Vacuum gripper device comprising plurality of vacuum zones

Abstract

The present invention relates to a gripper device used in a vacuum suction and transfer system. The device of the present invention comprises: a body having a plurality of concentric vacuum zones; pads connected to the lower portion of the body to be in communication with the vacuum zones; and a vacuum cover having outlets formed in one side thereof, the outlets being in communication with the vacuum zones. In addition, vacuum pumps are individually provided to correspond to each vacuum zone, and when compressed air is supplied to and discharged from the vacuum pumps corresponding to a selected vacuum zone at a high speed, air is expelled from the pads that are in communication with the corresponding vacuum zone. Preferably, the gripper device further comprises an outer pad structure which is driven vertically and surrounds the array of pads.

Description

Vacuum gripper device comprising multiple vacuum zones

[0001] The present invention relates to a vacuum gripper device used to adsorb and hold a target article in a vacuum transport system.

[0002]

[0003] Typically, a vacuum transport system uses a high-speed, compressed air-powered vacuum pump to forcibly expel the air inside a suction pad. The vacuum and negative pressure generated within the pad then adsorb and grip the item, then robotically transports it to a designated location. In this configuration, the pad is connected to a separate body, forming a so-called "vacuum gripper device."

[0004]

[0005] Depending on the design, the vacuum pump may be placed outside or inside the body, and the pads constituting the gripper device may be provided singly or in multiple numbers depending on the characteristics of the object to be transported, such as shape, shape, and weight.

[0006]

[0007] The single-position method offers the advantages of ease of installation and operation, but suffers from the problem that if a vacuum leak occurs within the pad, the desired suction power is not generated or is lost, making it impossible to hold the item. In contrast, the array method, which consists of multiple small pads arranged in an array, has the advantage of allowing the item to be held by the remaining pads that function normally even if a vacuum leak occurs in some pads. However, the array method suffers from the problem of weak individual and overall suction power of the pads.

[0008]

[0009] Regarding the above array method, Patent Publication Nos. 10-2319367 and 10-2291521 disclose a method in which a plurality of pads are independently provided and a method in which a plurality of pads are formed as an integral body, respectively.

[0010]

[0011] Meanwhile, conventional vacuum gripper devices, regardless of whether the applied pad is a single- or array-type, have a fixed suction range and suction force on the surface of the object, thus lacking flexibility or expandability. In other words, the device's suction characteristics cannot be selectively or variably controlled, limiting its practical application in the field and ultimately reducing transport efficiency.

[0012]

[0013] <Prior Art Literature>

[0014] Patent Registration No. 10-1019948

[0015] Patent Registration No. 10-1195176

[0016] Patent Registration No. 10-2319367

[0017] Patent Registration No. 10-2291521

[0018] International Patent Publication W0 2021 / 145685 A1

[0019]

[0020] The present invention has been proposed to address the aforementioned problems of the prior art. The purpose of the present invention is to provide a vacuum gripper device capable of flexibly responding to the morphological and physical characteristics of an object to be vacuum-transported, by designing it to selectively and variably control absorbency based on a pad array method.

[0021]

[0022] The vacuum gripper device of the present invention:

[0023] A body including a partition wall formed on an inner bottom surface of a cross-section 'U' shape to divide the inner space into a plurality of concentric vacuum zones, and an exhaust hole formed through the bottom surface of each vacuum zone;

[0024] A pad installed in communication with each exhaust hole at the lower part of the above body;

[0025] A vacuum cover as a cap member for the above body, having an exhaust port formed on one side thereof that communicates with each vacuum zone; and

[0026] A vacuum pump individually provided for each of the above vacuum zones;

[0027] Includes,

[0028] When a vacuum zone selected from among multiple vacuum zones according to the characteristics of the product is evacuated by the action of a corresponding vacuum pump, a pad connected to that vacuum zone is evacuated;

[0029] It features.

[0030]

[0031] Preferably, the vacuum gripper device:

[0032] The above vacuum pump is individually mounted in each exhaust hole or each vacuum zone of the body;

[0033] When compressed air is supplied at high speed to the selected vacuum zone and discharged through the vacuum pump, the pad is exhausted;

[0034] It features.

[0035]

[0036] Additionally, the gripper device:

[0037] A variable part comprising a cylinder coaxially arranged on the outside of the device, a cylindrical piston that moves up and down within the cylinder, and an outer pad that is connected to the lower end of the piston and creates a vacuum third zone surrounding the entire pad when lowered;

[0038] Including more,

[0039] When the piston descends and compressed air is supplied at high speed to the selected vacuum zone and discharged through the exhaust port, the outer pad connected to the vacuum zone is exhausted;

[0040] It features.

[0041]

[0042] The above piston is designed to descend by the pressure of compressed air and return to its original position by the elasticity of a spring.

[0043]

[0044] Additionally, the gripper device:

[0045] A shape-inducing wire that connects multiple pads so that each connected pad optimally corresponds to the surface shape of the product at its own position;

[0046] Includes.

[0047]

[0048] The vacuum gripper device of the present invention comprises multiple vacuum zones concentrically separated by partitions, and is configured to individually and selectively operate one or more of the vacuum zones. Therefore, it can be flexibly used according to the characteristics of the product. Furthermore, by configuring the outer pads variably, it can be effectively used in tasks requiring, for example, a wider suction range or greater suction power.

[0049]

[0050] As a result, the vacuum gripper device of the present invention has the effect of being able to be used flexibly in a work site according to the morphological and physical characteristics of the object to be vacuum-transported.

[0051]

[0052] FIG. 1 is a perspective view of a vacuum gripper device according to an embodiment of the present invention.

[0053] Figure 2 is a cross-sectional view taken along line 'A-A' of Figure 1.

[0054] Figure 3 is an exploded perspective view of the body portion of Figure 2.

[0055] Figure 4 is a bottom view of Figure 1.

[0056] Figure 5 is a drawing for explaining the operation of Figure 2.

[0057] Fig. 6 is a drawing showing a configuration related to the 'shape-inducing wire' of Fig. 2.

[0058] Figure 7 is a drawing for explaining another operation of Figure 2.

[0059]

[0060] [Explanation of symbols]

[0061] 100. Gripper device

[0062] 10. Body

[0063] 11. Bulkhead 12. Vacuum zone, first zone

[0064] 13. Vacuum zone, second zone

[0065] 14. Exhaust hole

[0066] 20. Pad Array

[0067] 21. Pad

[0068] 22. Wire 23. Reinforcement bar

[0069] 30. Cover

[0070] 31. Exhaust port 32. Chamber

[0071] 33,34,35,36. Supply hole

[0072] 40. Vacuum pump

[0073] 41. Nozzle 42. Hole

[0074] 50. Variable part

[0075] 51. Cylinder 52. Piston

[0076] 53. Outer Pad 54. Spring

[0077] 55. Stopper 56. Third Zone

[0078] S. Space

[0079] W. Goods

[0080]

[0081] The features and operational effects of the 'vacuum gripper device including a plurality of vacuum zones' (hereinafter referred to as the 'gripper device') of the present invention, whether described or not, will become more apparent through the description of preferred embodiments described below with reference to the accompanying drawings. In the drawings, the gripper device according to the present invention is indicated by reference numeral 100.

[0082]

[0083] Referring to FIGS. 1 to 4, the gripper device (100) of the present invention comprises a body (10) having a plurality of vacuum zones (12, 13) formed therein, a pad array (20) formed at the lower portion thereof, a vacuum cover (30) fastened to the upper portion thereof, and a vacuum pump (40) appropriately positioned to form a predetermined vacuum transport system.

[0084]

[0085] Specifically, the body (10) includes a partition wall (11) formed on an inner bottom surface having a cross-sectional 'U' shape to divide the inner space (S) into a plurality of concentric vacuum zones (12, 13), and a plurality of exhaust holes (14) formed by penetrating the bottom surface of each vacuum zone (12, 13). In the present embodiment, the space (S) is divided into an inner first zone (12) and an outer second zone (13) by the partition wall (11), and an adsorption pad (21) that contacts the surface of an article (W) is connected to each exhaust hole (14).

[0086]

[0087] The above pads (21) are connected to each exhaust hole (14) in a one-to-one correspondence and constitute a pad array (20) as a whole.

[0088]

[0089] Meanwhile, the vacuum cover (30) is a cap or cover member for the body (10), and a common air outlet (31) communicating with each vacuum zone (12, 13) is formed on one side thereof. Preferably, a common chamber (32) formed between each vacuum zone (12, 13) and the outlet (31) is formed inside the cover (30), and air passing through the vacuum zone (12, 13) passes through this chamber (32) and is discharged to the outside through the outlet (31). However, depending on the design, this configuration may be omitted or modified.

[0090]

[0091] The above vacuum pump (40) is individually provided for each vacuum zone (12, 13). Like other vacuum systems, the gripper device (100) of the present invention includes a vacuum pump (40) operated by high-speed compressed air, wherein the vacuum pump (40) is provided for each vacuum zone (12, 13). When operating the vacuum system, each vacuum zone (12, 13) is first selected, and this selection can be optimally determined manually or automatically in consideration of the morphological and physical characteristics of the object (W) to be adsorbed.

[0092]

[0093] Thus, compressed air is supplied to the vacuum pump (40) corresponding to the appropriately selected vacuum zone (12, 13) and passes through it at high speed, thereby exhausting the vacuum zone (12, 13) and the pad (21) connected thereto. Here, the vacuum pump (40) is a conventional air pump that sucks in surrounding air through the hole (42) of the side wall and discharges it to the outside when the compressed air passes through the multi-stage nozzle (41) provided inside at high speed.

[0094]

[0095] In this embodiment, the vacuum pump (40) is mounted in each exhaust hole (14) of the body (10) or each vacuum zone (12, 13). In the drawing, reference numerals 33 and 34 represent compressed air supply ports formed on the upper surface of the cover (30) and extending to each of the first zone (12) and the second zone (13). In this configuration, when compressed air is supplied at high speed through the supply ports (33, 34) to the vacuum zone (12, 13) appropriately selected above and discharged through the vacuum pump (40), the vacuum zone (12, 13) and the pad (21) connected thereto are exhausted.

[0096]

[0097] Specifically, in the present embodiment, the vacuum pump (40) is mounted in each exhaust hole (14) or vacuum zone (12, 13). However, in other embodiments, it may be separately positioned outside the body (10) and connected to each vacuum zone (12, 13). Even so, in terms of compactly designing the vacuum system, the positions of the vacuum pump (40) and the supply ports (33, 34) described in the present embodiment are of significant significance.

[0098]

[0099] In addition, the gripper device (100) is installed on the outside of the body (10) so as to be movable up and down, and further includes a variable part (50) that operates as needed to provide suction force to the target object (W).

[0100]

[0101] Specifically, the variable part (50) is configured to include a cylinder (51) coaxially arranged on the outside of the cover (30), a cylindrical piston (52) that moves up and down within the cylinder (51), and an outer pad (53) that is fastened to the lower end of the piston (52) and creates a vacuum third zone (56) surrounding the entire pad array (20) when lowered. Accordingly, when compressed air is supplied at high speed to the selected vacuum zone (12, 13) and discharged through the discharge port (31), the vacuum third zone (56) inside the outer pad (53) connected to the corresponding vacuum zone (12, 13) is exhausted.

[0102]

[0103] Here, the piston (52) is designed to descend by compressed air pressure and return to its original position by the elasticity of a spring (54).

[0104]

[0105] In the drawing, reference numeral 35 denotes a compressed air supply port formed on the upper surface of the cover (30) and extending to the head portion of the piston (52). In addition, reference numeral 55 denotes a stopper for preventing the outer pad (53) from shaking unstably while contracting while in contact with the article (W). The stopper (55) is installed downward from a bracket fixed to the lower end of the piston (52) and is preferably configured to be height-adjustable using a screw or other means.

[0106]

[0107] Referring to Fig. 5, in the process of adsorbing and holding a specific article (W), compressed air will first be supplied to a vacuum zone (12, 13) appropriately selected for each article (W). For example, if the surface size of the article (W) is small, the first zone (12) will be selected, and if it is slightly larger, the first zone (12) and the second zone (13) will be selected simultaneously. In addition, depending on the surface behavior of the article (W), the second zone (13) may be selected alone.

[0108]

[0109] The drawing shows a case where compressed air is supplied to both vacuum zones (12, 13) including the first zone (12) and the second zone (13).

[0110]

[0111] The compressed air (see arrow ①) supplied through each of the above supply ports (33, 34) passes through each vacuum zone (12, 13) and passes through the vacuum pump (40) at high speed (see arrow ②) and is discharged to the outside, and at this time, the internal air of each pad (21) is drawn into the interior through the hole (42) of the vacuum pump (40) and discharged together with the compressed air (see arrow ③). In this process, a vacuum and negative pressure are generated inside each pad (21), and the article (W) is adsorbed and held by the generated negative pressure.

[0112]

[0113] At this time, each pad (21) may become unstable due to its flexibility and may not be able to maintain a firm posture with respect to the surface of the article (W). Referring to FIG. 6, as a countermeasure for this, in the present embodiment, a shape-inducing wire (22) connecting a plurality of pads (21) constituting the pad array (20) is configured so that each connected pad (21) optimally corresponds to the surface shape of the article (W) at its own position. Preferably, in order to prevent the wire (22) from damaging the pad (21), a reinforcing bar (23) is formed on each pad (21) and the wire (22) is configured to pass through the reinforcing bar (23).

[0114]

[0115] Referring to Fig. 7, the variable portion (50) operates by supplying compressed air that pressurizes the head portion of the piston (52). That is, when compressed air is supplied through the supply port (35) (see arrow ④), the piston (52) descends (see arrow ⑤), and the outer pad (53) attached to the lower end of the piston (52) descends together to contact the surface of the article (W), thereby providing a wide range of responsiveness to the article (W).

[0116]

[0117] Thus, the vacuum third zone (56) inside the outer pad (53) can be exhausted on the premise that the gripper device (100) of the above-described structure operates as shown in Fig. 5. That is, once compressed air is supplied at high speed to the selected vacuum zone (12, 13) and exhausted through the exhaust port (31), the vacuum third zone (56) of the outer pad (53) connected to the vacuum zone (12, 13) is exhausted (see arrow ⑥). At this time, the exhaust of the outer pad (53) can be performed through the inner pad (21) or directly.

[0118]

[0119] As described above, when the article (W) is adsorbed and held by the negative pressure generated in each pad (21) and the outer pad (53) and its transport is completed, the supply of compressed air through the supply ports (33, 34, 35) will be stopped. In addition, for the rapid separation of the article (W), the compressed air supply port (symbol 36 in FIG. 1) for vacuum breaking extending from one side of the cover (30) to the chamber (32) will be opened.

Claims

1. A body (10) including a partition wall (11) formed on an inner bottom surface of a cross-section 'U' shape to divide the inner space (S) into a plurality of concentric vacuum zones (12, 13), and an exhaust hole (14) formed by penetrating the bottom surface of each vacuum zone (12, 13); A pad (21) installed in communication with each exhaust hole (14) at the lower part of the above body (10); As a cap member for the above body (10), a vacuum cover (30) having a common air outlet (31) formed on one side thereof to communicate with each vacuum zone (12, 13); and A vacuum pump (40) individually provided for each vacuum zone (12, 13); Includes, When a vacuum zone (12, 13) selected from among multiple vacuum zones (12, 13) according to the characteristics of the product is evacuated by the action of a corresponding vacuum pump (40), a pad (14) connected to the vacuum zone (12, 13) is evacuated; A vacuum gripper device characterized by:

2. In paragraph 1, The above vacuum pump (40) is individually mounted in each exhaust hole (14) or each vacuum zone (12, 13) of the body (10); When compressed air is supplied at high speed to the selected vacuum zone (12, 13) and discharged through the vacuum pump (40), the pad (21) is exhausted; A vacuum gripper device characterized by:

3. In paragraph 1, The above cover (30) includes a common chamber (32) formed between each vacuum zone (12, 13) and the outlet (31) therein; A vacuum gripper device characterized by:

4. In paragraph 1 or 2, The above cover (30) includes a compressed air supply port (33, 34) formed on one side thereof and extending to each of the first zone (12) and the second zone (13); A vacuum gripper device characterized by:

5. In paragraph 1, The above vacuum gripper device: A variable part (50) composed of a cylinder (51) coaxially arranged on the outside of the device, a cylindrical piston (51) that moves up and down within the cylinder (51), and an outer pad (53) that is connected to the lower end of the piston (52) and creates a vacuum third zone (56) that surrounds the entire pad (21) when lowered; Including more, When the piston (51) descends and the compressed air passes through the vacuum pump (40) corresponding to the selected vacuum zone (12, 13), the third zone (56) connected to the vacuum zone (12, 13) is exhausted; A vacuum gripper device characterized by:

6. In paragraph 5, The above piston (52): Designed to descend by compressed air pressure supplied through the supply port (35) formed on one side of the cover (30) and return to the original position by the elasticity of the spring (54); A vacuum gripper device characterized by:

7. In paragraph 5, The above variable part (50) includes a stopper (55) installed downward from a bracket fixed to the lower end of the piston (52); A vacuum gripper device characterized by:

8. In paragraph 1, The above vacuum gripper device: Equipped with a shape-inducing wire (22) connecting a plurality of pads (21), so that each connected pad (21) optimally corresponds to the surface shape of the article (W) at its own position; A vacuum gripper device characterized by:

9. In paragraph 8, A reinforcing bar (23) is formed on each of the above pads (21) and the wire (22) is configured to pass through the reinforcing bar (23); A vacuum gripper device characterized by:

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