WO2008069635A1 - Appareil d'insertion de bouchon en mousse et procédé d'insertion de bouchon en mousse - Google Patents

Appareil d'insertion de bouchon en mousse et procédé d'insertion de bouchon en mousse Download PDF

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Publication number
WO2008069635A1
WO2008069635A1 PCT/KR2007/006397 KR2007006397W WO2008069635A1 WO 2008069635 A1 WO2008069635 A1 WO 2008069635A1 KR 2007006397 W KR2007006397 W KR 2007006397W WO 2008069635 A1 WO2008069635 A1 WO 2008069635A1
Authority
WO
WIPO (PCT)
Prior art keywords
foam
plugs
foam plug
section
plug holes
Prior art date
Application number
PCT/KR2007/006397
Other languages
English (en)
Inventor
Seung Ryong Han
Sung Ho Han
Ki Soo Cho
Seong-Jong Han
Original Assignee
Samsung Heavy Ind. Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Heavy Ind. Co., Ltd. filed Critical Samsung Heavy Ind. Co., Ltd.
Publication of WO2008069635A1 publication Critical patent/WO2008069635A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • B63B25/12—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
    • B63B25/16—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated

Definitions

  • the present invention relates to a robot type foam plug inserting apparatus and a foam plug inserting method, and more particularly to a foam plug inserting apparatus and a foam plug inserting method used in installation of insulators insulating the interior of a cargo tank of a ship.
  • insulation panels 1 are fixed to an inner hull of the ship by fitting stud bolts thereinto through bolt holes of the insulation panel 1 with predetermined intervals, respectively, while forming a gap therebetween.
  • work areas for installation of the insulation panel 1 are formed in a lattice shape.
  • foam plug holes 3 corresponding to the bolt holes are formed according to corresponding technical standards of a cargo tank.
  • Cylindrical form plugs 5 each having a recessed hole at a lower end portion thereof are inserted into the foam plug holes 3 formed in the insulation panel 1.
  • the present invention provides a foam plug inserting apparatus capable of maximizing the productivity, the workability, and the preciseness by automating manual processes.
  • a foam plug inserting apparatus in which a drive section is installed in a frame section, which includes a plurality of sensors detecting operational situations of the foam plug inserting apparatus, a base plate fixed to the frame section, and a second feeding section in the form of a curved magazine installed in the base plate, to which a plurality of foam plugs are mounted to individually extract and supply the foam plugs.
  • the foam plug inserting apparatus further includes a second insertion section for inserting the foam plugs supplied from the second feeding section into foam plug holes through insertion guides and a control unit mounted to the frame section to control operations of the second feeding section and the second insertion section in correspondence to signals received from the sensors.
  • a foam plug inserting method including: confirming whether a hole position detection signal for recognizing the positions of foam plug holes into which foam plugs are to be inserted from a foam plug hole recognizing sensor for detecting the plug holes formed in an insulation panel has been received; controlling movement of a drive section to locate insertion guides in the foam plug holes if it is confirmed that the hole position detection signal has been received; extracting the foam plugs loaded to the second feeding section individually, supplying the foam plugs to a second insertion section, and controlling operations of the second feeding section and the second insertion section to insert the foam plugs supplied to the second insertion section into the foam plug holes; determining whether the depth of a step is within a normal value range determined in advance from a received step detection signal for recognizing the depth of the step from a plurality of step confirming sensors for detecting the depth of the step in the foam plug holes into which the foam plugs are inserted; confirming whether the foam plugs are loaded by using a received loaded foam
  • an insertion member assembling system (not shown) includes a first module attached thereto or detached therefrom for fitting the flat joints into the insulation panel; a second module attached thereto or detached therefrom for fitting the foam plugs into the insulation panel; a drive part generating a moving force with the first and second modules being mounted to a frame section; and a control unit.
  • a second feeding section and a second insertion section are elements of the second module.
  • an accurate insertion operation can be performed while maintaining a uniform quality and without any inconvenience of reconstruction, thereby increasing the work efficiency and uniformizing the work quality.
  • FIG. 1 is a perspective view for explaining a conventional insulation panel structure attached to a cargo tank of a ship and a conventional insertion member constructing structure;
  • FIG. 2 is an exploded perspective view illustrating a foam plug inserting apparatus and an insertion member assembling system in accordance with an embodiment of the present invention
  • FIG. 3 is a perspective view for illustrating an engaged state of the foam plug inserting apparatus and the insertion member assembling system illustrated in Fig. 2;
  • FIG. 4 is a block diagram of a control unit illustrated in Fig. 2;
  • FIG. 5 is a perspective view for explaining the structure of a second feeding section illustrated in Fig. 2;
  • FIG. 6 is a perspective view for explaining the structure of a second insertion section illustrated in Fig. 2;
  • Fig. 7 is a concept view for explaining the principle of the operation of the second insertion section illustrated in Fig. 6;
  • Fig. 8 is a flow chart for explaining a foam plug inserting method by the control unit illustrated in Fig. 4;
  • FIGs. 9 to 18 are perspective views for explaining the operation of the foam plug inserting apparatus illustrated in Fig. 2.
  • FIG. 1 is a perspective view for explaining a conventional insulation panel structure attached to a cargo tank of a ship and a conventional insertion member constructing structure.
  • Fig. 2 is an exploded perspective view illustrating a foam plug inserting apparatus and an insertion member assembling system in accordance with an embodiment of the present invention.
  • Fig. 3 is a perspective view for illustrating an engaged state of the foam plug inserting apparatus and the insertion member assembling system illustrated in Fig. 2.
  • Fig. 4 is a block diagram of a control unit illustrated in Fig. 2.
  • Fig. 5 is a perspective view for explaining the structure of a second feeding section illustrated in Fig. 2.
  • Fig. 6 is a perspective view for explaining the structure of a second insertion section illustrated in Fig. 2.
  • Fig. 1 is a perspective view for explaining a conventional insulation panel structure attached to a cargo tank of a ship and a conventional insertion member constructing structure.
  • Fig. 2 is an exploded perspective view illustrating a foam plug inserting apparatus and
  • FIG. 7 is a concept view for explaining the principle of the operation of the second insertion section illustrated in Fig. 6.
  • Fig. 8 is a flow chart for explaining a foam plug inserting method by the control unit illustrated in Fig. 4.
  • Figs. 9 to 18 are perspective views for explaining the operation of the foam plug inserting apparatus illustrated in Fig. 2.
  • a foam plug inserting apparatus 50 in accordance with an embodiment of the present invention includes a second feeding section 500 that is a foam plug supply device and a second insertion section 600 that is a foam plug inserting device.
  • the foam plug inserting apparatus 50 in accordance with an embodiment of the present invention is independently moduled in an insertion member assembling system 10 and is attached or detached to and from the insertion member assembling system 10.
  • the insertion member assembling system 10 can be applied to automatically insert a flat joint by attaching or detaching the first feeding section and the first insertion section (not shown) in an independently moduled form.
  • the foam plug inserting apparatus 50 in accordance with the embodiment of the present invention is installed in an outer transverse member 115 on the front side or the rear side of a frame section 100.
  • the second feeding section 500 mounting a plurality of foam plugs in a curved magazine individually extracts the foam plugs and provides the foam plugs to the second insertion section 600 according to an instruction of a control unit 20 that has been set in advance.
  • the second insertion section 600 inserts the foam plugs provided from the second feeding section 500 into foam plug holes.
  • a drive section 200 capable of moving on the entire wall surfaces such as the bottom surface, the ceiling surface, and side wall surfaces of the interior of the cargo tank even when the above-mentioned other modules are mounted to the frame section 100 is installed in the frame section 100.
  • the drive section 200 includes a first drive module 210 and a second drive module
  • a base plate 501 of the second feeding section 500 is attached or detached by a plurality of engaging unit such as a ball lock and a snap fastener.
  • the second feeding section 500 has a pair of curved cartridges 510 for mounting and temporarily keeping the plurality of foam plugs.
  • the second feeding section 500 moves the foam plugs by using springs mounted to the curved cartridges 510 respectively, and has second propulsion members 520 connected to the interiors of the curved cartridges 510 to transfer propulsion forces generated from the springs, a pair of robot type grippers 530 extracting the foam plugs arrived at extraction blocks of the curved cartridges 510 by individually gripping the foam plugs, a pivot mechanism 540, and a horizontal movement mechanism 550.
  • the second insertion sections 600 are engaged with side surfaces of a base plate 501 of the second feeding section 500 through X-Y free stages 610 respectively.
  • the X-Y free stages 610 are fixed to side surface of the base plate 501 so that they correspond to the foam plug holes arranged in a predetermined interval along the lengthwise direction of a flat panel around the both side edge portions.
  • insertion guides 620 (hereinafter, referred to as insertion guides) connected to the X-Y free stages 610 are set and installed in advance so as to coincide with the foam plug holes of the flat panel at least with respect to the Y-axis direction that will be explained later.
  • the second insertion section 600 includes an insertion guide 620, a pusher 630, and a lift cylinder 640.
  • the lift cylinder 640 means a linear drive unit and a linear operation control system lifting and lowering the pusher 630 with a predetermined pressing force by using an electric power source or a pneumatic source. All units including the drive section 200 are controlled by a control unit 20.
  • control unit 20 generally controls a drive or movement of the drive section and foam plug inserting steps 200 as well as the above-mentioned insertion member assembling system.
  • control unit 20 is connected to the drive section 200 and the corresponding elements of the foam plug inserting apparatus 50 of the embodiment of the present invention, and controls them in correspondence to a well-known power source supply method and control signal transfer method.
  • the foam plug inserting apparatus 50 in accordance with the embodiment of the present invention includes the second feeding section and the second insertion section that will be described in detail.
  • the drive section 200 basically has a motor and a mechanical unit for movement thereof. Further, a cross point recognizing sensor 201, a plurality of step confirming sensors 202, a front distance recognizing sensor 203, and a rear distance recognizing sensor 204 connected to the control unit 20 to control the operation of the drive section 200 are installed in the drive section 200.
  • the drive section may further include a potentiometer (not shown) measuring a deformation of a compensation spring to regulate a surface pressing force and various limit sensors (e.g. pressing limit sensors) (not shown) for controlling an excessive operation of a motor or a link.
  • the cross point recognizing sensor 210 is installed on the front side of one of the drive section 200 or the frame section to which the drive section is mounted. After detecting a cross point where the insulation panel work regions cross each other, the cross point recognizing sensor 201 can output a cross point detecting signal for recognizing the cross point.
  • the cross point recognizing sensor 201 may be an optical sensor (photo sensor) detecting the insulation panel work region.
  • the control unit 20 can recognize the cross point of the insulation panel work region by using the received cross point detecting signal output from the cross point recognizing sensor 201.
  • a plurality of step confirming sensors 202 are installed in one of the drive section
  • the step confirming sensors can output step detection signals for recognizing the depth of the step.
  • the step confirming sensor 202 may be one of an ultrasonic sensor, a vector sensor, and a laser distance measuring sensor for detecting the depth of the step.
  • control unit 20 can recognize the depth of the step by using the received step detection signals output from the plurality of step confirming sensors 202. Further, the control unit 20 can confirm whether the foam plugs have been normally inserted into the foam plug holes by determining whether the recognized depth of the step is within a normal value determined in advance.
  • control unit 20 can prevent collision of the drive section 200 with an obstacle by recognizing the obstacle located on the front or rear side.
  • Foam plug hole recognizing sensors 51, guide insertion confirming sensors 52, guide expansion confirming sensors 53, supply preparation confirming sensors 54, supply completion confirming sensors 55, and loaded foam plug recognizing sensors 56 are installed in the second feeding section and the second insertion section of the foam plug inserting apparatus 50 to transfer signals to the control unit 20.
  • the foam plug hole recognizing sensors 51 detects the plurality of foam plug holes
  • the foam plug hole recognizing sensors 51 generate hole position detection signals representing the positions of the foam plug holes for properly inserting the foam plugs and transmits the hole position detection signals to the control unit 20.
  • the foam plug hole recognizing sensors 51 may be optical sensors (photo sensors) for detecting the foam plug holes.
  • control unit 20 can recognize the foam plug holes into which the foam plugs are to be inserted by using the received hole position detection signals output from the foam plug hole recognizing sensors 51. Further, the control unit 20 controls movement of the drive section 200 so that the foam plugs can be inserted into the foam plug holes by a second insertion sections to be described later, thereby properly positioning the frame section and the foam plug inserting apparatus 50 at the locations of the recognized foam plug holes.
  • the guide insertion confirming sensors 52 output guide insertion confirming detection signals and are used to confirm insertion of insertion guide related elements (e.g. circumferential guide portions) into the foam plug holes.
  • the guide insertion confirming sensors 52 may be proximity sensors detecting that the insertion guides are temporarily positioned in the foam plug holes.
  • each insertion guide includes a pair of curved circumferential guide portions; arms connected to the outer sides of the circumferential guide portions; an arm operator horizontally operating the arms to be moved close to and far away from the arms; a plurality of guide cylinders lifting the arm operator; and X-Y free stages engaged with upper portions of the guide cylinders.
  • the guide expansion confirming sensors 53 output guide expansion confirming detection signals, and are used to confirm whether the operations of expanding the insertion guides to the sizes of the inner diameters of the foam plug holes are completed.
  • the guide expansion confirming sensors 53 may be proximity sensors for detecting the expansion moment.
  • control unit 20 receives the guide insertion confirming detection signals and the guide expansion confirming detection signals that have been output from the guide insertion confirming sensors 52 and the guide expansion confirming sensors 53.
  • the received signals are used to control the operation, stop, and return of the arm operator and the guide cylinders of the second insertion portions used in the insertion or expansion operations of the insertion guides.
  • the supply preparation confirming sensors 54 can output supply preparation confirming detection signals for confirming that the foam plugs can be supplied to the insertion guides when the insertion guides performed an expansion operation.
  • the supply preparation confirming sensors 54 may be proximity sensors installed in the second feeding section to determine that the foam plugs are ready to supply to the insertion guides.
  • the supply completion confirming sensors 55 can output supply completion confirming detection signals for confirming that the foam plugs were inserted into the interior spaces of the circumferential guide portions of the insertion guides when the foam plugs are inserted into the interior spaces of the circumferential guide portions of the insertion guides.
  • the supply completion confirming sensors 55 may be proximity sensors installed in the second feeding section to determine that the inserted foam plugs were supplied to the insertion guides.
  • control unit 20 receives the supply preparation confirming detection signals and the supply completion confirming detection signals that have been output from the supply preparation confirming sensors 54 and the supply completion confirming sensors 55.
  • the received signals are used to control the operation, stop, and return of the elements (e.g. a robot type gripper, a first motor for pivoting the gripper, and a second motor for horizontally moving the gripper) of the second feeding section and the elements (e.g. a lift cylinder for lifting and lowering a pusher) of second insertion section.
  • the elements e.g. a robot type gripper, a first motor for pivoting the gripper, and a second motor for horizontally moving the gripper
  • the elements e.g. a lift cylinder for lifting and lowering a pusher
  • the loaded foam plug recognizing sensors 56 can output loaded foam plug recognition signals for confirming existence of the loaded foam plugs.
  • the loaded foam plug recognizing sensors 56 may be optical sensors for detecting the loaded foam plugs.
  • the control unit can recognize that the number of the foam plugs loaded in the foam plug inserting apparatus 50 is more than one by using the received loaded foam plug recognition signals output from the loaded foam plug recognizing sensors 56.
  • the control unit 20 includes a power supply source 21, an input/output section 22, a central processing unit (CPU) 23, a motion control section 24, and a motor drive section 25.
  • CPU central processing unit
  • the control unit 20 controls the operations of the drive section 200 and the foam plug inserting apparatus 50 by using the received corresponding output signals output from the sensors 201, 202, 203, and 204 included in the drive section 200 and the sensors 51, 52, 53, 54, 55, and 56 included in the foam plug inserting apparatus 50.
  • the output signals output from the encoders of the motors and cylinders provided in the drive section 200 and the foam plug inserting apparatus 50 can be fed back to the control unit 20.
  • the power supply source 21 performs a function of converting electric power thereof to be suitable for corresponding control unit 20 and related circuits and supplies the electric power to them respectively.
  • the input/output section 22 receives the corresponding output signals output from the sensors 51 to 56 and 201 to 204 and allows related circuits or the central processing unit 23 of the control unit 20 to recognize the output signals.
  • the central processing unit 23 can recognize the positions of the foam plug holes into which the foam plugs are inserted by using the received hole position detection signals output from the foam plug hole recognizing sensors 51 through the input/output section 22 and can output an instruction for inserting the foam plugs into the foam plug holes. Further, the central processing unit can determine whether the depth (height difference) of the step related to the foam plugs inserted into the flat panels are within the normal value determined in advance by using the received step detection signals output from the plurality of step confirming sensors 202. Further, the central processing unit can determine existence of the foam plugs loaded in the foam plug inserting apparatus 50 by using the received loaded foam plug detection signals output from the loaded foam plug recognizing sensors 56. The central processing unit 23 can control the drive section 200 and the foam plug inserting apparatus 50 in correspondence to a predetermined operation algorithm (e.g. foam plug insertion algorithm) when the loaded foam plug detection signals are not received or the depth of the step is not within the normal value.
  • a predetermined operation algorithm e.g. foam plug insertion algorithm
  • the motion output section 24 After receiving drive (operation) request or stop signals and return signals of the motor, the cylinder, the gripper, the arm operator, and so forth that was output from the central processing unit 23, the motion output section 24 outputs a control signal for operating one of the motor, the cylinder, the gripper, the arm operator, and so forth in correspondence to the received signals. Further, the output signals output from the encoders installed in the motor, the cylinder, and so forth are fed back to the motor control section 24 to be transferred to the central processing unit 23.
  • the motor drive section 25 After receiving motor control signals output from the motion control section 24, the motor drive section 25 amplifies drive currents needed for operations of motors provided in the drive section 200 and the foam plug inserting apparatus 50 and supplies the amplified drive currents to the motors.
  • the control unit 20 stores control algorithms for a recognition control using various sensors, a motion control using various motors, and an operation control using various cylinders in a memory (not shown) of the control unit as a program, which will be understood by the operational relations, the control, and assembling relations of the present invention. It is preferable that the program stored in the memory may be executed by the central processing unit 23.
  • the foam plugs 5 are continuously inserted into the foam plug holes 3.
  • the X-axis direction is the lengthwise direction of the unit including the frame section 100
  • the Y- axis direction is the widthwise direction of the unit including the frame section 100
  • the Z-axis direction is the heightwise direction of the unit.
  • the second feeding section 500 having the base plate 501 includes a pair of curved cartridges 510, a pair of second propulsion members 520, a pair of robot type grippers 530, a pivot mechanism 540, and a horizontal movement mechanism 550.
  • the curved cartridges 510 are installed at both ends of the upper side of the base plate 510 by an extraction block 515 and a lever type clamp unit 511.
  • the curved cartridges 510 temporarily load the foam plugs more inside the curved spaces (e.g. inversed U-shape) than a rectilinear space, therein.
  • the second propulsion members 520 are moved along the curved spaces of the curved cartridges 510 by using the resilient forces of springs 521 to supply the foam plugs 5 from the other end ends to the one side ends of the curved cartridges 510.
  • the second propulsion members 520 are guided and moved along the curved spaces of the curved cartridges 510 by a plurality of guide slits 516 provided on the inner and outer surfaces of the curved cartridges 510, a guide shaft member 517 corresponding to a guide mechanism, and a guide plate (not shown).
  • stopper holes 519 for temporarily stopping the second propulsion members 520 to mount the foam plugs 5 are further formed at ends of the guide slits 516 corresponding to propulsion starting points of the second propulsion members 520.
  • the stopper holes 519 are wider than the width of the guide slits 516 to form an engaging step to stop the second propulsion members 520.
  • a pair of curved cartridges 510 are formed substantially symmetrically, i.e. on the right and left sides.
  • a pair of extraction blocks 515 for the curved cartridges 510 are formed substantially symmetrically, i.e. on the right and left sides.
  • Each extraction block 515 forms a first through-hole 515a for engagement with the curved cartridge 510, the upper side of which is opened, a second through-hole 515b for an exit for the foam plug 5, the lower side of which is opened, a third through-hole 515c for eliminating interference on a movement path of the gripper 530 by opening only portions of the side surface and the central side of the bottom surface, and a fourth through-hole 515d opened to check existence of the foam plug 5.
  • the extraction block has a connection end 515e integrally formed along the lengthwise direction of the extraction block 515 at a corner of one side of the extraction block 515.
  • connection end 515e of the extraction block 515 is inserted into a connection end insertion hole 512 of the lever type clamp unit 511 and is pressed to be attached or detached.
  • a plurality of foam plugs 5 are mounted to the curved cartridge 510.
  • the foam plugs located in the interior of the extraction block 515 are extracted by the gripper 530 connected to the control unit right before being discharged from the curved cartridge 510. Then, the foam plugs 5 are withdrawn through the second through-hole 515b of the extraction block 515 which is an exit for the foam plugs sequentially.
  • a pair of grippers 530 individually grip the foam plugs 5 of the extraction blocks 515 and simultaneously supply the foam plugs toward the insertion guides.
  • each gripper 530 includes a pair of curved grip members 531, a pair of finger members connected to the outer sides of the grip members 532, and a finger operator making the fingers to be moved close to and far away from the fingers, and performs a first operation fl of expanding or contracting the pair of grip members 531 or vice versa to realize the movement of gripping the foam plugs 5 by the extraction blocks 515.
  • the finger operator 533 of the gripper 530 is engaged with the pivot mechanism 540 and performs a second operation f2 of erecting the foam plugs 5 in the horizontal state or returning the foam plugs 5 as it receives the pivotal force (rotational force) needed for a pivotal operation thereof and is pivoted within a finite rotational angle range.
  • the pivot mechanism 540 includes a first motor 541 for pivoting the gripper 530 mounted through a motor bracket in the base plate 501, a pivot shaft member 542 connected through a reduction gear of the first motor 541 and having a spline-like shape to guide a linear movement thereof while rotating, spline bosses engaged with both sides of the pivot shaft member 542 so as to receive a rotational force while linearly moving in the pivot shaft member 542, and pivot arms 544 extending from the spline bosses 543, to which the finger operators 533 are mounted.
  • pivot arms 544 of the pivot mechanisms 540 are engaged with reciprocal movement members 557 and 558 of the horizontal movement mechanism 550 and perform a third operation f3 for a horizontal movement in a finite stroke range.
  • the stroke range of the third operation f3 means a horizontal stroke distance between a point where the extraction block 515 grips the foam plugs 5 and a point where the foam plugs 5 are withdrawn from the insertion guide downward.
  • the horizontal movement mechanism 550 is connected through a second motor 551 for a horizontal movement of the gripper 530 mounted through another motor bracket on the upper surface of a central portion of the base plate 501 and a power transfer means 552 such as a reduction gear, a drive pulley, a timing belt, a driven pulley, a bearing, a central or side bearing bracket to receive a rotational force, and includes screw shaft members 553 and 554 rotatably supported by a plurality of support brackets and bearings.
  • a power transfer means 552 such as a reduction gear, a drive pulley, a timing belt, a driven pulley, a bearing, a central or side bearing bracket to receive a rotational force, and includes screw shaft members 553 and 554 rotatably supported by a plurality of support brackets and bearings.
  • the screw shaft members 553 and 554 mean shaft members having screw threads in the form of ball screws.
  • a screw thread is formed so that the right and left portions thereof can be oppositely inclined with respect to the driven pulley at a central portion thereof.
  • the screw shaft members 553 and 554 are engaged with transfer blocks 555 and 556 in the form of ball screws respectively.
  • the transfer blocks 555 and 556 are mounted to reciprocal movement members 557 and 558 connected to the pivot arms 544 and provide the right and left grippers 530 with horizontal transfer forces for getting the right and left grippers 530 close to and far away from each other to perform a horizontal transfer such as the third operation f3 of the grippers 530.
  • the reciprocal movement members 557 and 558 can guide smooth horizontal transfers by guide rails 559 connected thereto.
  • FIG. 6 although only one second insertion section 600 is illustrated for clarity, a pair of second insertion sections 600 are disposed on the front sides of the robot type grippers of the above-mentioned second feeding section. Then, the second insertion sections 600 are installed in the base plate of the frame section while maintaining the separated distance or disposed interval between the second insertion sections 600 in correspondence to a standard distance between the foam plug holes that was measured when the insulation panels were constructed.
  • Each second insertion section 600 includes an X-Y free stage 610, an insertion guide 620, a pusher 630, and a lift cylinder 640.
  • the X-Y free stages 610 are fixed to the base plate of the frame section by using a connection member 611. Within the operation ranges of the X-Y free stages 610, the X-Y free stages 610 provide relative movements to a lower portion of the connection member 611 and all the elements connected thereto. The principle of the operations of the X-Y free stages 610 corresponding to the relative movement will be described in detail with reference to Fig. 7.
  • the insertion guide 620 comprises a pair of circumferential guide portions 621 and 622 having curved smooth inner surfaces respectively; a pair of arms 623 connected to the outer sides of the circumferential guide portions 621 and 622 respectively; a pair of arm operators horizontally operating the arms to be moved close to and far away from the arms 623; and a plurality of guide cylinders 625 lifting the arm operator.
  • an upper portion of the circumferential guide portion has a shape of an expansion pipe and a lower portion thereof has a shape of a circumferential surface corresponding to the inner diameter of the foam plug hole 3.
  • the upper portions of the circumferential guide portions 621 and 622 having the shape of an expansion pipe function as guides to allow easy insertion of the foam plugs and minimize the frictional force with the foam plugs due to the smooth inner surfaces thereof.
  • the X-Y free stage 610 is engaged with the upper end of a guide cylinder 625.
  • the arm operator 624 is a micro ball screw mechanism or an equivalent thereto, and performs horizontal movements for moving the circumferential guide portions 621 and 622 and the arms 623 to be far away from each other, i.e. a sixth operation f6 for a guide expansion as in Fig. 7A and horizontal movements for moving the circumferential guide portions 621 and 622 and the arms 623 to be close to each other, i.e. a seventh operation f7 for a guide reduction as in Fig. 7B.
  • the pusher 630 performs a fourth operation f4 of being lifted and lowered by the lift cylinder 640 in the upward and downward direction (i.e. the Z-axis direction).
  • the fourth operation f4 of the pusher 630 performs a function of inserting the foam plugs into the foam plug holes of the insulation panel as the foam plugs loaded inside of the circumferential guide portions 621 and 622 of the insertion guide 620 are pushed downward.
  • the pair of circular guide portions 621 and 622 can perform the sixth operation f6 for guide expansion or the seventh operation f7 for guide reduction by the arms 623 and the arm operator 624.
  • the base plate 501 is fixed to the frame section in accordance with the present invention and functions as a support base for the X-Y free stages 610.
  • FIG. 7 A shows the initial operational state of the insertion guide 620.
  • the circumferential guide portions 621 and 622 of the insertion guide 620 get close to each other by the arm 623 and the arm operator 624 to have a cross-sectional shape close to an ellipse.
  • the circumferential guide portions 621 and 622 have a size smaller than the foam plug holes 3 so as to be inserted into the foam plug holes 3.
  • the lower portions of the circumferential guide portions 621 and 622 are inserted into the foam plug holes 3.
  • the insertion method eliminates the bothersomeness of precisely finding the centers cl of the foam plug holes 3 that can be substantially different from each other in the field and of coinciding the centers Cl of the foam plug hole with the centers c2 of the circumferential guide portions 621 and 622.
  • the X-Y free stages 610 help portions of the circumferential guide portions 621 and 622 to be inserted into the foam plug holes 3.
  • FIG. 7B illustrates the state of the insertion guide 620 after the operation thereof.
  • the circumferential guide portions 621 and 622 inserted into the foam plug holes 3 get separated from each other by the arm 623 and the arm operator 624 and are expanded so as to have a cross-section close to a circular layout.
  • the control unit confirms whether a hole position detection signal for recognizing the positions of foam plug holes into which foam plugs are to be inserted from a foam plug hole recognizing sensor for detecting the plug holes formed in an insulation panel has been received (SlO).
  • control unit receives and confirms the hole position detection signal output from the foam plug hole recognizing sensor, it positions the insertion guide at the foam plug holes by operating the drive section (sl3). Then, the circumferential guide portions of the insertion guide are in the state of Fig. 7A.
  • the circumferential guide portions of the insertion guide After being lowered by the guide cylinders, the circumferential guide portions of the insertion guide perform the fifth operation as in Fig. 7B.
  • the centers of the foam plug holes and the circumferential guide portions are coincided with each other and the operation corresponds to the step S 13 (second step in the claims), which will be described in detail with reference to Figs. 9 to 11.
  • control unit can return to the step SlO of confirming the reception of the hole position detection signal by continuously operating the drive section (S15).
  • control unit individually extracts the foam plugs mounted to the feeding section and supplies the extracted foam plugs toward the second insertion section, and then allows the supplied foam plugs to be inserted into the foam plug holes by the second insertion section (sl7).
  • step S15 (third step in the claims) will be described in detail with reference to Figs. 12 to 18.
  • control unit converts the mode to a manual mode in which the operation of the entire insertion member assembling system is temporarily stopped and a user can directly control the operation of the system.
  • control unit moves the drive section for the following works by driving the drive section (S25).
  • the control unit During the moving of the drive section, the control unit returns to the step SlO of confirming whether a hole detection signal output from the foam plug hole recognizing sensor for recognizing other foam plug holes has been received.
  • control unit may temporarily stop the operation of the entire insertion member assembling system and converts the mode to a manual mode capable of allowing a user to directly control the system (S21).
  • control unit in accordance with the embodiment of the present invention sequentially performs various steps while recognizing the foam plug holes.
  • the operation of the drive section is performed to a predetermined position by the control unit and the foam plug hole recognizing sensor so that the entire frame section in which the foam plug inserting apparatus is installed performs move and stop operations.
  • the pair of grippers 530 of the second feeding section 500 exist in the initial state of gripping the foam plugs 5 in the extraction block 515 so as to individually extract the foam plugs 5 from the corresponding curved cartridges 510.
  • the horizontal movement mechanism 550 moves the grippers 530 and the foam plugs 5 by a 3- lth operation f3-l so that the grippers 530 can pull the foam plugs waiting in the extraction blocks 515.
  • the second propulsion members 520 using the springs 521 of the curved cartridges 510 move the rest foam plugs and new foam plugs are supplied to and loaded into the extraction blocks 515.
  • the horizontal movement mechanism 550 moves the grippers 530 and the foam plugs 5 by a 3-2th operation f3-2, so that the erected foam plugs 5 can be properly positioned on the vertical upper sides of the circumferential guide portions 621 and 622 of the insertion guide 620.
  • the foam plugs 5 are properly positioned on the vertical upper sides of the circumferential guide portions 621 and 622 and the circumferential guide portions 621 and 622 and the foam plug holes are coincided with each other. In this state, if the pusher 630 and the lift cylinder 640 pushes down the foam plugs 5, the foam plugs 5 can be accurately inserted into the foam plug holes.
  • the foam plugs 5 are positioned in the foam plug holes.
  • the pusher 630 positioned at upper portions of the foam plugs 5 is moved upward by the lift operation of the lift cylinders 640 and is returned to the original position.
  • the elements are returned to their original positions by reversely performing the above-mentioned steps.
  • the steps in Figs. 9 to 18 can be repeated until the stop of the system or the conversion to the manual mode.
  • the centers of the insertion guide and the foam plug holes can be simply and easily coincided with each other by using the X-Y free stages, the guide cylinders, the arm operator, a pair of circumferential guide portions, thereby accurately inserting the insertion guides into the foam plug holes and thus promptly inserting the foam plugs into the foam plug holes.
  • an accurate insertion operation can be performed while maintaining a uniform quality and without any inconvenience of reconstruction, thereby increasing the work efficiency and uniformizing the work quality.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Casting Or Compression Moulding Of Plastics Or The Like (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne un appareil d'insertion de bouchon en mousse, une section d'entraînement étant installée dans une section de cadre, qui comprend une pluralité de capteurs détectant des situations de fonctionnement de l'appareil d'insertion de bouchon en mousse, une plaque de base fixée à la section de cadre, et une section d'alimentation sous la forme d'un magasin incurvé installé dans la plaque de base, où sont montés une pluralité de bouchons en mousse afin d'extraire individuellement et de fournir les bouchons en mousse. L'appareil d'insertion de bouchon en mousse comprend en outre une seconde section d'insertion destinée à insérer les bouchons en mousse fournis par la seconde section d'alimentation dans des trous pour bouchon en mousse, par l'intermédiaire de guides d'insertion et d'une unité de commande montée sur la section de cadre de manière à commander les opérations de la seconde section d'alimentation et de la seconde section d'insertion en correspondance avec les signaux reçus en provenance des capteurs.
PCT/KR2007/006397 2006-12-08 2007-12-10 Appareil d'insertion de bouchon en mousse et procédé d'insertion de bouchon en mousse WO2008069635A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020060124476A KR101290796B1 (ko) 2006-12-08 2006-12-08 폼플러그 삽입장치 및 방법
KR10-2006-0124476 2006-12-08

Publications (1)

Publication Number Publication Date
WO2008069635A1 true WO2008069635A1 (fr) 2008-06-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2007/006397 WO2008069635A1 (fr) 2006-12-08 2007-12-10 Appareil d'insertion de bouchon en mousse et procédé d'insertion de bouchon en mousse

Country Status (2)

Country Link
KR (1) KR101290796B1 (fr)
WO (1) WO2008069635A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105965494B (zh) * 2016-06-29 2018-03-06 上海誉玛机电科技有限公司 一种带对中功能的全景天窗安装机械手

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4484775A (en) * 1982-08-23 1984-11-27 The United States Of America As Represented By The Secretary Of The Army Adjustable smooth action linkage gripper mechanism
KR20010113383A (ko) * 2000-06-19 2001-12-28 윤인선 알루미늄샤시의 중공부에 발포단열재 충진, 성형장치

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3130341B2 (ja) * 1991-09-06 2001-01-31 東芝電池株式会社 固体電解質二次電池
KR970073886A (ko) * 1996-05-31 1997-12-10 김영석 점화플러그 착탈용 공구

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4484775A (en) * 1982-08-23 1984-11-27 The United States Of America As Represented By The Secretary Of The Army Adjustable smooth action linkage gripper mechanism
KR20010113383A (ko) * 2000-06-19 2001-12-28 윤인선 알루미늄샤시의 중공부에 발포단열재 충진, 성형장치

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KR101290796B1 (ko) 2013-07-30
KR20080052817A (ko) 2008-06-12

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