Air direction changing device

Abstract

An air direction changing device according to an embodiment of the present invention is an air direction changing device installed to be connected to a gripper of a robot arm through an intake / exhaust nozzle, the gripper being configured to grip and carry waste which moves on a conveyor belt by using an air suction force, wherein the air direction changing device includes: a drive control part configured to operate to convert an air direction into an air-introduction or air-exhaust direction so as to control a gripping operation of the gripper through an air suction force or an air discharge force; an intake / exhaust pipe part disposed between and connected to the drive control part and the intake / exhaust nozzle; and a branch control part disposed between and connected to pipes of the intake / exhaust pipe part so as to supply or block air according to an opening or closing control of each of the pipes.

Description

Air direction changer

[0001] Embodiments of the present invention relate to an air direction conversion device, and more particularly, to an air direction conversion device of a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste.

[0002] According to the Waste Management Act, waste other than industrial waste (specific waste), excluding excrement, is defined as general waste. Industrial waste refers to waste generated by industrial activities, while general waste refers to waste, excrement, and other materials generated in connection with daily life (radioactive waste is separately regulated in the Atomic Energy Act).

[0003] Waste can be classified into various categories based on its size, shape, and nature. Large-scale waste includes irregularly disposed household appliances like refrigerators, televisions, and washing machines; discarded furniture like desks and wardrobes; and scrapped cars and bicycles. However, there is also regular waste, such as discarded paper and food waste. Waste can also be categorized as combustible or non-combustible, and further categorized as hazardous waste, such as waste that produces harmful gases when incinerated or pollutes soil and water. Combustible waste is recommended for incineration, while non-combustible waste and waste that produces harmful gases should be landfilled. Hazardous waste containing heavy metals, such as mercury batteries and fluorescent lamps, should be recycled or safely landfilled.

[0004] Generally, waste produces a foul odor and breeds rodents, flies, and other insects, degrading the living environment and posing a public health risk. Furthermore, it takes up valuable living space, causing inconvenience, damaging the aesthetics, and causing discomfort. Because waste damages the environment, it must be disposed of through a series of processes, including containerization, collection, transportation, intermediate treatment, and final disposal.

[0005] The amount of waste plastic generated in Korea is steadily increasing. Since the expansion of the Extended Producer Responsibility (EPR) system in 2003, the issue of recycling this ever-increasing waste plastic has become an urgent issue. The most crucial step in recycling waste plastic is to sort and separate only the necessary waste plastic from the mixed waste. As the scope of recycling expands to include plastic packaging and film, the sorting of these items is becoming a key issue.

[0006] One embodiment of the present invention provides an air direction conversion device capable of efficiently converting the air direction for controlling the air suction and discharge forces in a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste.

[0007]

[0008] The problems to be solved by the present invention are not limited to the problem(s) mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] An air direction conversion device according to one embodiment of the present invention is an air direction conversion device installed to be connected to a gripper of a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and an intake / exhaust nozzle, the air direction conversion device comprising: a driving control unit that controls a gripping operation of the gripper through air suction force or air discharge force by driving the air direction to be converted to intake or exhaust; an intake / exhaust pipe unit that is arranged to be connected between the driving control unit and the intake / exhaust nozzle; and a branch control unit that is arranged to be connected between each pipe of the intake / exhaust pipe unit and supplies or blocks air according to the opening / closing control of each pipe.

[0010] The above driving control unit can control the gripper to grab and move the waste through air suction force or to release the waste through air discharge force.

[0011] The above driving control unit may be driven by either a blower method or an air compression method. When driven by the blower method, it may be configured as a ring blower, and when driven by the air compression method, it may be configured as an air compressor.

[0012] The above intake and exhaust pipe section may include an intake-only pipe that serves as a passage through which air sucked through the intake port of the gripper flows in through the intake and exhaust nozzles and is then discharged through an exhaust port provided in the driving control section; an exhaust-only pipe that serves as a passage through which air sucked through the exhaust port flows in through the intake and exhaust nozzles and is then discharged through the intake port of the gripper; and an intake and exhaust common pipe that serves as a passage through which air sucked or exhausted flows according to valve opening and closing control of the branch control section.

[0013] The branch control unit may include a first valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive intake pipe; a second valve having one side connected to the exclusive intake pipe and the other side connected to an air filter; a third valve having one side connected to the exclusive exhaust pipe and the other side connected to the air filter; and a fourth valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive exhaust pipe.

[0014] The above branch control unit can control the direction of all valves provided inside the first to fourth valves horizontally when the air direction is switched to intake by the driving control unit, and can control the direction of all valves provided inside the first to fourth valves vertically when the air direction is switched to exhaust by the driving control unit.

[0015]

[0016] Specific details of other embodiments are included in the detailed description and accompanying drawings.

[0017] According to one embodiment of the present invention, in a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste, the direction of the air can be efficiently changed to control the air suction force and discharge force.

[0018] FIG. 1 is a block diagram illustrating an air direction changing device according to one embodiment of the present invention.

[0019] Figures 2 and 3 are state diagrams of use of an air direction change device according to one embodiment of the present invention.

[0020] With respect to the embodiments of the present invention disclosed in the text, specific structural and functional descriptions are merely illustrative for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and should not be construed as being limited to the embodiments described in the text.

[0021] The present invention is susceptible to various modifications and takes various forms. Specific embodiments are illustrated in the drawings and described in detail herein. However, this is not intended to limit the invention to specific disclosed forms, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0022] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms may be used to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component."

[0023] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components in between. Conversely, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions that describe the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

[0024] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "has" indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning within the context of the relevant technology, and shall not be construed in an idealized or overly formal sense unless explicitly defined herein.

[0026] Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. Identical components in the drawings are designated by the same reference numerals, and redundant descriptions of identical components are omitted.

[0027] FIG. 1 is a block diagram illustrating an air direction changing device according to one embodiment of the present invention, and FIGS. 2 and 3 are use state diagrams of the air direction changing device according to one embodiment of the present invention.

[0028] Referring to FIGS. 1 to 3, an air direction change device (100) according to one embodiment of the present invention can be installed to be connected through a robot arm (110), a gripper (112), and an intake / exhaust nozzle (111).

[0029] The above robot arm (110) can grab and move waste (waste plastic, cans, etc.) moving on a conveyor belt (not shown). The robot arm (110) grabs waste using air suction force, and can use air exhaust force when releasing the waste.

[0030] To this end, the air direction change device (100) may be configured to include a driving control unit (210), an intake / exhaust pipe unit (220), and a branch control unit (230).

[0031] The above driving control unit (210) can control the gripping operation of the gripper (112) through air suction force or air discharge force by driving the air direction to be switched to intake or exhaust.

[0032] The above driving control unit (210) can control the gripper (112) to grab and move the waste through air suction force or to release the waste through air discharge force.

[0033] The above driving control unit (210) can be driven by a pneumatic generating device.

[0034]

[0035] For example, the drive control unit (210) can be driven by either a blower method or an air compression method.

[0036] When driven in the above blower manner, the driving control unit (210) may be configured as a ring blower. The ring blower is a mechanical device widely used in industrial sites and machines requiring pressurized air, and is a fluid machine capable of producing a large head at a small flow rate.

[0037] Meanwhile, when driven by the air compression method, the drive control unit (210) may be configured as an air compressor. The air compressor is a pneumatic device that converts electric power (such as an electric motor, diesel or gasoline engine) into potential energy stored in compressed air.

[0038] For reference, in one embodiment of the present invention, the drive control unit (210) may be implemented as a blow-type ring blower. However, the present invention is not limited thereto, and the drive control unit (210) may be implemented as an air compressor.

[0039] Of course, it can also be implemented with a relaxation-type air compressor.

[0040] Although the above description has described the blower type or air compression type as the pneumatic generator, this is merely an example among many embodiments of the present invention. In other embodiments of the present invention, a flammable gas compressor, a piston type air brush, a gasoline compressor, etc. may be applied.

[0041] The above intake and exhaust pipe section (220) may be arranged to be connected between the drive control section (210) and the intake and exhaust nozzle (111). The intake and exhaust pipe section (220) may be configured to include an intake-only pipe (221), an exhaust-only pipe (222), and an intake and exhaust common pipe (223).

[0042] That is, the intake and exhaust pipe section (220) may be arranged so that one side of the intake-only pipe (221) is connected to the drive control unit (210), and the other side of the intake-only pipe (221) is connected to the intake and exhaust common pipe (223), more specifically, to the first valve (231) and second valve (232) described later.

[0043] In addition, the intake and exhaust pipe section (220) may be arranged so that one side of the exhaust-only pipe (222) is connected to the drive control unit (210), and the other side of the exhaust-only pipe (222) is connected to the intake and exhaust common pipe (223), more specifically, to the third valve (233) and fourth valve (234) described later.

[0044] In addition, the intake and exhaust pipe section (220) may be arranged so that one side of the intake and exhaust common pipe (223) is connected to the intake and exhaust nozzle (111), and the other side of the intake and exhaust common pipe (223) is connected to the intake-only pipe (221) and the exhaust-only pipe (222) through the first to fourth valves (231, 232, 233, 234).

[0045] The intake and exhaust pipe section (220) arranged as described above can perform the function of intake air through the intake-only pipe (221).

[0046] That is, the above-mentioned intake-only pipe (221) can serve as a passage through which air sucked in through the intake port of the gripper (112) is introduced via the intake / exhaust nozzle (111) and then discharged through the exhaust port provided in the drive control unit (210).

[0047] In addition, the intake and exhaust pipe section (220) arranged as described above can perform the function of discharging air through the exhaust-only pipe (222).

[0048] That is, the exhaust-only pipe (222) can serve as a passage through which air sucked in through the exhaust port provided in the driving control unit (210) is discharged through the intake port of the gripper (112) via the intake / exhaust nozzle (111).

[0049] In addition, the intake and exhaust pipe section (220) arranged as described above can perform the function of selectively sucking in or discharging air through the intake and exhaust common pipe (223).

[0050] That is, the above-mentioned intake and exhaust common pipe (223) can serve as a passage through which intake or exhaust air flows according to the valve opening and closing control of the branch control unit (230).

[0051] The above branch control unit (230) is arranged to be connected between each pipe (221, 222, 223) of the intake and exhaust pipe unit (220), and can perform the function of supplying or blocking air according to the opening and closing control of each pipe (221, 222, 223).

[0052] To this end, the branch control unit (230) may be configured to include a first valve (231), a second valve (232), a third valve (233), and a fourth valve (234).

[0053] The above first valve (231) can be arranged so that one side is connected to the common intake and exhaust pipe (223) and the other side is connected to the exclusive intake pipe (221).

[0054] The second valve (232) may be arranged so that one side is connected to the intake-only pipe (221) and the other side is connected to the air filter (240).

[0055] The third valve (233) may be arranged so that one side is connected to the exhaust-only pipe (222) and the other side is connected to the air filter (240).

[0056] The fourth valve (234) may be arranged so that one side is connected to the intake and exhaust common pipe (223) and the other side is connected to the exhaust exclusive pipe (222).

[0057] The branch control unit (230) arranged as described above can horizontally control the direction of all valves provided inside the first to fourth valves (231, 232, 233, 234) when the air direction is switched to intake by the drive control unit (210).

[0058] On the other hand, when the air direction is switched to exhaust by the drive control unit (210), the branch control unit (230) can vertically control the direction of all the valves provided inside the first to fourth valves (231, 232, 233, 234).

[0059] Meanwhile, an air direction change device (100) according to one embodiment of the present invention may be configured to additionally include a ring blower intake air filter (250) in the middle of an intake-only pipe (221) of the intake / exhaust pipe section (220). The ring blower intake air filter (250) is a filter device for filtering out foreign substances, etc., in the air intaked by the blower.

[0060]

[0061] Hereinafter, the operation process according to intake and exhaust of the air direction change device according to one embodiment of the present invention will be described with reference to FIGS. 2 and 3.

[0062] Referring to Figure 2, the operation process according to intake is explained as follows.

[0063] First, when an intake command is transmitted to the ring blower and branch control unit (230), which are examples of the drive control unit (210), the ring blower rotates the impeller located inside the casing at high speed to intake external air.

[0064] At the same time, the first to fourth valves (231, 232, 233, 234) of the branch control unit (230) can all change the direction of the valves to the horizontal direction through valve control.

[0065] Accordingly, air sucked in from the outside, that is, air sucked in through the gripper (112) and the intake / exhaust nozzle (111), is introduced through the intake / exhaust pipe (220) as a passage, and in this process, air sucking force is generated, so that waste moving on the conveyor belt can be grabbed and moved through the gripper (112).

[0066] Meanwhile, the operation process according to exhaust is described as follows with reference to Fig. 3.

[0067] First, when an exhaust command is transmitted to the ring blower and branch control unit (230), which are examples of the driving control unit (210), the ring blower generates friction of the fluid as the impeller grooves, which are dug radially along the circumference of the impeller located inside the casing, rotate inside the casing, and the resulting pressure change increases the head to discharge (exhaust) air to the outside.

[0068] At the same time, the first to fourth valves (231, 232, 233, 234) of the branch control unit (230) can all change the direction of the valves to the vertical direction through valve control.

[0069] Accordingly, the air discharged from the ring blower is discharged through the intake / exhaust nozzle (111) and the gripper (112) via the intake / exhaust pipe (220) as a passage, and in this process, an air discharge force is generated to release the operation of the gripper (112), thereby allowing the waste held by the gripper (112) to be placed at the target point.

[0070]

[0071] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0072] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

[0073]

[0074] [Explanation of symbols]

[0075] 100: Air Direction Changing Device

[0076] 110: Robot arm

[0077] 111: Intake and exhaust nozzles

[0078] 112: Gripper

[0079] 210: Drive control unit

[0080] 220: Intake and exhaust pipe section

[0081] 230: Branch control unit

[0082] 240: Air filter

[0083] 250: Ring blower intake air filter

[0084] The present invention relates to an air direction conversion device of a robot arm that uses air suction force to grab and move waste moving on a conveyor belt and uses air discharge force to release the grabbed waste.

Claims

1. In an air direction conversion device installed to be connected to a gripper of a robot arm that uses air suction to grab and move waste moving on a conveyor belt and an intake / exhaust nozzle, A driving control unit that controls the gripping motion of the gripper through air suction force or air discharge force by driving the air direction to be changed to intake or exhaust; An intake and exhaust pipe portion arranged to be connected between the above driving control portion and the intake and exhaust nozzle; and A branch control unit arranged to be connected between each pipe of the above intake and exhaust pipe section, and supplying or blocking air according to the opening and closing control of each pipe An air direction changing device characterized by including a .

2. In paragraph 1, The above driving control unit An air direction conversion device characterized in that the gripper is controlled to grab and move the waste through air suction force or to release the waste through air discharge force.

3. In paragraph 1, The above driving control unit An air direction changing device characterized in that it is driven by either a blower method or an air compression method, and is configured as a ring blower when driven by the blower method, and is configured as an air compressor when driven by the air compression method.

4. In paragraph 1, The above intake and exhaust pipe section An intake-only pipe that serves as a passage through which air sucked in through the intake port of the gripper is introduced through the intake / exhaust nozzle and then discharged through the exhaust port provided in the drive control unit; An exhaust-only pipe that serves as a passage through which air sucked in through the exhaust port is discharged through the intake port of the gripper via the intake / exhaust nozzle; and A common intake and exhaust pipe that serves as a passage through which intake or exhaust air flows according to the valve opening and closing control of the above branch control unit. An air direction changing device characterized by including:

5. In paragraph 4, The above branch control unit A first valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive intake pipe; A second valve having one side connected to the intake-only pipe and the other side connected to the air filter; A third valve having one side connected to the exhaust-only pipe and the other side connected to the air filter; and A fourth valve having one side connected to the common intake and exhaust pipe and the other side connected to the exclusive exhaust pipe An air direction changing device characterized by including a .

6. In paragraph 5, The above branch control unit An air direction changing device characterized in that when the air direction is changed to intake by the driving control unit, the direction of all valves provided inside the first to fourth valves is controlled horizontally, and when the air direction is changed to exhaust by the driving control unit, the direction of all valves provided inside the first to fourth valves is controlled vertically.

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