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KR20090018430A - A transfer machine for panel movement - Google Patents

A transfer machine for panel movement Download PDF

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Publication number
KR20090018430A
KR20090018430A KR1020070082874A KR20070082874A KR20090018430A KR 20090018430 A KR20090018430 A KR 20090018430A KR 1020070082874 A KR1020070082874 A KR 1020070082874A KR 20070082874 A KR20070082874 A KR 20070082874A KR 20090018430 A KR20090018430 A KR 20090018430A
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South Korea
Prior art keywords
panel
vacuum
vacuum cup
rod
adsorber
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KR1020070082874A
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Korean (ko)
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KR101318045B1 (en
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황현주
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B65G21/2027—Suction retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
    • B65G47/1478—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of pick-up devices, the container remaining immobile
    • B65G47/1485—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of pick-up devices, the container remaining immobile using suction or magnetic forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

본 발명에 따른 패널이동용 진공 흡착기는 다수개의 툴에 진공컵을 구비하여, 공정간의 대상물을 흡착 이송하는 패널이동용 진공흡착기에 있어서, 상기 툴에 연결되어 에어의 유입 내지 방출을 위한 에어 호스가 구비되고 일측에 에어 호수와 연결된 진공컵이 설치된 하우징과; 상기 하우징 내부에 수용되어 상기 진공컵이 패널 곡면 형상에 따라 대응하도록 각도를 자동으로 조절하여, 상기 진공컵의 부착상태를 가장 최적의 상태로 조절하는 각도조절유닛을 포함하여 구성하고, 패널을 이송하는 패널이동용 진공 흡착기를 개선하여 패널의 곡면이나 가변형 형상에 대응되도록 진공컵이 위치를 자동 조절하여 패널을 용이하게 흡착할 수 있도록 함으로써, 가동률 및 생상성을 증가 시켜 작업성이 향상될 수 있는 효과를 얻을 수 있을 뿐 만 아니라, 흡착에러의 발생률이 저감되어 공정작업에 대한 생산원가를 절감하는 이점이 있다.Panel moving vacuum adsorber according to the present invention is provided with a vacuum cup on a plurality of tools, the panel moving vacuum adsorber for adsorption transfer of the object between the process, connected to the tool is provided with an air hose for the inlet or discharge of air A housing in which a vacuum cup connected to an air lake is installed at one side; And an angle adjusting unit accommodated in the housing to automatically adjust the angle so that the vacuum cup corresponds to the panel curved shape, and adjust the attachment state of the vacuum cup to the most optimal state, and transport the panel. Improved the panel moving vacuum adsorber to automatically adjust the position of the vacuum cup so as to correspond to the curved surface or the variable shape of the panel so that the panel can be easily adsorbed, thereby increasing the operation rate and productivity and improving workability. Not only can it be obtained, but the incidence of adsorption errors is reduced, thereby reducing the production cost of the process.

Description

패널이동용 진공 흡찹기{A TRANSFER MACHINE FOR PANEL MOVEMENT }Vacuum Transfer Machine for Panel Movement {A TRANSFER MACHINE FOR PANEL MOVEMENT}

본 발명은 패널이동용 진공 흡착기에 관한 것으로, 보다 상세하게는 진공컵에 의한 패널 흡착시, 패널의 곡면이나 형상에 대응되도록 진공컵이 위치를 조절함으로써, 패널을 용이하게 흡착할 수 있도록 하는 패널이동용 진공 흡착기에 관한 것이다.The present invention relates to a panel moving vacuum adsorber, and more particularly, to a panel moving device for easily adsorbing a panel by adjusting a position of the vacuum cup so as to correspond to a curved surface or shape of the panel when the panel is adsorbed by the vacuum cup. It relates to a vacuum adsorber.

일반적으로 자동차의 바디나 패널등과 같이 과다한 중량물을 승각 시키거나 이송해야 되는 경우, 이동용 이송기 및 흡착기 와 같은 자동화 장비가 이용되어 상기 바디나 패널이 취출 또는 투입되도록 되어 있는바, 도 1은 종래기술에 따른 패널이동용 진공 흡착기의 이송장치가 도시된 바와 같이, 상기 이송장비에 설치되는 툴(2)이 각각 취부 되고, 이때 상기 툴(2)은 클램프 할 패널의 형상에 맞도록 가지형태로 연장되어진 하우징(3)이 상기 툴(2)과 일체로 형성된 형태로서, 상기 각각의 하우징(3)의 일측에 에어 호수(5)가 연결된 진공컵(4)을 하우징(3)에 융착되어 고정되는 구조로 되어 있는 것이다.       In general, when it is necessary to elevate or convey an excessive weight such as a body or a panel of an automobile, automation equipment such as a mobile feeder and an adsorber are used to take out or insert the body or panel. As the transfer device of the panel moving vacuum adsorber according to the technology is shown, the tools 2 installed in the transfer equipment are mounted, respectively, wherein the tools 2 extend in the form of branches to fit the shape of the panel to be clamped. The housing 3 is formed integrally with the tool 2, and the vacuum cup 4 connected to the air lake 5 at one side of each housing 3 is fused and fixed to the housing 3. It is a structure.

도2에 도시된, 상기 패널 이동용 흡착기는 한가지 형상의 패널(P)에 맞도록 상기 진공컵(4)을 고정 설치하였기 때문에 상기 패널 이동용 진공 흡착기를 한정적으로 사용하여 왔으며, 따라서 다양한 형상의 모든 패널에 충족시킬 수 있는 패널 이동용 이송기에 대한 개발이 요구되어 온 것이다.2, since the vacuum cup 4 is fixedly installed to fit the panel P of one shape, the panel moving adsorber has been limitedly used, and thus, all panels of various shapes are used. There has been a demand for the development of a panel transfer conveyor capable of meeting the requirements of the present invention.

또한, 패널(P)의 형상이 변경될 때마다 진공컵(4)을 탈,부착하는 경우에는 상기 진공컵(4)의 길이가 탈,부착시마다 계속 짧아지므로 정확한 위치가 변경되어 패널 흡착 에러에 의한 문제가 빈번하게 일어나고 있는 현실이다.In addition, when the vacuum cup 4 is removed or attached each time the shape of the panel P is changed, the length of the vacuum cup 4 is continuously shortened every time it is detached and attached. The problem caused by this is frequently occurring.

그러나, 현재 현장에서 사용되고 있는 툴 들은 자체 보정 기능이 없기 때문에 수정을 하기 위해서는 작업자가 직접 프래스 내부로 들어가서 작업을 해야 하며 또한 수정 후 라인 테스트를 실행하여 수정이 올바르게 되었는지 확인을 해야 함으로 비가동 시간이 많이 발생하게 되며 가동률이나 생산성을 악화시키고 있다. 또한 이러한 문제 가 발생한 경우 작업자가 프레스 장비 내로 들어가서 수작업으로 수정을 해야 하므로 안전 문제가 발생할 우려가 있다.However, tools currently in use in the field do not have self-calibration, so in order to make corrections, the operator has to go inside and work on the glass, and also have to run a line test to make sure that the corrections are correct. This occurs a lot and deteriorates the utilization rate or productivity. In addition, when such a problem occurs, there is a concern that a safety problem may occur because an operator must enter the press equipment and correct it manually.

본 발명은 상기와 같은 종래기술의 문제점을 해결하기 위하여 안출된 것으로서, 패널을 흡착하는 진공컵의 위치를 자동으로 제어하여, 라인 가동률을 높이고 생산원가를 절감하는 패널이동용 진공 흡착기를 제공하는데 그 목적이 있다. The present invention has been made to solve the problems of the prior art as described above, by automatically controlling the position of the vacuum cup adsorbing the panel, to provide a panel moving vacuum adsorber to increase the line operation rate and reduce the production cost There is this.

상기의 한 과제를 해결하기 위한 본 발명에 따른 패널이동용 진공 흡착기는, 다수개의 툴에 진공컵을 구비하여, 공정간의 대상물을 흡착 이송하는 패널이동용 진공 흡착기에 있어서, 상기 툴에 연결되어 에어의 유입 내지 방출을 위한 에어 호스가 구비되고 일측에 에어 호수와 연결된 진공컵이 설치된 하우징과; 상기 하우징 내부에 수용되어 상기 진공컵이 패널 곡면 형상에 따라 대응하도록 각도를 자동으로 조절함으로써, 상기 진공컵의 부착상태를 가장 최적의 상태로 조절하는 각도 조절유닛을 포함하여 구성된다.Panel moving vacuum adsorber according to the present invention for solving the above-mentioned problems, a panel moving vacuum adsorber having a plurality of tools in the vacuum cup, adsorption and transfer of the object between the process, connected to the tool inflow of air A housing having an air hose for discharging and having a vacuum cup connected to an air lake at one side thereof; And an angle adjusting unit accommodated in the housing to automatically adjust the angle of the vacuum cup so as to correspond to the panel curved shape, thereby adjusting the attachment state of the vacuum cup to the most optimal state.

상기 각도 조절유닛은 상기 진공컵과 연결되어 지지하고 각도 조절을 할 수 있도록 형성된 지지패드와, 상기 지지패드에 일측이 힌지 결합되고 상기 하우징 길이방향으로 길게 형성된 로드와, 상기 로드의 타측이 연결되어 상기로드를 전후로 슬라이딩 되도록 형성된 실린더부로 구성된다.The angle adjusting unit is connected to the vacuum cup to support and formed to adjust the angle, one side is hinged to the support pad and the rod is formed long in the housing longitudinal direction, the other side of the rod is connected It consists of a cylinder portion formed to slide the rod back and forth.

상기 실린더부는 상기 실린더부와 연결된 상기 로드의 타측이 일정거리에서 이동거리가 한정되도록 돌출턱부가 형성되고, 상기 돌출턱부와 상기 실린더부 사이에 탄성부재가 구비된다. 또한, 상기 탄성부재는 스프링으로 이루어져 있다.The cylinder portion has a protruding jaw portion formed so that the other side of the rod connected to the cylinder portion at a predetermined distance is provided, and an elastic member is provided between the protruding jaw portion and the cylinder portion. In addition, the elastic member is made of a spring.

한편, 상기 각도 조절유닛은 상기 진공컵이 각도를 조절하기 위하여 상기 로드가 상하로 슬라이딩되고, 상기 패널에 대응되어 밀착될 때, 상기 로드를 고정시켜 위치를 고정시키는 고정부를 더 포함하여 구성되고, 상기 고정부는 전자석으로 형성되어, 상기 전자석이 작동시 상기 로드를 구속시켜 고정되고, 풀어주는 제어부를 포함하여 구성된다.On the other hand, the angle adjusting unit is configured to further include a fixing portion for fixing the position by fixing the rod when the rod is slid up and down, and close to the panel to adjust the angle of the vacuum cup, The fixed part is formed of an electromagnet, and the electromagnet is configured to include a control unit which is fixed by fixing the rod and released when the electromagnet is operated.

상기와 같이 구성된 본 발명에 따른 패널이동용 진공 흡착기는, 패널을 이송하는 패널이동용 진공 흡착기를 개선하여, 패널의 곡면이나 가변형 형상에 대응되도록 진공컵이 위치를 자동 조절하여, 패널을 용이하게 흡착할 수 있도록 함으로써, 가동률 및 생상성을 증가 시켜 작업성이 향상될 수 있는 효과를 얻을 수 있을 뿐만 아니라, 흡착에러의 발생률이 저감되어 공정작업에 대한 생산원가를 절감하는 이점이 있다.        The panel moving vacuum adsorber according to the present invention configured as described above improves the panel moving vacuum adsorber for transporting the panel, and the vacuum cup automatically adjusts the position to correspond to the curved surface or the variable shape of the panel, thereby easily adsorbing the panel. By doing so, not only the operation rate and productivity can be increased to obtain an effect of improving workability, but also an incidence of adsorption errors is reduced, thereby reducing the production cost of the process.

이하, 첨부된 도면을 참조하여 본 발명의 실시예를 설명하면 다음과 같다.        Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

도 3은 본 발명에 따른 패널이동용 진공 흡착기가 도시된 사시도이고, 도 4는 본 발명에 따른 진공 흡착기의 작동 상태가 도시된 사시도이며, 도 5는 본 발명에 따른 패널이동용 진공 흡착기가 작동하여 최적의 상태로 흡착된 상태가 도시된 사시도이다.3 is a perspective view showing a panel moving vacuum adsorber according to the present invention, Figure 4 is a perspective view showing an operating state of the vacuum adsorber according to the present invention, Figure 5 is a panel moving vacuum adsorption according to the present invention is optimal It is a perspective view showing the state adsorbed in the state of.

본 발명에 따른 패널이동용 진공 흡착기는, 다수개의 툴(20)에 진공컵(40)을 구비하여, 공정간의 대상물을 흡착 이송하는 패널이동용 진공 흡착기에있어서, 상기 툴(20)에 연결되어 에어의 유입 내지 방출을 위한 에어 호스(50)가 구비되고 일측에 에어 호수와 연결된 진공컵(40)이 설치된 하우징(25)과; 상기 하우징(25) 내부에 수용되어 상기 진공컵(40)이 패널 곡면 형상에 따라 대응하도록 각도를 자동으로 조절하여, 상기 진공컵(40)의 부착상태를 가장 최적의 상태로 조절하는 각도조절유닛(30)을 포함하여 구성된다.The panel moving vacuum adsorber according to the present invention includes a vacuum cup 40 in a plurality of tools 20, and is a panel moving vacuum adsorber for adsorption and transport of objects between processes. A housing (25) having an air hose (50) for inlet to outlet and a vacuum cup (40) connected to an air lake on one side; The angle adjusting unit accommodated in the housing 25 automatically adjusts the angle so that the vacuum cup 40 corresponds to the panel curved shape, thereby adjusting the attachment state of the vacuum cup 40 to the most optimal state. It comprises 30.

상기 하우징(25)은 상기 툴(20)에 고정 연결되어 일체로 형성되고, 상기 하우징(25) 하측은 개방되어, 상기 진공컵(40)이 설치되고, 상측에는 상기 에어 호스(50)가 관통되는 관통홀(25a)이 형성된다. The housing 25 is fixedly connected to the tool 20 to be integrally formed. The housing 25 is opened downward, and the vacuum cup 40 is installed, and the air hose 50 penetrates upward. Through holes 25a are formed.

상기 에어 호스(50)는 상기 관통홀(25a)을 관통하여 상기 진공컵(40)과 연통 될 수 있도록 상기 하우징(25) 내부에 수용되어 중앙에 상기 하우징(25) 길이방향으로 배치되고, 상기 진공컵(40)과 연결된다.The air hose 50 is accommodated in the housing 25 so as to communicate with the vacuum cup 40 through the through hole 25a and is disposed in the longitudinal direction of the housing 25 at the center thereof. It is connected to the vacuum cup 40.

또한, 상기 하우징(25)은 상기 진공컵(40)이 상기 패널(P) 곡면 형상에 따라 각도를 조절하여 부착됨으로써 상기 패널(P)을 용이하게 흡착 이송할 수 있도록 상기 하우징(25) 내부에 상기 각도조절유닛(30)이 장착된다.In addition, the housing 25 is attached to the inside of the housing 25 so that the vacuum cup 40 is attached to the panel P by adjusting the angle according to the curved shape of the panel P. The angle adjustment unit 30 is mounted.

이를 좀더 상세히 설명하면 도 3에 도시한 바와 같이 상기 각도 조절유닛(30)의 구성을 살펴보면, 상기 진공컵(40)에 연결되어 지지하고 각도 조절을 할 수 있도록 형성된 지지패드(41)와, 상기 지지패드(41)에 일측이 힌지 결합되고 상기 하우징(25) 길이방향으로 길게 형성된 로드(32)와, 상기 로드(32)의 타측이 연결되어 상기 로드(25)를 전후로 슬라이딩 되도록 형성된 실린더부(35)로 구성되며, 상기 로드(34)가 상하로 슬라이딩되고, 상기 패널(P)에 대응되어 밀착될 때, 상기 로드(34)를 고정시켜 위치를 고정시키는 고정부(60)를 더 포함하여 구성된다.Referring to the configuration of the angle adjustment unit 30 as shown in Figure 3 in more detail, the support pad 41 is formed to be connected to the vacuum cup 40 to support and adjust the angle, and One side is hinged to the support pad 41 and the rod 32 is formed long in the longitudinal direction of the housing 25, the other side of the rod 32 is connected to the cylinder portion formed to slide back and forth the rod 25 ( 35, and further includes a fixing part 60 for fixing the position by fixing the rod 34 when the rod 34 slides up and down and is in close contact with the panel P. It is composed.

상기 지지패드(41)는 상기 진공컵(40)의 후단에 설치되어 상기 진공컵(40)과 일체 형성되고, 상기 진공컵(40)을 지지하여 회동 가능하게 설치된다. The support pad 41 is installed at the rear end of the vacuum cup 40 to be integrally formed with the vacuum cup 40, and is rotatably installed to support the vacuum cup 40.

상기 지지패드(41)는 양측에 힌지 결합된 상기 로드(34)가 각각 설치된다.The support pads 41 are each provided with the rods 34 hinged to both sides.

상기 로드(34)는 일측이 상기 지지패드(41)와 힌지 결합되고, 상기 하우징(30) 길이방향으로 길게 형성되어 타측은 로드(34)의 직경보다 큰 돌출턱부(31)가 형성된다. One side of the rod 34 is hinged to the support pad 41, and the housing 30 is formed to extend in the longitudinal direction, and the other side of the rod 34 has a protruding jaw portion 31 larger than the diameter of the rod 34.

상기 돌출턱부(31)는 상기 실린더부(35)에 설치되어 상하로 슬라이딩 되고, 실린더부(35)와 상기 돌출턱부(31) 사이에는 상측스프링(37a)과 하측 스프링(37b) 이 설치된다.The protruding jaw portion 31 is installed on the cylinder portion 35 and slides up and down. An upper spring 37a and a lower spring 37b are installed between the cylinder portion 35 and the protruding jaw portion 31.

이렇게, 조합으로 이루어진 각도 조절유닛(30)은 상기 하우징(30) 중앙에 설치된 에어 호스(50)를 중심으로 양측으로 각각 배치되어 상기 진공컵(40)이 회동 가능하게 구비된다.Thus, the angle adjustment unit 30 made of a combination is disposed on both sides with respect to the air hose 50 installed in the center of the housing 30, respectively, the vacuum cup 40 is provided to be rotatable.

상기 고정부(61)는 전자석으로 형성되어, 상기 하우징(30) 내부에 설치되고, 상기 로드(34)를 간섭할 수 있도록 상기 로드(34) 주변에 각각 설치되고, 전류가 흐름 되도록 설치되어 자력에 의해 고정 되도록 구비된다.The fixing part 61 is formed of an electromagnet, is installed inside the housing 30, and is installed around the rod 34 so as to interfere with the rod 34, and is installed so that a current flows. It is provided to be fixed by.

또한, 상기 고정부(61)는 제어부(60)와 연결되어 제어부(60)에 의해 작동되고 꺼짐으로써, 상기 로드(34)가 상하로 이동되어 상기 패널 형상에 각도가 조절되면 상기 로드(34)를 간섭하여 고정되고 풀어주도록 제어부(60)의 제어수단에 의해 자동으로 각도 조절을 할 수있도록 설치된다.In addition, the fixing unit 61 is connected to the control unit 60 is operated by the control unit 60 and turned off, when the rod 34 is moved up and down to adjust the angle of the panel shape the rod 34 It is installed so as to automatically adjust the angle by the control means of the control unit 60 to be fixed and released by interference.

상기와 같은 구성으로 이루어진 본 발명의 패널이동용 진공 흡착기 작동 상태를 설명하면 다음과 같다.Referring to the operation state of the panel moving vacuum adsorber of the present invention having the configuration as described above are as follows.

먼저, 진공 흡착기(10)는 패널(P)을 흡착하기 위해 패널(P)을 향해 진입 하게되고, 이때 상기 에어 호수(50)에는 에어가 유입되나 대기에 노출되어 있어 진공이 형성이 안 되고, 상기 전자석(61)은 작동되지 않는다. First, the vacuum adsorber 10 enters the panel P in order to adsorb the panel P. At this time, air is introduced into the air lake 50, but the air is exposed to the atmosphere, and a vacuum is not formed. The electromagnet 61 is not operated.

상기 진공 흡착기(10)는 곡면 형성된 임의의 패널(P)에 흡착 지점까지 계속 하강하게 되면 도 4에 도시된 바와 같이, 상기 진공컵(40)이 패널(P)에 닿으면서 곡면 형상에 따라 좌우측 로드(34)가 상하로 움직이기 시작하고, 좌측 로드는 하측으로 이동하고 우측 로드는 상측 으로 이동하면서 상기 패널(P)의 형성된 곡면의 형상에 최적의 상태로 위치를 조절하게되고, 상기 진공 흡착기(10)의 하강으로 상기 진공컵(40)이 완전히 패널(P)에 밀착되면 상기 에어 호수(50)의 유입된 에어로 인하여 진공압이 형성됨으로써, 상기 패널(P)을 흡착하게 된다. 이때 제어부(60)는 센서에 의해 신호를 보내고, 상기 제어부(60)의 제어 수단에 의해 전자석(61)이 작동되어 전자석(61)에 전류를 보내면 자력에 의해 상기 로드(34)가 고정시킴으로써 상기 진공컵(40)의 위치와 상기 패널(P)이 고정 연결된다. When the vacuum adsorber 10 continues to descend to the adsorption point on any curved panel P formed on the curved surface, as shown in FIG. 4, the vacuum cup 40 touches the panel P and is left and right according to the curved shape. The rod 34 starts to move up and down, the left rod moves downward and the right rod moves upward to adjust the position in an optimal state to the shape of the formed curved surface of the panel P, and the vacuum adsorber When the vacuum cup 40 is completely in close contact with the panel P by the lowering of the 10, a vacuum pressure is formed due to the air introduced into the air lake 50, thereby adsorbing the panel P. At this time, the control unit 60 sends a signal by the sensor, the electromagnet 61 is operated by the control means of the control unit 60 to send a current to the electromagnet 61, the rod 34 is fixed by the magnetic force to the The position of the vacuum cup 40 and the panel P is fixedly connected.

이렇게, 고정 연결된 진공컵은 페널을 흡착하기 시작하는데 전자석은 추후 다른 품목 생산 및 진공패드 위치 수정이 필요할 때까지나 다음 공정으로 페널을 이동시킬 때까지 진공 상태를 유지하다가, 공정이 완료되면 제어수단에 의해 전자석이 오프 되고 상기 로드를 풀어 주게되면, 상기 스프링은 탄성력에 의해 기본 위치로 복귀 하게된다.In this way, the fixedly connected vacuum cups begin to adsorb the panel, while the electromagnets remain in the vacuum until further production and modification of the position of the vacuum pad is required or until the panel is moved to the next process. When the electromagnet is turned off and the rod is released, the spring is returned to the basic position by the elastic force.

본 발명에 따른 패널이동용 진공 흡착기는, 패널에 대한 이송장치 뿐만 아니라 일반적인 다른 파트 이송 시에도 장착되어 대응할 수 있다.The panel moving vacuum adsorber according to the present invention can be mounted and coped with not only a conveying device for a panel but also other common conveying parts.

도 1은 종래기술에 따른 패널이동용 진공 흡착기의 이송장치가 도시된 사시도,1 is a perspective view showing a transfer device of a panel adsorption vacuum adsorber according to the prior art;

도 2는 종래기술에 따른 패널이동용 진공 흡착기의 작동 상태가 도시된 상태도,  Figure 2 is a state diagram showing the operating state of the panel adsorption vacuum adsorber according to the prior art,

도 3은 본 발명에 따른 패널이동용 진공 흡착기의 작동전 상태가 도시된 사시도,Figure 3 is a perspective view showing a state before operation of the panel adsorption vacuum adsorber according to the present invention,

도 4는 본 발명에 따른 패널이동용 진공 흡착기의 작동중 상태가 도시된 사시도,Figure 4 is a perspective view showing a state during operation of the panel adsorption vacuum adsorber according to the present invention,

도 5는 본 발명에 따른 패널이동용 진공 흡착기가 작동하여 최적의 상태로 흡착된 상태가 도시된 사시도,5 is a perspective view illustrating a state in which a panel moving vacuum adsorber according to the present invention operates to be adsorbed in an optimal state;

<도면의 주요 부분에 관한 부호의 설명><Explanation of symbols on main parts of the drawings>

10:진공 흡착기 20:툴10: vacuum adsorber 20: tool

25:하우징 30:각도 조절유닛 25: housing 30: angle adjustment unit

40:진공컵 50:에어 호수40: Vacuum Cup 50: Air Lake

60:제어부 61:고정부60: control unit 61: fixed part

Claims (6)

다수개의 툴에 진공컵을 구비하여, 공정간의 대상물을 흡착 이송하는 패널이동용 진공흡착기에 있어서,In the vacuum transfer machine for panel movement, which has a vacuum cup in a plurality of tools, and sucks and transports an object between processes, 상기 툴에 연결되어 에어의 유입 내지 방출을 위한 에어 호스가 구비되고 일측에 에어호수와 연결된 진공컵이 설치된 하우징과; A housing having an air hose connected to the tool for inflow or outflow of air, and a vacuum cup connected to an air lake on one side; 상기 하우징 내부에 수용되어 상기 진공컵이 패널 곡면 형상에 따라 대응하도록 각도를 자동으로 조절함으로써, 상기 진공컵의 부착상태를 가장 최적의 상태로 조절하는 각도조절유닛을 포함한 패널이동용 진공 흡착기.And an angle adjusting unit accommodated in the housing to automatically adjust the angle of the vacuum cup so as to correspond to the panel curved shape, thereby adjusting the attachment state of the vacuum cup to the most optimal state. 제 1 항에 있어서,       The method of claim 1, 상기 각도조절유닛은 상기 진공컵과 연결되어 지지하고 각도 조절을 할 수 있도록 형성된 지지패드와, 상기 지지패드에 일측이 힌지 결합되고 상기 하우징 길이방향으로 길게 형성된 로드와, 상기 로드의 타측이 연결되어 상기로드를 전후로 슬라이딩 되도록 형성된 실린더부로 구성된 패널이동용 진공 흡착기.The angle adjusting unit is connected to the vacuum cup to support and formed to adjust the angle, one side is hinged to the support pad and the rod formed long in the housing longitudinal direction, the other side of the rod is connected Panel moving vacuum adsorber consisting of a cylinder portion formed to slide the rod back and forth. 제 2 항에 있어서,       The method of claim 2, 상기 실린더부는 상기 실린더부와 연결된 상기로드의 타측이 일정거리에서 이동거리가 한정되도록 돌출턱부가 형성되고, 상기 돌출턱부 와 상기 실린더부 사이에 탄성부재가 구비된 패널이동용 진공 흡착기.The cylinder unit has a projection jaw portion is formed so that the other side of the rod connected to the cylinder portion at a predetermined distance, the panel movement vacuum adsorber provided with an elastic member between the projection jaw portion and the cylinder portion. 제 1 항에 있어서,       The method of claim 1, 상기 각도조절유닛은 상기 진공컵이 각도를 조절하기 위하여 상기 로드가 상하로 슬라이딩되고, 상기 패널에 대응되어 밀착될 때, 상기 로드를 고정시켜 위치를 고정시키는 고정부를 더 포함한 패널이동용 진공 흡착기.The angle adjusting unit further comprises a fixing part for fixing the position by fixing the rod when the rod is slid up and down to correspond to the panel, the vacuum cup to adjust the angle further comprises a panel moving vacuum adsorber. 제 4 항에 있어서,       The method of claim 4, wherein 상기 고정부는 전자석으로 형성되어, 상기 전자석이 작동시 상기 로드를 구속시켜 고정되고, 풀어주는 제어부를 포함하는 패널이동용 진공 흡착기.The fixing part is formed of an electromagnet, the panel movement vacuum adsorber comprising a control unit for restraining and fixing the rod during operation. 제 1 항에 있어서,       The method of claim 1, 상기 탄성부재는 스프링으로 이루어진 패널이동용 진공 흡착기.The elastic member is a panel suction vacuum adsorber made of a spring.
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CN110171013A (en) * 2019-06-28 2019-08-27 厦门大学嘉庚学院 Manipulator end effector suitable for pile up neatly machine people
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CN111874626A (en) * 2020-08-24 2020-11-03 南京佩尔哲汽车内饰系统有限公司 Suction cup adjusting device

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KR101507316B1 (en) * 2014-03-20 2015-04-07 주식회사 영진에스지 Magnetic type picking apparatus
KR101691506B1 (en) * 2015-11-20 2016-12-30 주식회사 정도산업 Four polystyle lift type stone automatic adsorption conveying and stacking apparatus
CN107803850A (en) * 2017-11-22 2018-03-16 中车广东轨道交通车辆有限公司 A kind of mechanical paw, robot and the transport vehicle with robot
CN110171013A (en) * 2019-06-28 2019-08-27 厦门大学嘉庚学院 Manipulator end effector suitable for pile up neatly machine people
CN110394823A (en) * 2019-09-03 2019-11-01 苏州日和科技有限公司 A kind of manipulator sucker component
CN111874626A (en) * 2020-08-24 2020-11-03 南京佩尔哲汽车内饰系统有限公司 Suction cup adjusting device

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