Box Clamp Device

Abstract

The present invention relates to a box clamp device capable of gripping a box by means of a lifting unit lifting one side of the loaded box, a support unit positioned at the bottom of the box, and a clamp unit pressing the top of the box.

Description

Technology Field

[0001] The present invention relates to a box clamp device, wherein a support unit is positioned at the bottom of a box while one side of a loaded box is lifted by a lifting unit, and a clamp unit is capable of gripping the box by pressing the top of the box. Background Technology

[0002] Generally, boxes used for storing goods are manufactured by folding or joining box components cut from materials such as corrugated cardboard.

[0003] Then, these boxes are supplied to each manufacturing industry via a conveyor during the production of various goods, and after the manufacturing process is completed, the packaged boxes are moved to the shipping location along the conveyor.

[0004] An automatic loading device for boxes as described above is disclosed in Korean Registered Patent Publication 10-1251585.

[0005] A conventional general-purpose box handling robot hand, which is a robot hand installed on an industrial robot and used in a process of transporting or stacking boxes, comprises: a first elongated frame installed at one end of the industrial robot and equipped with a first servo motor on one side; a first moving means installed along the length of the first frame and converting the rotational motion of the first servo motor into linear motion; a second frame installed on the lower side of the first frame and equipped with a second servo motor on one side and configured to move along the first moving means; a second moving means installed along the length of the second frame and converting the rotational motion of the second servo motor into linear motion; and a plurality of main clamps extending downward from the second moving means and configured to move along the length of the first frame and the length of the second frame, respectively, by the first moving means and the second moving means.

[0006] These conventional general-purpose box handling robot hands have a problem in that when gripping some of the boxes located at the top of a pallet, which are stacked in multiple layers on the upper surface of the pallet, the boxes are not only damaged due to excessive gripping force but also inaccurate clamping operation is not achieved.

[0007] In addition, when the main clamp grips multi-layered stacked boxes using a lateral pressing method, there is a problem where the gripped boxes fall to the floor during the process of moving and stacking as they fold due to the folding parts of the boxes. Prior art literature

[0008] Republic of Korea Registered Patent Publication 10-1251585 The problem to be solved

[0009] Accordingly, the objective of the present invention is to solve the problems of the prior art as described above by providing a box clamp device capable of gripping a box by means of a supporting unit positioned at the bottom of the box while one side of the loaded box is lifted by a lifting unit, and a clamp unit pressing the top of the box. means of solving the problem

[0010] According to the features of the present invention for achieving the above-mentioned purpose, the box clamp device according to the present invention is a box clamp device installed on a robot arm (R) to grip a box and to move and load a box, comprising: a clamp body formed in the shape of a box with a hollow interior and having a plurality of parts installed thereon; a lifting unit installed on one side of the clamp body so as to be movable up and down and in close contact with the loaded box to lift the loaded box; a support unit installed on one side of the clamp body and installed so as to be movable back and forth on the clamp body to selectively support the lower surface of the box (B); and a clamp unit installed on one side of the clamp body and installed so as to be movable up and down to press the upper surface of the box, wherein when a part of the loaded box is lifted upward by the lifting unit, the support unit moves to the lower side of the box and the clamp unit moves downward to perform a clamping operation of the box.

[0011] On the front of the clamp body, a needle unit is further provided, which is formed in the shape of a plurality of needles, is installed to be movable back and forth, and is optionally inserted into the side of the box (B).

[0012] The lifting unit comprises: a lifting plate formed in the shape of a plate and installed to be movable up and down on one side of the clamp body, which is in close contact with the box (B) to lift the box (B); lifting blocks fixedly installed on each side of the rear of the lifting plate to support the lifting plate; a lifting rail formed in the shape of a rail, which is installed vertically on the front left and right sides of the clamp body and is coupled to the lifting blocks to guide the vertical movement of the lifting plate; and a lifting cylinder, one end of which is fixedly installed on the clamp body and the other end of which is fixedly installed on the rear of the lifting plate to move the lifting plate up and down.

[0013] The above support unit includes a support plate that is installed to be movable back and forth on the lower part of the clamp body and selectively moves forward to support the lower surface of the box (B) when the box (B) is lifted by the lifting unit, a support block installed on both sides of the upper surface of the support plate and supporting both sides of the upper surface of the support plate, a support rail installed on both sides of the lower surface of the clamp body and extending back and forth along the lower surface of the clamp body, on which the support block is installed to guide the back and forth movement of the support block, and a support moving member installed on the upper surface of the support plate and moving the support plate back and forth.

[0014] The clamp unit comprises: a clamp plate installed horizontally in front of the lifting plate and movably up and down on the front side of the lifting plate to selectively press the upper surface of the box (B); a clamp fixing bracket fixedly installed on each side of the rear of the clamp plate to support the clamp plate; a clamp block fixedly installed on the side of the clamp fixing bracket to support the clamp fixing bracket; a pressure rail installed vertically on both sides of the front of the clamp body to guide the vertical movement of the clamp block by allowing the clamp block to move up and down; a pair of pressure brackets, one end of which is installed on the clamp fixing bracket and the other end of which is rotatably installed on the clamp body to move the clamp fixing bracket up and down; a pressure bar formed in the shape of a bar, installed between different pressure brackets to rotate the pressure bracket up and down; and a clamp cylinder installed on one side of the pressure bar to move the pressure bar up and down.

[0015] The above needle unit is characterized by comprising a plurality of needles, a needle member that is installed to be movable back and forth on the rear surface of the lifting plate and optionally inserted into a box, a needle bracket that is fixedly installed on one side of the needle member and supports the needle member, and a needle cylinder that is fixedly installed on the rear surface of the lifting plate, has the needle bracket fixedly installed at its end, and moves the needle bracket back and forth. Effects of the invention

[0016] The box clamp device according to the present invention has the following effects.

[0017] The present invention is configured such that, while one side of a box loaded by a lifting unit is lifted, a support unit is positioned at the bottom of the box, and a clamp unit presses the top of the box to grip the box.

[0018] Therefore, sequential transfer of a large number of stacked boxes can be carried out by separating them into fixed quantities, and this has the effect of minimizing breakage and damage to the boxes during the gripping operation.

[0019] In addition, since a needle unit is installed in the lifting unit, the needle member is inserted into the box during the lifting operation of the box, which has the advantage of enabling the lifting operation of the box to be performed more accurately and quickly.

[0020] In addition, a vacuum suction member is additionally installed on the upper side of the clamp plate so that when individual boxes need to be transported, individual boxes can be transported by suction alone through the vacuum suction member, thereby diversifying the loading and transport operations of the boxes, which has the advantage of improving the efficiency of the loading and transport operations. Brief explanation of the drawing

[0021] FIG. 1 is a perspective view showing the state in which a box clamp device according to the present invention is installed on a robot arm. FIG. 2 is a front view showing the operation of gripping a box with the box clamp device according to the present invention installed on a robot arm. FIG. 3 is a front perspective view showing the configuration of a preferred embodiment of a box clamp device according to the present invention. FIG. 4 is a rear perspective view showing the configuration of a preferred embodiment of a box clamp device according to the present invention. FIG. 5 is a front perspective view showing the state in which a box is lifted by the lifting unit constituting an embodiment of the present invention. FIG. 6 is a rear perspective view showing the state in which a box is lifted by the lifting unit constituting an embodiment of the present invention. FIG. 7 is a side view showing the rising operation of the lifting unit and the forward operation of the support unit constituting an embodiment of the present invention. FIG. 8 is a rear perspective view showing the configuration of a support unit constituting an embodiment of the present invention. FIG. 9 is a side view showing the state in which a clamp unit constituting an embodiment of the present invention grips a box. FIG. 10 is an enlarged perspective view showing the configuration of a needle unit constituting an embodiment of the present invention. FIG. 11 is an enlarged perspective view showing the configuration of a vacuum adsorption member constituting an embodiment of the present invention. Specific details for implementing the invention

[0022] A preferred embodiment of the box clamp device according to the present invention will be described in detail below with reference to the attached drawings.

[0023] As illustrated herein, the box clamp device (10) according to the present invention is a box clamp device installed on a robot arm (R) to grasp a box and to move and stack the box, comprising: a clamp body (12) formed in the shape of a box with a hollow interior and having a plurality of parts installed thereon; a lifting unit (20) installed so as to be movable up and down on one side of the clamp body (12) and in close contact with the stacked box (B) to lift the stacked box (B); a clamp unit (60) installed on one side of the clamp body (12) and installed so as to be movable up and down to press the upper surface of the box (B); and a support unit (30) installed on one side of the clamp body (12) and installed so as to be movable back and forth on the clamp body (12) to selectively support the lower surface of the box (B), wherein when a part of the stacked box (B) is lifted upward by the lifting unit (20), the support unit (30) is moved to the lower side of the box (B), and the The clamp unit (60) is moved downward to perform the clamping operation of the box (B).

[0024] The above robot arm (R) is a general robot arm formed in the shape of a human arm and is used in various work environments. The above robot arm (R) is installed in a loading workspace and serves to transport the box clamp device (10), which will be described later, to a work position.

[0025] A box clamp device (10) is installed at the end of the robot arm (R). The box clamp device (10) is mainly composed of a clamp body (12), a lifting unit (20), a clamp unit (60), a support unit (30), a needle unit (90), etc.

[0026] The clamp body (12) is formed in the shape of a hollow square box with the left and right sides open, and is fixedly installed at the end of the robot arm (R). Multiple parts are installed on the inside and outside of the clamp body (12) to be fixed and supported.

[0027] A fixing bracket (16) is installed on the upper left side of the clamp body (12). The fixing bracket (16) is formed as an inverted triangular block and is fixedly installed on the upper left side of the clamp body (12). A robot arm fastening hole (18) is formed on the upper surface of the fixing bracket (16) so that the end of the robot arm (R) is fixed. The robot arm (R) is installed on the fixing bracket (16) so that the box clamp device (10) can be moved to various working positions.

[0028] A lifting unit (20) is installed on the front of the clamp body (12). The lifting unit (20) consists of a lifting plate (22), a lifting block (24), a lifting rail (26), a lifting cylinder (28), etc.

[0029] The lifting plate (22) is made of a rectangular plate and is installed on the front of the clamp body (12). The lifting plate (22) is installed to be movable up and down, and when it is in contact with the box (B) by the robot arm (R), it moves upward and lifts multiple boxes (B) upward as shown in FIGS. 5 to 7.

[0030] Lifting blocks (24) are installed on both sides of the lifting plate (22). The lifting blocks (24) are general LM blocks, so a detailed description is omitted. The lifting blocks (24) are installed on both sides of the lifting plate (22) and serve to support the lifting plate (22).

[0031] Lifting rails (26) are installed on both sides of the front of the clamp body (12). The lifting rails (26) are general LM guide rails, so a detailed description is omitted. The lifting block (24) is installed on the lifting rails (26) to guide the vertical movement of the lifting block (24).

[0032] A lifting cylinder (28) is installed on the rear side of the lifting plate (22). The lifting cylinder (28) is a standard cylinder, so a detailed description is omitted. One end of the lifting cylinder (28) is installed on the inner upper surface of the clamp body (12), and the other end is fixedly installed on the rear side of the lifting plate (22). The lifting plate (22) can move up and down by operating the lifting cylinder (28).

[0033] That is, depending on the operation of the robot arm (R), the lifting plate (22) is in close contact with the side of the loaded boxes, and the lifting plate (22) is raised so that the loaded boxes can be lifted as shown in FIG. 7.

[0034] A support unit (30) is installed on the lower surface of the clamp body (12). The support unit (30) is mainly composed of a support plate (32), a support block (34), a support rail (36), a support movable member (40), etc.

[0035] The support plate (32) is made of a rectangular plate and is installed so as to be movable back and forth on the lower surface of the clamp body (12). When the boxes are lifted by the lifting unit (20), the support plate (32) moves forward to support the lower surface of the box (B). (See FIG. 7)

[0036] Support blocks (34) are installed on both sides of the upper surface of the support plate (32). The support blocks (34) are general LM blocks, so a detailed description is omitted. The support blocks (34) are fixedly installed on both sides of the upper surface of the support plate (32) and serve to support the support plate (32).

[0037] Support rails (36) are installed on the left and right sides of the lower surface of the clamp body (12). The support rails (36) are general LM guide rails, so a detailed description is omitted. The support block (34) is installed on the support rails (36) to guide the forward and backward movement of the support block (34).

[0038] A support movable member (40) is installed in the center of the upper surface of the support plate (32). The support movable member (40) is composed of a fixed block (42), a front-rear moving rail (44), a cylinder fixing bracket (46), a front-rear cylinder (50), etc.

[0039] The above fixed block (42) is a general LM block, so a detailed description is omitted. The above fixed block (42) is a part installed on the upper surface of the above base plate (32) to move the above base plate (32) back and forth.

[0040] A forward-backward movement rail (44) is installed on the upper surface of the fixed block (42). The forward-backward movement rail (44) is a standard LM guide rail, so a detailed description is omitted. The forward-backward movement rail (44) is installed in a long forward-backward direction to guide the forward-backward movement of the fixed block (42).

[0041] A cylinder fixing bracket (46) is installed on the upper surface of the above-mentioned forward and backward moving rail (44). The above-mentioned cylinder fixing bracket (46) is " It is formed of a frame in the shape of a 'Z' and is fixedly installed on the upper surface of the front-rear moving rail (44). A first front-rear cylinder (52) and a second front-rear cylinder (54) are installed at the left and right ends of the cylinder fixing bracket (46), respectively. The first front-rear cylinder (52) and the second front-rear cylinder (54) are connected to the cylinder fixing bracket (46), respectively, to move the support plate (32).

[0042] A cylinder fixing piece (48) is installed on the upper surface of the lifting plate (22). The cylinder fixing piece (48) is made of a rectangular plate having a predetermined thickness and is formed to protrude in a direction perpendicular to the support plate (32). The front surface of the cylinder fixing piece (48) is a supporting part where the second first front-rear cylinder (52), which will be described later, is fixedly installed.

[0043] A first front-rear cylinder (52) is installed on both sides of the cylinder fixing bracket (46). The front-rear cylinder (50) is composed of the first front-rear cylinder (52), the second front-rear cylinder (54), etc.

[0044] The first and second front-rear cylinders (52, 54) are general cylinders, so a detailed description is omitted. The first front-rear cylinder (52) is installed on the left side of the cylinder fixing bracket (46). One end of the first front-rear cylinder (52) is installed on the lower surface of the clamp body (12), and the other end is installed on the cylinder fixing bracket (46). The back-and-forth movement of the support plate (32) is achieved according to the operation of the first front-rear cylinder (52).

[0045] Additionally, a second front-rear cylinder (54) is installed on the right side of the cylinder fixing bracket (46). The second front-rear cylinder (54) is installed horizontally on the cylinder fixing piece (48), and the end of the cylinder bar (not shown) is fixedly installed on the cylinder fixing bracket (46). The back-and-forth movement of the support plate (32) is achieved according to the operation of the second front-rear cylinder (54).

[0046] When the support plate (32) moves forward, the first front-rear cylinder (52) and the second front-rear cylinder (54) operate simultaneously. After the support plate (32) is moved forward by a certain distance in the first step by the operation of the first front-rear cylinder (52), the support plate (32) is moved forward a second step by the additional operation of the second front-rear cylinder (54).

[0047] Due to the operating structure of the first and second front and rear cylinders (52, 54) as described above, the forward and rear movement distances of the support plate (32) can be maximized compared to the narrow installation area.

[0048] A clamp unit (60) is installed on the front side of the lifting unit (20). The clamp unit (60) is composed of a clamp plate (62), a clamp fixing piece (64), a clamp block (68), a pressure bracket (74), a pressure rail (70), a pressure bracket (74), a pressure bar (76), a clamp cylinder (78), a rotating bar (80), etc.

[0049] The clamp plate (62) is made of a plate having a predetermined thickness and is installed horizontally in front of the lifting plate (22). The clamp plate (62) is installed to be movable up and down and serves to grip the box (B) by pressing the upper surface of the box (B).

[0050] A clamp fixing piece (64) is installed on both sides of the rear of the clamp plate (62). The clamp fixing piece (64) is formed by being bent vertically upward on both sides of the rear of the clamp plate (62). A clamp fixing bracket (66), which will be described later, is installed on the clamp fixing piece (64) to support the clamp plate (62).

[0051] A clamp fixing bracket (66) is installed on the rear side of the clamp fixing piece (64). The clamp fixing bracket (66) is made of a plate with a cross-section in the shape of a "┓" and is fixedly installed on the rear side of the clamp fixing piece (64). The clamp fixing bracket (66) is fixedly installed on a clamp block (68) to be described later, and guides the up and down movement of the clamp fixing piece (64).

[0052] A clamp block (68) is installed on the side of the clamp fixing bracket (66). The clamp block (68) is a standard LM block, so a detailed description is omitted. The clamp block (68) is installed on the pressure rail (70), which will be described later, and serves to guide the vertical movement of the clamp fixing bracket (66).

[0053] Pressure rails (70) are installed on both front sides of the clamp body (12). The pressure rails (70) are general LM guide rails, so a detailed description is omitted. The pressure rails (70) are installed vertically on both front sides of the clamp body (12). The clamp block (68) is installed on the outer side of the pressure rails (70) so that it can move up and down. The pressure rails (70) serve to guide the vertical movement of the clamp block (68).

[0054] A pressure roller (72) is installed on the rear side of the clamp fixing bracket (66). The pressure roller (72) is a general roller, so a detailed description is omitted. The pressure roller (72) is installed on the rear side of the clamp fixing bracket (66) and is the part to which the pressure bracket (74), to be described later, is connected.

[0055] A pressure bracket (74) is installed on the outer surface of the pressure roller (72). The pressure bracket (74) is made of a rectangular plate and is formed to be long vertically. One end of the pressure bracket (74) is installed on the pressure roller (72), and the other end is rotatably fixed to the side (14) of the clamp body (12). The pressure bracket (74) is installed to be rotatably vertically according to the operation of the clamp cylinder (78) to be described later, and serves to move the clamp fixing bracket (66) vertically.

[0056] A roller mounting hole (75) is formed on the upper part of the pressure bracket (74). The roller mounting hole (75) is formed in an elongated shape and penetrates from left to right. The pressure roller (72) is installed inside the roller mounting hole (75) and is a part that is fixed to the pressure bracket (74) so ​​as to be rotatable and movable.

[0057] A pressure bar (76) is installed in the center of the pressure bracket (74). The pressure bar (76) is formed in the shape of a bar, with both ends fixedly installed at the center of the sides of the respective pressure brackets (74). The pressure bar (76) is installed to be movable up and down by a clamp cylinder (78) to be described later, and serves to rotate the pressure bracket (74) up and down.

[0058] A clamp cylinder (78) is installed on the upper surface of the pressure bar (76). The clamp cylinder (78) is a general cylinder, so a detailed description is omitted. Multiple clamp cylinders (78) may be arranged on the upper surface of the pressure bar (76), and are installed on each side of the upper surface of the pressure bar (76). One end of the clamp cylinder (78) is installed on the upper surface of the clamp body (12), and the other end is installed on the pressure bar (76) to move the pressure bar (76) up and down.

[0059] A pivot bar (80) is installed at the lower part of the pressure bracket (74). The pivot bar (80) has a round bar shape and is formed to be long from left to right. Different pressure brackets (74) are installed through each side of the pivot bar (80). The pivot bar (80) is installed through the pressure bracket (74) to guide the up-and-down rotational movement of the pressure bracket (74). (See FIG. 6)

[0060] In addition, both ends of the above-mentioned pivot bar (80) are each rotatably fixed to the lower side of the above-mentioned clamp body (12), serving to rotatably fix the above-mentioned pressure bracket (74) to the above-mentioned clamp body (12).

[0061] That is, when the clamp plate (62) is gripped, the clamp cylinder (78) is actuated so that the pressure bar (76) is pressed downward. Then, as the pressure bracket (74) rotates downward due to the pressing action of the pressure bar (76), the clamp fixing bracket (66) moves downward along the pressure rail (70), thereby enabling the clamping or gripping action of the box (B) by the clamp plate (62).

[0062] Conversely, when the clamp plate (62) is released from gripping, it operates in the reverse order of the gripping operation, so that the clamping operation or gripping operation of the box (B) by the clamp plate (62) can be released.

[0063] A needle passage hole (82) is formed in the lower part of the lifting plate (22). The needle passage hole (82) is formed in the shape of a square box at the center of the lower front of the lifting plate (22) and is formed to penetrate from front to back. The needle passage hole (82) is a part through which the needle member (93) of the needle unit (90), which will be described later, passes.

[0064] A needle unit (90) is installed on the lower rear portion of the above lifting plate (22). The needle unit (90) consists of a needle cylinder (91), a needle bracket (92), a needle member (93), etc.

[0065] The needle cylinder (91) is a general cylinder, so a detailed description is omitted. As shown in FIG. 10, the needle cylinder (91) is fixedly installed on the lower rear side of the lifting plate (22). The needle cylinder (91) is installed on the lower rear side of the lifting plate (22) and serves to move the needle bracket (92), which will be described later, back and forth.

[0066] A needle bracket (92) is installed at the rear of the needle cylinder (91). The needle bracket (92) is formed in the shape of a block with a cross-section in the shape of a "┛" and is installed on the needle cylinder (91). The needle bracket (92) is installed to be movable back and forth by the needle cylinder (91) and serves to support the needle member (93) to be described later.

[0067] A needle member (93) is installed at the tip of the needle bracket (92). The needle member (93) is composed of a plurality of needles and is installed at the tip of the needle bracket. The needle member (93) is selectively protruded toward the front of the lifting plate (22) and inserted into the box (B) according to the operation of the needle cylinder (91).

[0068] That is, when the lifting plate (22) is in close contact with the box (B) during the lifting operation of the lifting unit (20), the needle member (93) is inserted into the box (B), thereby allowing the lifting operation of the lifting unit (20) to be performed more quickly and accurately.

[0069] A vacuum suction member (94) may be additionally installed on the upper surface of the clamp plate (62).

[0070] The above vacuum suction member (94) is mainly composed of a suction cylinder (95), a suction bracket (96), a suction plate (97), etc.

[0071] The above-mentioned adsorption cylinder (95) is a general cylinder, so a detailed description is omitted. The above-mentioned adsorption cylinder (95) is installed vertically on the upper surface of the clamp plate (62) as shown in FIG. 11. The above-mentioned adsorption cylinder (95) is installed on the upper surface of the clamp plate (62) and serves to move the adsorption bracket (96), which will be described later, up and down.

[0072] A suction bracket (96) is installed on the upper part of the suction cylinder (95). As shown in FIG. 11, the suction bracket (96) is made of a steel frame having a cross-section in the shape of "┏┓" and is installed on the upper part of the suction cylinder (95). The suction bracket (96) is installed on the upper part of the suction cylinder (95) and serves to move the suction plate (97), which will be described later, up and down.

[0073] A suction plate (97) is installed on both sides of the suction bracket (96). The suction plate (97) is a standard suction plate, so a detailed description is omitted. The suction plate (97) is installed on the upper side of the clamp plate (62) and is installed so as to be movable to the lower side of the clamp plate (62) through a suction hole (98) formed vertically through the upper surface of the clamp plate (62). When the box (B) is a single sheet, the suction plate (97) moves to the lower side of the clamp plate (62) and serves to suction the single sheet box (B). (See FIG. 11)

[0074] That is, when the vacuum suction member (94) is used to grasp the box (B) that is left as a single sheet at the end during the process of loading and moving a plurality of loaded boxes (B), the grasping operation of the single sheet box (B) can be performed by the vacuum suction member (94).

[0075] The operation of the box clamp device of the present invention having the above-described configuration will be examined below with reference to FIGS. 1 to 11.

[0076] First, a box clamp device (10) is installed at the end of a robot arm (R). Depending on the operation of the robot arm (R), the box clamp device (10) is moved toward a pallet (P) on which a box (B) is loaded.

[0077] The box clamp device (10) is moved toward the box (B) loaded on the pallet (P) by the robot arm (R), and a gripping and transfer operation is performed in which the box (B) is gripped and transferred by the box clamp device (10) from the top of the box (B) loaded on the pallet (P).

[0078] Below, the gripping operation of the above-mentioned box clamp device (10) will be described in detail.

[0079] The robot arm (R) presses the lifting plate (22) of the box clamp device (10) against the side of the loaded box (B).

[0080] With the lifting plate (22) in close contact with the side of the box (B), the needle member (93) of the needle unit (90) installed on the lifting plate (22) protrudes forward and is inserted into the side of the box (B).

[0081] When the needle member (93) of the above needle unit (90) is inserted into the box (B), the lifting plate (22) in contact with the box (B) moves upward, and as a result, a plurality of boxes (B) in contact with the lifting plate (22) are lifted as shown in FIG. 7.

[0082] As described above, since the needle unit (90) is installed on the lifting plate (22), the needle unit (90) moves upward simultaneously with the upward movement of the lifting plate (22), so that the box (B) is lifted by the adhesive force of the lifting plate (22), and the needle member (93) is inserted into the box (B), the lifting operation of the box (B) can be performed more accurately and quickly.

[0083] The support unit (30) is operated while the box (B) is lifted by the lifting unit (20) and the needle unit (90).

[0084] The support moving member (40) of the support unit (30) is actuated so that the support plate (32) moves forward. When the support plate (32) moves forward, as shown in FIG. 7, the support plate (32) is inserted into the lower surface of the lifted box (B) and positioned to support the lower part of the box (B).

[0085] The clamp unit (60) is operated while the base plate (32) is positioned at the bottom of the box (B) that has been lifted up.

[0086] The clamp plate (62) of the clamp unit (60) is moved downward by the clamp cylinder (78) to press the upper surface of the lifted box (B), and the lifted boxes are gripped by the pressing action of the clamp plate (62) as shown in FIG. 9.

[0087] When the gripping operation of the box (B) by the clamp unit (60) is completed, the robot arm (R) is operated to move and load the gripped box (B) to a desired location.

[0088] Through the repetitive operation of the lifting unit (20), needle unit (90), support unit (30), and clamp unit (60) as described above, the box (B) loaded on the pallet (P) is moved and loaded to the next work area by the robot arm (R).

[0089] The box clamp device (10) according to the present invention is configured such that, while one side of the box (B) loaded by the lifting unit (20) is lifted, the support unit (30) is positioned at the bottom of the box (B), and the box (B) can be gripped by the operation of the clamp unit (60) pressing the top of the box (B).

[0090] Therefore, sequential transfer can be carried out by separating a large number of stacked boxes (B) into portions, and breakage and damage to the boxes (B) can be minimized during the operation of gripping the boxes (B).

[0091] In addition, a needle unit (90) is installed in the lifting unit (20), and as the needle member (93) is inserted into the box (B) during the lifting operation of the box (B), there is an advantage that the lifting operation of the box (B) can be performed more quickly and accurately.

[0092] In addition, the vacuum suction member (94) is additionally installed on the upper side of the clamp plate (62), so that when individual boxes (B) need to be transported, individual boxes can be transported by suction only through the vacuum suction member (94), thereby diversifying the loading and transport operations of the boxes, which has the advantage of improving the efficiency of the loading and transport operations.

[0093] The scope of the present invention is not limited to the embodiments exemplified above, and within such technical scope, many other variations based on the present invention will be possible to those skilled in the art. Explanation of the symbols

[0094] 10. Box clamp device 12. Clamp body 16. Fixed bracket 20. Lifting unit 22. Lifting plate 24. Lifting block 26. Lift rail 28. Lift cylinder 30. Base unit 32. Base plate 34. Support block 36. Support rail 40. Support movable member 50. Front and rear cylinder 60. Clamp unit 62. Clamp plate 64. Clamp fixing piece 66. Clamp fixing bracket 68. Clamp block 70. Pressure rail 92. Pressure roller 74. Pressure bracket 75. Roller mounting hole 76. Pressure bar 78. Clamp cylinder 80. Rotating bar 82. Needle Pass-through Hole 90. Needle Unit 94. Vacuum adsorption member

Claims

Claim 1 A box clamp device installed on a robot arm (R) for gripping a box and moving and stacking the box comprises: a clamp body (12) formed in the shape of a box with a hollow interior and having a plurality of parts installed thereon; a lifting unit (20) installed on one side of the clamp body (12) so as to be movable up and down and in close contact with the stacked box to lift the stacked box; a support unit (30) installed on one side of the clamp body (12) and installed so as to be movable back and forth on the clamp body (12) to selectively support the lower surface of the box (B); and a clamp unit (60) installed on one side of the clamp body (12) and installed so as to be movable up and down to press the upper surface of the box; wherein, while a portion of the stacked box is lifted upward by the lifting unit (20), the support unit (30) moves to the lower side of the box and the clamp unit (60) moves downward to perform a clamping operation of the box; and A clamp unit (60) is installed horizontally in front of a lifting plate (22) and is installed vertically on the front side of the lifting plate (22) to selectively press the upper surface of a box (B); a clamp fixing bracket (66) is fixedly installed on each rear side of the clamp plate (62) to support the clamp plate (62); a clamp block (68) is fixedly installed on the side of the clamp fixing bracket (66) to support the clamp fixing bracket (66); a pressure rail (70) is installed vertically on both front sides of the clamp body (12) and is installed vertically so that the clamp block (68) can move up and down to guide the vertical movement of the clamp block (68); and a pair of clamp fixing brackets, one end of which is installed on the clamp fixing bracket (66) and the other end of which is rotatably installed on the clamp body (12) to move the clamp fixing bracket (66) up and down. A pressure bracket (74); a pressure bar (76) formed in the shape of a bar, installed between different pressure brackets (74), and rotating the pressure brackets (74) up and down;It includes a clamp cylinder (78) installed on one side of the pressure bar (76) to move the pressure bar (76) up and down; and on the upper surface of the clamp plate (62), a vacuum suction member (94) is further provided to move to the lower part of the clamp plate (62) to suction the box (B) when the box (B) is a single sheet; the vacuum suction member (94) comprises: a suction cylinder (95) fixedly installed on the upper surface of the clamp plate (62); a suction bracket (96) made of a steel frame having a cross-section in the shape of "┏┓", fixedly installed on the upper part of the suction cylinder (95) and installed to be movable up and down; and a suction hole (98) fixedly installed on each lower side of the suction bracket (96) and installed to be movable to the lower part of the clamp plate (62) through which it penetrates vertically on the upper surface of the clamp plate (62). A box clamp device comprising: a suction plate (97) that moves to the lower part of the clamp plate (62) and suctions the box (B) when the box (B) is a single sheet; Claim 2 A box clamp device according to claim 1, further comprising a needle unit (90) formed in the shape of a plurality of needles, installed to be movable back and forth, and optionally inserted into the side of a box (B). Claim 3 In claim 1, the lifting unit (20) comprises: a lifting plate (22) formed in the shape of a plate and installed so as to be movable up and down on one side of the clamp body (12) and in close contact with the box (B) to lift the box (B); lifting blocks (24) fixedly installed on each side of the rear of the lifting plate (22) and supporting the lifting plate (22); a lifting rail (26) formed in the shape of a rail and installed vertically on the front left and right sides of the clamp body (12), to which the lifting blocks (24) are coupled to guide the vertical movement of the lifting plate (22); and a lifting cylinder (28) having one end fixedly installed on the clamp body (12) and the other end fixedly installed on the rear of the lifting plate (22) to move the lifting plate (22) up and down. Claim 4 In claim 1, the support unit (30) is installed to be movable back and forth on the lower part of the clamp body (12) and is optionally moved forward to support the lower surface of the box (B) when the box (B) is lifted by the lifting unit (20); a support plate (32) is installed on both sides of the upper surface of the support plate (32) and supports both sides of the upper surface of the support plate (32); a support rail (36) is installed on both sides of the lower surface of the clamp body (12) and is installed lengthwise back and forth along the lower surface of the clamp body (12), and the support block (34) is installed to guide the back and forth movement of the support block (34); and a support moving member (40) is installed on the upper surface of the support plate (32) and moves the support plate (32) back and forth; comprising a box clamp device. Claim 5 delete Claim 6 In claim 2, the needle unit (90) comprises a plurality of needles, a needle member (93) which is installed to be movable back and forth on the rear surface of the lifting plate (22) and optionally inserted into a box (B); a needle bracket (92) which is fixedly installed on one side of the needle member (93) and supports the needle member (93); and a needle cylinder (91) which is fixedly installed on the rear surface of the lifting plate (22), has the needle bracket (92) fixedly installed at its end, and moves the needle bracket (92) back and forth.

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