transfer robot system is provided.

The three-axis drive device of the above transfer robot system is equipped to be symmetrically fixed and supported on both sides of several molds, and then the slide bar and feed bar are equipped in a bar form that are horizontally connected to each other so that the workpieces that are placed on the upper surface of the lower mold can be picked up and moved at the same time, so that the workpieces can be picked up and moved smoothly at the same time.

The three-axis drive device of the transport robot system that can simultaneously move the above slide bar and feed bar forward/backward and left/right axes has problems with durability due to long-term use and difficulty in finding the location of failure in advance in case of failure during operation, making it difficult to quickly repair according to follow-up measures in case of failure, and there is a problem that a lot of time and manpower are required for repair, so there is a demand for improvement measures for this.

In addition, various types of prior art are known regarding the three-axis drive device of the transport robot system based on the predictive maintenance technology for the press molding process of the electric vehicle battery case parts.

As an example, Korean Patent Publication No. 10-0752690 (announcement date: 2007.08.29) discloses a continuous press machine having a press body having an upper ram and a lower base, and a plurality of molds for forming patterns installed along the longitudinal direction of the press body, wherein at least one plate material supply device continuously supplies a long plate material at a predetermined interval in a direction perpendicular to the longitudinal direction of the press body; a transfer connection pattern forming mold forming a shape-fitting structure connection pattern at both ends of the width direction of the plate material in the plate material supply area of the press body; a cutting connection mold cutting the plate material on which the connection pattern is formed and applying downward pressure; and a plate material cut by the cutting connection mold is transferred to the molding pattern forming mold, such that the rear end connection pattern of the transferred plate material is in a vertical straight line with the front end connection pattern of the plate material located in the cutting connection mold. There is a “continuous press machine” characterized by including a plate material transport device for transporting the plate material to a position to be placed,

In addition, Korean Patent Publication No. 10-2026588 (announcement date: 2019.09.27) discloses a method for manufacturing a mold comprising: “a plurality of molds having an upper mold and a lower mold, arranged at a constant interval along a single process line to sequentially press process corresponding parts; a support body for supporting the lower side of each lower mold of each mold; a press unit for lifting each upper mold of each mold to the corresponding lower mold to press process the positioned intermediate product; a supply unit for supplying a metal sheet for press processing to the arranged molds; a main discharge unit for discharging a press-processed product through the arranged molds; and a plurality of component moving devices for moving the intermediate product of each mold to another mold arranged in the processing direction; wherein each of the component moving devices comprises: a moving base frame positioned at the rear side of two adjacent corresponding molds; a moving arm provided to be displaceable on the moving base frame; and a moving arm provided on the moving arm, when a vacuum is generated, A vacuum suction unit for sucking an intermediate product of a mold; and a moving driving unit for displacing the moving arm; and moving an intermediate product positioned in one of the adjacent molds to another mold, wherein the vacuum suction unit includes: a suction bar provided on the moving arm; a plurality of suction members having flexibility, having a suction space formed inside, and provided along the lower end of the suction bar; and a vacuum pump for generating a vacuum in the suction member to suck up the corresponding intermediate product; and further includes an suction rotation unit for simultaneously sucking an intermediate product of one of the adjacent molds and an intermediate product of another mold by rotating the suction bar when the adjacent other component moving device is broken down; and the suction rotation unit includes: a suction fixing frame having a circular rotation space opened downward inside and protruding from the moving arm; a suction rotation frame having a vacuum space opened upward inside and protruding from the suction bar so as to be rotatable in the rotation space of the suction fixing frame; There is a “continuous press processing system using an individual component moving device including a suction rotation hinge part that rotatably connects the mutual center portions of a suction rotation frame and a suction fixing frame; a suction fixing nut that is rotatably provided on the suction bar and is fixed to the suction fixing frame so that the suction rotation frame is positioned on the suction fixing frame and fixes the suction bar to the moving arm; and a suction rotation driving part that rotates the suction rotation frame on the suction fixing frame using vacuum; wherein the suction bar includes a suction fixing bar provided on the moving arm; a suction moving bar that is movably provided on each end of the suction fixing bar; and a suction moving driving part that withdraws each of the suction moving bars from the suction fixing bar.

In addition, in Korean Patent Publication No. 10-2021-0103324 (publication date: 2021.08.23), there is a “composite press automation system using a robot, including a loading and transferring unit that transfers a pre-processed plate to a press processing unit that processes a plate having one or more molds and performs multiple processes; a reversing transfer unit that has one or more robot arms dedicated to each process of the press processing unit to move the plate that has completed the process in each mold to an adjacent mold and to move the processed plate that has been completed through the final process to the outside; a discharge transfer unit that loads the processed plate transferred by the reversing transfer unit; and a control unit that controls the loading and transfer unit or the discharge transfer unit; The loading and transfer unit detects the quantity of the pre-processed plate and transmits a detection signal to the control unit, and the control unit detects that a set quantity or more of the plate is transferred through the detection signal of the pre-processed plate of the loading and transfer unit, and if it is detected that the plate is transferred, the robot alerts the presence of an abnormality.”

In addition, in the domestic patent publication No. 10-2022-0163118 (publication date: 2022.12.09), “a device for continuously processing a material loaded on a loading unit on a press main body; a feeding unit for feeding the material of the loading unit into a processing process; a feeding unit for taking out and transporting the processed product after the processing is completed; an extraction unit for taking the processed product out; and a driving unit for raising and lowering the frame of the main body to prevent interference with other work; including an upper and lower control unit; and the feeding unit, the feeding unit, and the extraction unit are connected so as to be able to be separated and combined,

The above-mentioned delivery unit and transfer unit are known as a “press processing automatic transfer device that can be replaced at the same time while applying the same method according to the characteristics of the product.”

As described above, the related technical contents of the 3-axis drive device of the transport robot system based on the predictive maintenance technology of the press molding process of various types of electric vehicle battery case parts are known and used.

The above domestic patent registration No. 10-0752690 provides a continuous press machine capable of continuously supplying plate materials to the press machine while maintaining the functional characteristics of the plate materials and selectively supplying various types of plate materials to the press machine. However, there is a problem that a lot of replacement time is required to actively adjust the length according to the size of the product to be formed by the sequential press jig method, and there is a problem that it is cumbersome to apply and use when the product to be processed by the sequential method is small, and there is a structural problem that it is difficult to monitor safety accidents and product quality in real time because the predictive maintenance technology that can display problems or notifications between each revolution in real time during operation is not applied.

In addition, in Korean Patent Publication No. 10-2026588, the purpose is to provide a continuous press processing system using an individual component moving device, which includes a plurality of molds having an upper mold and a lower mold, arranged at a certain interval along a single process line to sequentially press process the corresponding part, a support body for supporting the lower side of each lower mold of each mold, a press unit for raising and lowering each upper mold of each mold to the corresponding lower mold to press process the positioned intermediate product, a supply unit for supplying a metal sheet for press processing to the arranged molds, a main discharge unit for discharging a press-processed product through the arranged molds, a component moving device for moving the intermediate product of each mold to another mold arranged in the processing direction, and a control unit for controlling the press unit, supply unit, main discharge unit, and component moving device, so that the corresponding part can be continuously press processed step by step, thereby shortening the processing time and reducing the cost, thereby improving work efficiency.

In addition, Korean Patent Publication No. 10-2021-0103324 provides a composite press automation system using a robot that can automatically transport materials processed in each process by connecting press processing processes that are performed in multiple processes, and a composite press automation system using a robot that can detect the number of plates input into the press process and prevent more than a set number of plates from being supplied.

However, there is a problem that a lot of cost and space are required for equipment installation because a unit that picks up and moves between sequential press jigs is configured between each process, and it is difficult to match the work efficiency with a uniform setting, so a lot of time is required for setting, and a problem that a lot of time is required for rapid continuous work due to the sequential process, so production efficiency is low, and when the product to be processed by the sequential method is small, it is cumbersome to apply and use, and there is a structural problem that it is difficult to monitor safety accidents and product quality in real time because predictive maintenance technology that can display problems or notifications between each process in real time during work is not applied.

In addition, the above domestic patent publication No. 10-2022-0163118 provides an automatic transfer device between press processing processes to automatically connect multiple processes for processing automobile plates into molds to improve the workability and quality of mass production and to help prevent safety accidents. However, there are problems such as difficulty in continuous production, difficulty in rapid transfer of the processed product after pressing, which makes the work process take a long time, and when the product to be processed is small, it takes a long time to change the upper and lower molds, and there is no technology to display problems or notifications between each revolution in real time during work, which raises the problem of safety accidents. Therefore, a high-level plan is required for this.

Document 1·Domestic Patent Publication No. 10-0752690 (Publication Date: 2007.08.29) Document 2·Domestic Patent Publication No. 10-2026588 (Publication Date: 2019.09.27) Document 3·Domestic Publication of Patent Publication No. 10-2021-0103324 (Publication Date: 2021.08.23) Document 4·Domestic Publication of Patent Publication No. 10-2022-0163118 (Publication Date: 2022.12.09)

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Accordingly, the present invention was created to eliminate the above-mentioned problem, and the driving unit is provided on both sides so that the three-axis driving device of the transfer robot system applied to a press of 1,000 tons or less can be smoothly operated, so that the side and feed bar installed between them can be quickly operated in each of the three-axis directions, so that the overall transport of the workpiece can be moved precisely and quickly, thereby increasing production efficiency.

The above-mentioned three-axis driven driving unit is equipped with a predictive measuring means that can check in real time the possible failures and operating status according to the three-axis operation of the sidebar and feedbar, so that the operator can check the operating status in real time in advance and be notified when there are abnormal signs, and the focus is on providing a predictive measuring means to ensure stable operation, which has been completed as a technical achievement.

In order to achieve the above technical task, the present invention is provided such that, as shown in FIGS. 1 to 27, a workpiece is supplied from the outside so as to be separated into individual sheets and supplied to a press along a conveyor of a workpiece transfer unit, and the workpiece supplied to the press is provided with at least one lower mold and an upper mold so as to be pressurized and molded to 1,000 tons or less, and a transfer robot system capable of simultaneously picking up and sequentially moving the workpieces formed by each press from the outer periphery of the lower mold at the same time, and the transfer robot system is a three-axis driving device in which a feed bar is horizontally provided on the outer periphery of the lower mold on which the workpiece is placed as much as the width and length of each press, and a slide bar that is detachably fastened to both sides of the feed bar and is driven in three directions symmetrically and simultaneously in three directions,

The above three-axis driving device is provided with a slide bar detachably attached to both sides of a feed bar in the form of a bar so that it can move at high speed, and a vertical frame fixedly installed on the outer surface of the slide bar is provided on both sides, and a horizontal support frame is provided on the upper side between the vertical frames on both sides, and a raising/lowering frame is provided on the inner side of the horizontal support frame, and a raising/lowering frame is provided fixedly installed on the outer side of the raising/lowering frame so that the height is adjusted,

On both sides of the above-mentioned raising/lowering frame, a Z-axis transport unit for precise height adjustment for raising/lowering is provided, on the lower side of the above-mentioned raising/lowering frame, a Y-axis transport unit for left/right width spacing adjustment is provided, and on the lower side of the above-mentioned Y-axis transport unit, an X-axis transport unit for precise forward/backward movement by fastening and fixing the above-mentioned slide bars on both sides is provided.

As shown in FIG. 6 to FIG. 8 or FIG. 11, the vertical frame,

A square support frame fixedly installed on the ground is provided, and a vertical frame fixedly installed on the upper side thereof is provided, a fixing plate is provided on the upper surface of the vertical frame, an LM guide bar is provided symmetrically in the vertical longitudinal direction on the inner side of the vertical frame, a vertical rack bar is provided between the LM guide bars on both sides, and a fixing plate may be provided on the outer side of the vertical frame.

As shown in FIGS. 1 to 9, each of the slide bars has a square frame having a concave or convex shape on the inside in the horizontal length direction, a horizontal LM guide rail fastened and fixed to the upper side of the square frame, and has at least one sliding block that slides along the horizontal LM guide rail, and a separation prevention plate is provided on both sides of the horizontal LM guide rail, and a clamp unit for clamping the feed bar may be provided on one side of the square frame.

As shown in Fig. 12, the horizontal support frame has a horizontal plate that is fixedly fastened to the fixing plates of the vertical frames on both sides, a square frame is provided in the horizontal longitudinal direction at the center of the upper surface of the horizontal plate, at least one vertical force plate is provided at equal intervals on both sides of the square frame, and at least one lifting and lowering cylinder can be provided on both sides of the horizontal plate.

As shown in FIGS. 13 to 15, the elevating frame has a square support frame having a horizontal interior and a power bracket, guide rail bars are provided at the front and rear sides on the lower side of the square support frame, a vertical moving plate having sliding blocks on at least one side is provided on both outer sides of the square support frame, and a fixed bracket to which a push shaft of a elevating cylinder is fixedly fastened is provided on the inner side of the vertical moving plate,

The inner side of the above square support frame may be provided with a horizontal rack guide bar, and a protective cover with a longitudinal hole formed therein may be provided on the outer side to be fastened and fixed.

As shown in FIGS. 16 and 17, the Z-axis transfer unit has support brackets on both sides of the upper plate of the square support frame, a clutch connection part that receives and transmits power from an electric motor is provided on the inner side of the support bracket, and a rotary gear that is fixedly inserted into a rotary shaft and rotates on the outer side of the clutch connection part,

The above-mentioned rotary gear can be provided to ascend and descend by rotating forward and reverse by engaging with a vertical rack bar fixedly installed on a connecting bracket provided on the inner side plate of one side of the vertical frame.

As shown in Figures 17 to 19, the Y-axis transport unit is provided with guide rail bars on both sides of the lower side of the square support frame,

It is equipped with a sliding movable block inserted into the above-mentioned guide rail bars on both sides, and has a fixed plate and a connecting plate fixedly installed on the lower side thereof.

The outer side of the above connecting plate is provided with a reinforcing plate, and the upper side thereof is provided with a stand plate.

A motor fixing plate is vertically installed on the outside of the above stand plate, and the center of the motor fixing plate is installed so that the power of the electric motor is transmitted to the clutch block so that its rotation axis rotates the rotary gear.

The above-mentioned rotary gear can be provided to move left and right by interlocking with the horizontal rack guide bar of the lifting and lowering frame and rotating forward and reversely.

As shown in Figures 20 to 26, the X-axis transfer unit is a rack and pinion type that receives external power and moves precisely in the X-axis direction at high speed under the connecting plate of the two Y-axis transfer units on both sides and is provided symmetrically on one or both sides,

Or, a position fixing means may be provided so that the real-time operating status of the X-axis transport unit can be predicted in advance,

On the lower side of the above connecting plate,

The power of the electric motor on the upper side is transmitted to the clutch block, and its rotation axis is fixed vertically so that the rotation gear can rotate.

The outer side of the above-mentioned rotating gear is provided with a horizontal movement rack bar that moves forward and backward in the longitudinal direction according to the forward and reverse rotation, and the horizontal movement rack bar is provided so as to be fixedly installed in a split or integral manner on the inner side of the slide bar.

The upper side of the above slide bar is provided with a horizontal LM guide rail, and a separation prevention plate is provided on both sides thereof.

The above horizontal LM guide rail may be provided with one or more sliding blocks, and the sliding blocks may be provided to be fixedly installed on the lower side of the connecting plate.

As shown in FIGS. 24 to 26, the fixed position fixing means is provided with a forward and backward lifting cylinder fixedly installed on the lower side of the connecting plate, and is provided with a moving bracket fixedly installed on a push bar that moves forward and backward by the lifting cylinder.

The above-mentioned moving bracket may be provided with a fixed push cylinder that can maintain a fixed position by pushing into a fixed groove provided on the inside of the above-mentioned slide bar.

As shown in FIGS. 1 to 27, the Z-axis transfer unit, the Y-axis transfer unit, and the X-axis transfer unit may optionally be equipped with a predictive measurement means capable of monitoring and detecting real-time situations due to forward and reverse rotation during operation.

As illustrated in Fig. 27, the above-described predictive measuring means is provided with an encoder that is engaged with the outside of the rotating gear and rotates so as to monitor the operating status in real time.

As described above, the three-axis drive device of the transport robot system based on the predictive maintenance technology of the press molding process of the electric vehicle battery case component of the present invention has the advantage of increasing production efficiency by enabling active production at high speed regardless of the size of the product to be molded using the sequential press jig method.

In addition, there is an advantage in that the 3-axis drive device can be monitored in real time between each process and problems due to pre-operation can be indicated through predictive measurement means.

In addition, there is an advantage in that stable operation can be achieved by moving the slide bar in three axes, which can be used for continuous pickup sequential movement regardless of the entire length of the mold, through the feed bar that can be used outside the mold.

In addition, there is an advantage in that it can reduce safety accidents and facility investment costs by eliminating unnecessary devices between processes.

In addition, it is an invention with great expectations, such as the advantage of being able to easily monitor safety accidents and product quality in real time by displaying problems or notifications between each process in real time during work.

Figures 1 and 2 are overall schematic diagrams of the transport robot system of the present invention.
Figures 3 to 7 are perspective views showing a preferred embodiment of the three-axis driving device of the present invention.
Figure 8 is an enlarged view of a part of a fractured cross-section of a side section of the present invention.
Figure 9 is an enlarged example of the slide bar of the present invention.
Figure 10 is a front view example of a partial fracture of the present invention.
Figure 11 is an exemplary diagram showing a vertical frame of the present invention.
Figure 12 is an exemplary diagram showing a horizontal support frame of the present invention.
Figures 13 to 15 are exemplary diagrams showing the ascending and descending frame of the present invention.
Figure 14 is an exemplary diagram showing a preferred embodiment of the Z-axis transport unit of the present invention.
Figures 15 to 19 are exemplary diagrams showing a preferred embodiment of the Y-axis transport unit of the present invention.
Figures 20 to 26 are exemplary diagrams showing preferred implementation states of the X-axis transport unit of the present invention.
Figure 27 is an exemplary diagram showing a predictive measuring means of the present invention.
This is an example showing the status.

The three-axis driving device of the transport robot system based on the predictive maintenance technology of the press molding process of the electric vehicle battery case component of the present invention is as shown in Figs. 1 to 27.

The workpiece (A) is provided so that it is supplied to the press (2) along the conveyor of the workpiece transfer unit (3) (3a) by the material supply device (4) supplied from the outside, separated into individual sheets, and the workpiece (A) supplied to the press (2) is provided with at least one lower die (2b) and an upper die (2a) so that it can be pressurized and molded to 1,000 tons or less, and a transfer robot system (C) capable of simultaneously picking up and sequentially moving the workpieces (A) formed by each press (2) from the outer side of the lower die (2b), and the transfer robot system (C) is provided with a feed bar (10) (10') horizontally provided to the outer side of the lower die (2b) on which the workpiece (A) is placed, as much as the width and length of each press (2), and is provided with a detachable form on both sides of the feed bar (10) (10'). In a three-axis driving device (B) that operates a slide bar (30) that is fixedly fastened and driven in three directions symmetrically and simultaneously in three directions,

The above three-axis driving device (B) is provided with a slide bar (30) detachably attached to both sides of the feed bar (10)(10') in a bar shape so that it can move at high speed, and a vertical frame (50) fixedly installed on the outer surface of the slide bar (30) is provided on both sides, and a horizontal support frame (51) is provided on the upper side between the vertical frames (50) on both sides, and a lifting frame (53) is provided on the inner side of the horizontal support frame (51), and a lifting frame (52) fixedly installed on the outer side of the lifting frame (53) and having its height adjusted,

On both sides of the above-mentioned raising/lowering frame (52), a Z-axis transfer unit (400) for precise height adjustment for raising/lowering is provided, on the lower side of the above-mentioned raising/lowering frame (52), a Y-axis transfer unit (300) for left/right width spacing adjustment is provided, and on the lower side of the above-mentioned Y-axis transfer unit (300), an X-axis transfer unit (200) is provided for precise forward/backward movement by fastening the above-mentioned two-sided slide bars (30).

As shown in FIG. 6 to FIG. 8 or FIG. 11, the vertical frame (50)

It has a square support frame (T) fixedly installed on the ground, and has a vertical frame (511) fixedly installed on the upper side thereof, and has a fixing plate (516) on the upper surface of the vertical frame (511), and has LM guide bars (512) symmetrically provided in the vertical longitudinal direction on the inner side of the vertical frame (511), and has a vertical rack bar (513) provided between the LM guide bars (512) on both sides, and can have a fixing plate (514) provided on the outer side of the vertical frame (511).

As shown in FIGS. 1 to 9, each slide bar (30) has a square frame (361) provided with a negative or positive shape on the inside in the horizontal length direction, a horizontal LM guide rail (363) fastened and fixed to the upper side of the square frame (361), and has one or more sliding blocks (362) that slide along the horizontal LM guide rail (363), and a separation prevention plate (364) is provided on both sides of the horizontal LM guide rail (363), and a clamp unit (399) for clamping the feed bar (10)(10') may be provided on one side of the square frame (361).

As shown in Fig. 12, the horizontal support frame (51) has a horizontal plate (551) that is fastened and fixed to the fixing plates (516) of the vertical frames (50) on both sides, and a square frame (553) is provided in the horizontal longitudinal direction at the center of the upper surface of the horizontal plate (551), and at least one vertical force plate (552) is provided at equal intervals on both sides of the square frame (553), and at least one lifting and lowering cylinder (500) can be provided on both sides of the horizontal plate (551).

As shown in FIGS. 13 to 15, the elevating frame (52) is provided with a square support frame (53) that is horizontally perforated and is formed of a power bracket, and guide rail bars (56) are provided at the front and rear sides on the lower side of the square support frame (53), and a vertical moving plate (54) having sliding blocks (55) on at least one side is provided on both outer sides of the square support frame (53), and a fixing bracket (59) to which a push shaft (500a) of a elevating cylinder (500) is fastened and fixed is provided on the inner side of the vertical moving plate (54).

A horizontal rack guide bar (529) may be provided on the inside of the above square support frame (53), and a protective cover (528) with a longitudinal hole formed on the outside thereof may be provided for fastening.

As shown in FIGS. 16 and 17, the Z-axis transfer unit (400) is provided with a support bracket (401) on both sides of the upper plate (531) of the square support frame (53), and a clutch connection part (402) for receiving and transmitting power from an electric motor (404) is provided on the inner side of the support bracket (401), and a rotation gear (409) that is fixedly inserted into a rotation shaft and rotates on the outer side of the clutch connection part (402),

The above-mentioned rotary gear (409) can be provided to ascend and descend by means of forward and reverse rotation by engaging with a vertical rack bar (513) fixedly installed on a connecting bracket (513a) provided on an inner plate (519) on one side of a vertical frame (511).

As shown in Figures 17 to 19, the Y-axis transport unit (300) is provided with guide rail bars (56) on both sides of the lower side of the square support frame (53).

It is provided with a sliding movable block (301) inserted into the above-mentioned guide rail bars (56), and has a fixed plate (302) and a connecting plate (303) fixedly installed on the lower side thereof.

The outer side of the above connecting plate (303) is provided with a reinforcing plate (370), and the upper side thereof is provided with a stand plate (305).

A motor fixing plate (306) is vertically provided on the outside of the above stand plate (305), and the power of the electric motor (310) is transmitted to the clutch block (311) at the center of the motor fixing plate (306) so that the rotation axis thereof rotates the rotation gear (312).

The above-mentioned rotary gear (312) can be provided to move left and right by interlocking with the horizontal rack guide bar (529) of the lifting and lowering frame (52) and rotating forward and reverse.

As shown in Figures 20 to 26, the X-axis transport unit (200) is a rack and pinion type that receives external power and moves precisely in the X-axis direction at high speed under the connecting plate (303) of the two-sided Y-axis transport units (300) and is provided symmetrically on one or both sides,

Or, a position fixing means (380) may be provided so that the real-time operating status of the X-axis transport unit (200) can be predicted in advance.

On the lower side of the above connecting plate (303),

The power of the electric motor (210) on the upper side is transmitted to the clutch block (211), and its rotation axis is fixed vertically so that the rotation gear (291) can rotate.

The outer side of the above-mentioned rotary gear (291) is provided with a horizontal movement rack bar (390) that moves forward and backward in the longitudinal direction according to the forward and reverse rotation, and the horizontal movement rack bar (390) is provided so as to be fixedly installed in a divided or integral manner on the inner side of the slide bar (30).

The upper side of the above slide bar (30) is provided with a horizontal LM guide rail (363), and a separation prevention plate (364) is provided on both sides thereof.

The above horizontal LM guide rail (363) may be provided with one or more sliding blocks (362), and the sliding blocks (362) may be provided to be fixedly installed on the lower side of the connecting plate (303).

As shown in FIGS. 24 to 26, the fixed position fixing means (380) is provided with a forward/backward lifting cylinder (382) fixedly installed on the lower side of the connecting plate (303), and a moving bracket (381a) fixedly installed on a push bar (382a) that moves forward/backward by the lifting cylinder (382),

The above moving bracket (381a) may be provided with a fixed push cylinder (381) that can be pushed into a fixed groove (383) provided on the inside of the slide bar (30) to maintain the fixed position.

As shown in FIGS. 1 to 27, the Z-axis transfer unit (400), the Y-axis transfer unit (300), and the X-axis transfer unit (200)

A predictive measuring means (R) that can monitor and detect real-time situations due to forward and reverse rotation during operation can be optionally provided.

As shown in Fig. 27, an encoder (E) that is engaged with the outside of the rotation gear (291), (312), (404) of the prediction measuring means (R) and rotates is provided so that the operating status can be monitored in real time.

Hereinafter, each component of the three-axis drive device of the transport robot system based on the predictive maintenance technology of the press molding process of the electric vehicle battery case component of the present invention will be described in more detail as follows.

As shown in FIGS. 1 and 2, the material of the workpiece (A) to be processed is supplied from the outside through a material supply device (4) that sequentially supplies the material of the workpiece (A) to be processed through several steps, and the material of the workpiece (A) is supplied to each press (2) along the conveyor of the material transport unit (3) (3a) in individual sheets, so that at least one is provided for pressurization molding of 1,000 tons or less, which is equipped with a lower mold (2b) and an upper mold (2a), so that sequential molding can be performed.

In order to enable the workpiece (A) sequentially formed by each of the above presses (2) to be moved sequentially at high speed, the workpiece (A) is picked up simultaneously from both sides of each press (2) and moved sequentially by a transfer robot system (C).

The above-mentioned transport robot system (C) operates by a three-axis driving device (B) that provides a feed bar (10)(10') horizontally and longitudinally as long as the width and length of each press (2) outside the lower mold (2b) on which the above-mentioned workpiece (A) is installed, and operates by simultaneously providing a slide bar (30) that is symmetrically operated forward and backward in a three-axis direction by being attached and fixed in a detachable manner on both sides of the feed bar (10)(10').

As shown in FIGS. 1 and 2, the three-axis driving device (B) is symmetrically provided with a Z-axis transfer unit (400), a Y-axis transfer unit (300), and an X-axis transfer unit (200) on both sides.

The slide bar (30) operated by the above Z-axis transfer unit (400), Y-axis transfer unit (300) and X-axis transfer unit (200) devices simultaneously clamps both sides of the feed bar (10) (10') so that independent operation can be achieved in each of the three directions. Therefore, the operation and explanation will be given based on the above-mentioned operating relationship in the following content.

As shown in Figures 1 to 27, the three-axis driving device (B) is provided so that it can be fixedly installed on one side and the other side of the ground, so that each press (2) can be installed between them.

The slide bar (30) that is fixedly installed in a symmetrical detachable manner on both sides of the above feed bar (10) (10') is installed in a vertical frame (50) that is fixedly installed on the ground or a support frame (T) so that it can be automatically moved in the three-axis direction, and a horizontal support frame (51) is fixedly installed between them so that it can be supported firmly.

The upper side of the above horizontal support frame (51) is provided with a lifting and lowering cylinder (500), and a height-adjusting lifting and lowering frame (52) is provided fixedly installed on the lower side thereof, so that it can move while supporting a large load by the lifting and lowering cylinder (500).

The above-mentioned raising/lowering frame (52) is equipped with a Z-axis transport unit (400) for precise raising/lowering height adjustment for precise Z-axis movement, so that the slide bar (30) can be moved up and down in the Z-axis direction quickly and precisely.

In addition, the X-axis transfer unit (200) and the Y-axis transfer unit (300) for precise transfer in the X and Y axes directions are provided on the lower side of the above-mentioned lifting and lowering frame (52) so that rapid and precise control operation is performed in the three-axis directions.

As shown in FIGS. 1 to 5, the vertical frame (50) is provided so that the ground or square support frame (T) is symmetrically fixedly installed, and a vertical frame (511) is fixedly installed on the upper side thereof, and a fixing plate (516) is provided on both sides of the upper surface of the vertical frame (511), and a horizontal support frame (51) that connects each of the fixing plates (516) into one is fastened and fixed.

On the inside of the vertical frame (511), an LM guide bar (512) is symmetrically provided in the vertical longitudinal direction, and the LM guide bar (512) is inserted into the sliding block (55) of the raising/lowering frame (52) to operate for the raising/lowering movement, and in order to precisely control and adjust the height, a rotating gear (409) that rotates forward and reversely by an electric motor (404) of a Z-axis transport unit (400) on both sides of the upper side of the raising/lowering frame (52) engages with a vertical rack bar (513) provided between the LM guide bars (512) on both sides to operate for precise control and adjustment of the height.

The vertical frame (511) is provided with a fixed plate (514) on the outside to support the vertical frame (50) and the horizontal support frame (51) while maintaining it firmly.

In the part where the height adjustment is required primarily by the raising/lowering cylinder (500) provided on the above horizontal support frame (51), the rotation gear (409) operates to raise and lower precisely in the Z-axis direction by engaging with the vertical rack bar (513) in order to move rapidly.

As shown in FIGS. 2 to 8 or 11, the vertical frame (50) has a fixing plate (516) on the upper surface of the vertical frame (511), LM guide bars (512) symmetrically provided in the vertical longitudinal direction on the inner surface thereof, a vertical rack bar (513) provided between the LM guide bars (512) on both sides thereof, and a fixing plate (514) symmetrically provided on the outer surface of the vertical frame (511) so that the vertical frame (511) is firmly fixed and installed on the ground or a support frame (T).

As shown in FIGS. 2 to 8 or 9, each slide bar (30) is provided with a durable square frame (361) having an engraved or embossed shape on the inside in the horizontal longitudinal direction so as to be symmetrically fixedly installed on both sides of the feed bar (10)(10'), and a horizontal LM guide rail (363) is provided on the upper side thereof so as to be fixedly installed in the longitudinal direction, and the horizontal LM guide rail (363) is inserted into several sliding blocks (362) of the X-axis transport unit (200) and operates to move in the X-axis direction.

On both sides of the above horizontal LM guide rail (363), a separation prevention plate (364) is provided on both sides to limit excessive movement.

On one side of the above square frame (361), a clamp unit (399) for clamping the feed bar (10)(10') is provided so that it can be easily fixed and connected in a detachable form.

The detailed fastening structure and operating relationship of the above clamp unit (399) that operates in a hook or hanging fixation form will be omitted.

As shown in FIGS. 2 to 8 or 12, the horizontal support frame (51) has a horizontal plate (551) that is fastened and fixed to the mounting plates (516) of the vertical frames (50) on both sides, and a square frame (553) is provided in the horizontal longitudinal direction at the center of the upper surface of the horizontal plate (551) so as to maintain a firm fastening force by increasing support and durability, and at least one vertical force plate (552) is provided at equal intervals on both sides of the square frame (553) so as to minimize the load according to the operation through torsional rigidity and weight reduction, and at least one elevating/lowering cylinder (500) is provided on both sides of the horizontal plate (551) so that a push shaft (500a) is fastened and fixed to the upper plates (531) on both sides of the elevating/lowering frame (52) on the outer side of the elevating/lowering frame (53).

As shown in FIGS. 2 to 8 or FIGS. 13 to 16, the lifting/lowering frame (52) is provided with a square support frame (53) formed of a horizontally penetrating internal bracket and a power bracket in the horizontal length direction to operate in a manner that increases durability and weight reduction.

The lower side of the above square support frame (53) is provided with a guide rail bar (56) at the front and rear sides, and the guide rail bar (56) is inserted into the moving block (301) of the above Y-axis transfer unit (300) so that it can move in the Y-axis direction.

On both outer sides of the above square support frame (53), a vertical moving plate (54) having at least one sliding block (55) on both sides is provided, and the sliding block (55) is inserted into the LM guide bar (512) of the vertical frame (50) so that the height can be adjusted vertically in the Z-axis direction.

The inside of the vertical moving plate (54) above is provided with a fixed bracket (59) to which the push shaft (500a) of the lifting/lowering cylinder (500) is fastened and fixed, so that the lifting/lowering frame (52) can be individually and precisely adjusted in height at high speed by the Z-axis moving unit (400) fixedly installed on the vertical frames (50) on both sides and the upper plate (531).

On the inside of the above square support frame (53), a horizontal rack guide bar (529) is provided horizontally, and on the outside, a protective cover (528) having a longitudinally formed hole is fastened and fixed, and the horizontal rack guide bar (529) is operated to move left and right in the Y-axis direction by a rotating gear (312) that rotates forward and backward by the power of the electric motor (310) of the Y-axis transport unit (300), and the Y-axis transport units (300) fixedly installed on both sides operate so that the slide bars (30) on both sides can expand or contract.

As shown in FIGS. 1 to 8, 11 to 16 or 25 to 26, the Z-axis transport unit (400)

As shown in Fig. 13, a support bracket (401) is provided to be fixedly installed on both sides of the upper plate (531) of the square support frame (53), and a clutch connection part (402) is provided to receive and transmit power from an electric motor (404) that is inserted and fixed to the support bracket (401), and a rotation gear (409) that is inserted and fixed to the outer rotation shaft of the clutch connection part (402) rotates and engages with a vertical rack bar (513) that is fixedly installed on a connection bracket (513a) provided on one inner plate (519) of the vertical frame (511) to operate to ascend and descend by forward and reverse rotation.

As shown in FIGS. 1 to 8 or FIGS. 18 to 26, the Y-axis transport unit (300)

As shown in Fig. 26, a sliding movable block (301) is installed on both sides of a guide rail bar (56) on the lower side of a square support frame (53) so that the fixed plate (302) and the connecting plate (303) on the lower side can be moved left and right.

The outer side of the above connecting plate (303) is provided with a reinforcing plate (370), and the upper side thereof is provided with a stand plate (305).

On the outside of the above stand plate (305), a motor fixing plate (306) is vertically provided. At the center of the motor fixing plate (306), power is transmitted from an electric motor (310) to a clutch block (311), and its rotation axis rotates a rotation gear (312), which is engaged with a horizontal rack guide bar (529) of a lifting/lowering frame (52) to move left and right by forward and reverse rotation.

As shown in Figures 1 to 10, the X-axis transport unit (200) is a rack and pinion type that receives external power from the lower side of the connecting plate (303) of the two-sided Y-axis transport units (300) and moves precisely in the X-axis direction at high speed, and is provided symmetrically on one or both sides.

Or, a position fixing means (380) is provided so that the real-time operating status of the X-axis transfer unit (200) can be predicted in advance so that the clamping fixing operation can be performed by the control logic.

As shown in Figures 20 to 26, the X-axis transfer unit (200) operates so that power is transmitted to the clutch block (211) from the electric motor (210) on the lower side of the connecting plate (303) so that the rotational axis can rotate the rotational gear (291), and is also vertically fixed and operated so that the rotational gear (291) can rotate forward and reversely.

On the outside of the above-mentioned rotary gear (291), a horizontal moving rack bar (390) provided on one side of a sliding bar (30) that moves forward and backward in the longitudinal direction according to forward and reverse rotation is engaged, and a sliding block (362) of the slide bar (30) is fixedly installed on one side of the lower side of the above-mentioned connecting plate (303) so that it operates to move forward and backward by a horizontal LM guide rail (363) on the lower side.

As shown in Fig. 24, the above-mentioned fixed position means (380) can be selectively provided on one side or the other side of the above-mentioned slide bar (30),

So that the fixed push cylinder (381) can be pushed into the fixed groove (383) provided on the inside of the above slide bar (30) and fixed,

A forward/backward lifting cylinder (382) is fixedly installed on the lower side of the above connecting plate (303), and a moving bracket (381a) fixedly installed on a push bar (382a) that moves forward/backward by the lifting cylinder (382) is pushed by a fixed push cylinder (381) on one side thereof.

As shown in FIGS. 1 to 27, the Z-axis transfer unit (400), the Y-axis transfer unit (300), and the X-axis transfer unit (200) can optionally be equipped with a predictive measurement means (R) capable of monitoring and detecting real-time situations due to forward and reverse rotation during operation, thereby enabling real-time information according to operation and operational predictive information according to operation to be confirmed.

The above-mentioned predictive measuring means (R) is equipped with an encoder (E) that rotates by engaging the outside of the rotating gear (291), (312), (409) so as to monitor the operating status in real time.

The above encoder (E) may use various sensors such as gears, ultrasonic and magnetic sensors.

A: Processed goods B: 3-axis driving device
C: Transport robot system E: Encoder
R: Predictive measurement tool T: Support frame
2: Press 2a: Prize type
2b: Lower mold 3,3a: Material transfer unit
4: Material supply device 10,10': Feed bar
30: Slide bar 50: Vertical frame
51: Support frame 52: Ascent/descent frame
53: Square support frame 54: Vertical moving plate
55: Sliding block 56: Guide rail bar
59: Fixed bracket 200: X-axis transfer unit
210: Electric motor 211: Clutch block
291: Rotating gear 300: Y-axis transfer unit
301: Moving block 302: Fixed plate
303: Connection plate 305: Stand plate
306: Motor fixing plate 310: Electric motor
311: Clutch block 312: Rotating gear
361: Horizontal movement block 362: Sliding block
363: Horizontal LM guide rail 364: Detachment prevention plate
370: Reinforcement plate 380: Position fixing means
381: Fixed push cylinder 381a: Moving bracket
382: Lifting cylinder 382a: Push bar
383: Fixed home 390: Horizontal moving rack bar
400: Z-axis transfer unit 409: Support bracket
402: Clutch connection 404: Electric motor
409: Rotating gear 500: Raising and lowering cylinder
500a: Push shaft 511: Vertical frame
512: LM guide bar 513: Vertical rack bar
513a: connecting bracket 514: fixed plate
516: Settling plate 519: Inner plate
528: Protective cover 529: Horizontal rack guide bar
531: Top plate 551: Horizontal plate
552: Vertical force plate 553: Square frame

Claims (12)

The workpiece (A) is provided so that it is supplied to the press (2) along the conveyor of the workpiece transfer unit (3) (3a) by the material supply device (4) supplied from the outside, separated into individual sheets, and the workpiece (A) supplied to the press (2) is provided with at least one lower die (2b) and an upper die (2a) so that it can be pressurized and molded to 1,000 tons or less, and a transfer robot system (C) capable of simultaneously picking up and sequentially moving the workpieces (A) formed by each press (2) from the outer sides of the lower die (2b), and the transfer robot system (C) is provided with a feed bar (10) (10') horizontally provided to the outer side of the lower die (2b) on which the workpiece (A) is placed, as much as the width and length of each press (2), and is provided with a detachable form on both sides of the feed bar (10) (10'). In a three-axis driving device (B) that operates a slide bar (30) that is fixedly fastened and driven in three directions symmetrically and simultaneously in three directions,

The above three-axis driving device (B) is
A slide bar (30) is detachably attached to both sides of a feed bar (10)(10') and is provided in a bar shape so that it can be moved at high speed, and a vertical frame (50) is provided on both sides to be fixedly installed on the outer surface of the slide bar (30), and a horizontal support frame (51) is provided on the upper side between the vertical frames (50) on both sides, and a raising/lowering frame (53) is provided on the inner side of the horizontal support frame (51), and a raising/lowering frame (52) is provided to be fixedly installed on the outer side of the raising/lowering frame (53) and whose height is adjusted,

A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process, characterized in that a Z-axis transport unit (400) for precise height adjustment of lifting and lowering is provided on both sides of the above-mentioned lifting and lowering frame (52), a Y-axis transport unit (300) for left and right width spacing adjustment is provided on the lower side of the above-mentioned lifting and lowering frame (52), and an X-axis transport unit (200) for precise forward and backward movement is provided on the lower side of the above-mentioned Y-axis transport unit (300) by fastening and fixing the above-mentioned two-sided slide bars (30) In the first paragraph,
The above vertical frame (50) is
A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process characterized by having a square support frame (T) fixedly installed on the ground, a vertical frame (511) fixedly installed on the upper side thereof, a fixing plate (516) provided on the upper surface of the vertical frame (511), LM guide bars (512) symmetrically provided in the vertical longitudinal direction on the inner side of the vertical frame (511), a vertical rack bar (513) provided between the LM guide bars (512) on both sides, and a fixing plate (514) provided on the outer side of the vertical frame (511) In the first paragraph,
Each of the above slide bars (30)
A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process characterized by having a square frame (361) having an engraved or embossed shape on the inside in the horizontal length direction, a horizontal LM guide rail (363) fastened and fixed to the upper side of the square frame (361), at least one sliding block (362) sliding along the horizontal LM guide rail (363), a separation prevention plate (364) provided on both sides of the horizontal LM guide rail (363), and a clamp unit (399) for clamping the feed bar (10)(10') provided on one side of the square frame (361) In the first paragraph,
The above horizontal support frame (51) is
A 3-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process characterized by having a horizontal plate (551) that is fixedly fastened to a fixing plate (516) of a vertical frame (50) on both sides, a square frame (553) provided in a horizontal longitudinal direction at the center of the upper surface of the horizontal plate (551), at least one vertical force plate (552) provided at equal intervals on both sides of the square frame (553), and at least one lifting and lowering cylinder (500) provided on both sides of the horizontal plate (551) In the first paragraph,
The above-mentioned ascending and descending frame (52) is
It has a square support frame (53) that is horizontally perforated and made of a power bracket, and a guide rail bar (56) is provided at the front and rear sides on the lower side of the square support frame (53), and a vertical moving plate (54) having at least one sliding block (55) on both sides of the outer side of the square support frame (53) is provided, and a fixing bracket (59) to which a push shaft (500a) of a lifting and lowering cylinder (500) is fastened and fixed is provided on the inner side of the vertical moving plate (54).
A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process characterized in that a horizontal rack guide bar (529) is provided horizontally on the inside of the square support frame (53), and a protective cover (528) with a longitudinally formed hole is provided on the outside thereof to be fastened and fixed. In the first paragraph,
The above Z-axis transport unit (400) is
A support bracket (401) is provided on both sides of the upper plate (531) of the square support frame (53), and a clutch connection part (402) that receives and transmits power from an electric motor (404) is provided on the inner side of the support bracket (401), and a rotary gear (409) that is fixedly inserted into a rotary shaft and rotates on the outer side of the clutch connection part (402),
The above-mentioned rotary gear (409) is characterized by being engaged with a vertical rack bar (513) fixedly installed on a connecting bracket (513a) provided on an inner plate (519) on one side of a vertical frame (511) and being provided to ascend and descend by forward and reverse rotation, and is a three-axis driving device of a transport robot system based on predictive maintenance technology for a press molding process for an electric vehicle battery case component. In the first paragraph,
The above Y-axis transport unit (300) is
Guide rail bars (56) are provided on both sides of the lower side of the square support frame (53).
It is provided with a sliding movable block (301) inserted into the above-mentioned guide rail bars (56), and has a fixed plate (302) and a connecting plate (303) fixedly installed on the lower side thereof.
The outer side of the above connecting plate (303) is provided with a reinforcing plate (370), and the upper side thereof is provided with a stand plate (305).
A motor fixing plate (306) is vertically provided on the outside of the above stand plate (305), and the power of the electric motor (310) is transmitted to the clutch block (311) at the center of the motor fixing plate (306) so that the rotation axis thereof rotates the rotation gear (312).
The above-mentioned rotary gear (312) is characterized by being engaged with the horizontal rack guide bar (529) of the lifting/lowering frame (52) and moving left and right by forward and reverse rotation, and is a three-axis driving device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process. In the first paragraph,
The above X-axis transport unit (200) is
A rack and pinion type that receives external power and moves precisely in the X-axis direction at high speed is provided symmetrically on one or both sides on the lower side of the connecting plate (303) of the above two-sided Y-axis transfer unit (300),
Or, a three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process characterized by having a fixed position fixing means (380) capable of predicting the real-time operating status of the X-axis transport unit (200) in advance In Article 8,
On the lower side of the above connecting plate (303),
The power of the electric motor (210) on the upper side is transmitted to the clutch block (211), and its rotation axis is fixed vertically so that the rotation gear (291) can rotate.
The outer side of the above-mentioned rotary gear (291) is provided with a horizontal movement rack bar (390) that moves forward and backward in the longitudinal direction according to the forward and reverse rotation, and the horizontal movement rack bar (390) is provided so as to be fixedly installed in a divided or integral manner on the inner side of the slide bar (30).
The upper side of the above slide bar (30) is provided with a horizontal LM guide rail (363), and a separation prevention plate (364) is provided on both sides thereof.
The above horizontal LM guide rail (363) is provided with one or more sliding blocks (362), and the sliding blocks (362) are provided to be fixedly installed on the lower side of the connecting plate (303). A three-axis drive device of a transport robot system based on predictive maintenance technology for a press molding process for an electric vehicle battery case component. In Article 8,
The above fixed position means (380) is
A forward and backward lifting cylinder (382) is provided to be fixedly installed on the lower side of the connecting plate (303), and a moving bracket (381a) is provided to be fixedly installed on a push bar (382a) that moves forward and backward by the lifting cylinder (382).
The above moving bracket (381a) is provided with a fixed push cylinder (381) that pushes against a fixed groove (383) provided on the inside of the slide bar (30) to maintain the fixed position. A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process. In the first paragraph,
In the above Z-axis transfer unit (400), Y-axis transfer unit (300) and X-axis transfer unit (200),
A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case parts press molding process, characterized by optionally having a predictive measurement means (R) capable of monitoring and detecting real-time situations due to forward and reverse rotation during operation In Article 11,
The above prediction measuring means (R) is,
A three-axis drive device of a transport robot system based on predictive maintenance technology for an electric vehicle battery case component press molding process, characterized in that it is provided with an encoder (E) that is engaged with and rotates on the outside of the above-mentioned rotating gears (291), (312), (409) so as to be able to monitor the operating status in real time.