Tube conveying device

Abstract

Provided is a tube conveying device for conveying tubes located at preset positions among a plurality of tubes in a storage part in which the plurality of tubes are arranged. The tube conveying device may comprise: a body; a suction structure including suction members that are located on the bottom surface of the body and suction air so as to maintain contact with the upper surface of the tube; and an elastic structure including pusher blocks that protrude from the bottom surface of the body and provide an elastic force against the upper surface of the tube in the direction from the body to the tube, wherein at least one of the pusher blocks is arranged on the bottom surface of the body so as to be located between the suction members.

Description

Tube transport device

[0001] The present invention relates to a tube transport device. More particularly, the present invention relates to a tube transport device including suction members.

[0002] In a production automation system, tubes produced as finished products can be arranged in a storage unit, and a tube transport device can transport tubes positioned at preset locations among the tubes arranged in the storage unit. The tubes transported through the tube transport device can be placed in a packaging box in a subsequent process, and the packaging box containing the tubes can be packaged by a packing robot.

[0003] For example, the storage unit may have tubes arranged in 10 rows and 10 columns, and the spacing between the tubes may be relatively small in order to accommodate a relatively large number of tubes in a limited space. The tube transport device may include suction members capable of sucking air, and after sucking air through the suction members, the tube transport device may transport the tubes while the tubes are in contact with the suction members. Here, the suction members may be positioned to be spaced apart from each other so that the tube transport device transports the tubes located in odd rows of each column or the tubes located in even rows of each column. In other words, when the tube transport device transports the tubes located in odd rows in one column, the tubes located in even rows in the first column may remain in the storage unit.

[0004] Meanwhile, each tube may include a body and a cap. The cap may be connected to the body, and the solution contained within the body may be sealed. During the manufacturing process of the cap, a burr may be created on the outer surface of the cap. Here, a burr refers to a thin, fin-shaped, excess portion created on the outer surface of a metal or plastic object when the surface is not cleanly processed during the manufacturing process.

[0005] In the process of the tube transport device bringing the tubes located in the odd rows of the first column of the storage into contact with the suction members, respectively, and then lifting the tubes located in the odd rows of the first column of the storage by sucking air, there is a problem in that the tubes located adjacent to the tubes located in the odd rows of the first column of the storage are lifted together with the tubes located in the odd rows of the first column of the storage due to a burr.

[0006] An object of the present invention is to provide a tube transport device.

[0007] However, the present invention is not limited to the above-described purpose, and may be expanded in various ways without departing from the spirit and scope of the present invention.

[0008] In order to achieve the above-described object of the present invention, in a tube transport device for transporting tubes positioned at preset positions among the tubes in a storage unit in which a plurality of tubes are arranged according to exemplary embodiments of the present invention, the tube transport device may include a body, a suction structure including suction members positioned on a lower surface of the body and maintaining a state of contact with an upper surface of the tube by sucking air, and pusher blocks protruding from the lower surface of the body, and at least one pusher block may include an elastic structure positioned between the suction members on the lower surface of the body and providing an elastic force in a direction from the body to the tube with respect to an upper surface of the tube.

[0009] In exemplary embodiments, the suction members and the pusher blocks may be arranged alternately along the first direction.

[0010] In exemplary embodiments, the distance between adjacent suction members among the suction members and the distance between adjacent pusher blocks among the pusher blocks may be the same.

[0011] In exemplary embodiments, in the storage section where the tubes are arranged, when the tubes positioned at the predetermined positions and the suction members come into contact, the pusher blocks may contact the tubes positioned adjacent to the tubes in contact with the suction members, and each of the pusher blocks may provide elastic force to each of the tubes.

[0012] In exemplary embodiments, the length by which each of the pusher blocks protrudes from the bottom surface of the body may be greater than the length by which each of the suction members protrudes from the bottom surface of the body.

[0013] In exemplary embodiments, the elastic structure may further include a first side pusher block extending in a first direction from the bottom surface of the body and spaced apart from the suction members and the pusher blocks, facing one side of each of the suction members and the pusher blocks, and having a bar shape.

[0014] In exemplary embodiments, the elastic structure may further include a second side pusher block extending in the first direction from the bottom surface of the body and spaced apart from the suction members and the pusher blocks, facing the other side of each of the suction members and the pusher blocks, and having a bar shape.

[0015] In exemplary embodiments, the first side pusher block and the second side pusher block are parallel to each other, the suction members and the pusher blocks are positioned between the first and second side pusher blocks, and the length of each of the pusher blocks protruding from the bottom surface of the body may be the same as the length of each of the first and second side pusher blocks protruding from the bottom surface of the body.

[0016] In exemplary embodiments, in the storage unit in which the tubes are arranged, the tubes are arranged in the column direction and the row direction in the storage unit, the suction members and the pusher blocks may correspond to tubes positioned in the same column among the tubes, and the first and second side pusher blocks may correspond to tubes positioned in rows adjacent to the tubes corresponding to the suction members and the pusher blocks among the tubes.

[0017] In exemplary embodiments, in the storage unit in which the tubes are arranged, when the tubes located in the same row and the suction members and the pusher blocks come into contact, each of the pusher blocks may provide elasticity to each of the tubes located in the same row except for the tubes that are in contact with the suction members, and each of the first and second side pusher blocks may provide elasticity to each of the tubes located in the adjacent rows.

[0018] In exemplary embodiments, the suction structure includes first to n-th (where n is an integer greater than or equal to 3) suction members arranged along a first direction, and the elastic structure includes first to m-th (where m is an integer greater than or equal to 2) pusher blocks arranged along the first direction, and a j-th (where j is an integer greater than or equal to 1) pusher block among the first to m-th pusher blocks may be positioned between the k-th (where k is an integer between 1 and n) and k+1-th suction members among the first to n-th suction members, and a j+1-th pusher block may be positioned between the k+1 and k+2-th suction members.

[0019] In exemplary embodiments, the elastic structure may further include first and second side pusher blocks extending in the first direction from both sides of the first to n-th suction members and the first to m-th pusher blocks and facing each other.

[0020] In exemplary embodiments, the tubes in the storage unit are arranged in rows and columns of a and b (wherein a and b are integers greater than or equal to 3), and when the first to n-th suction members are in contact with the tubes located in column g (wherein g is an integer between 1 and a), the first to m-th pusher blocks may provide elasticity to each of the tubes located in column g that do not contact the first to n-th suction members, the first side pusher block may provide elasticity to each of the tubes located in column g-1, and the second side pusher block may provide elasticity to each of the tubes located in column g+1.

[0021] In exemplary embodiments, the tube transport device may further include a gripper for gripping or releasing a tube in contact with each of the suction members.

[0022] In exemplary embodiments, the tube transport device may further include a fixing member positioned on the body and fixing the body, and the gripper may include a first gripper positioned on one side of the fixing member and hinge-connected to a first pivot axis extending in a first direction, and a second gripper positioned on the other side of the fixing member and hinge-connected to a second pivot axis extending in the first direction.

[0023] In exemplary embodiments, a first end of the first gripper may be adjacent to the first pivot axis, a second end of the first gripper may extend in the first direction and include a number of first recesses equal to the number of the suction members, and a first end of the second gripper may be adjacent to the second pivot axis, and a second end of the second gripper may extend in the first direction and include a number of second recesses equal to the number of the suction members.

[0024] In exemplary embodiments, the first and second grippers may be positioned parallel to the bottom surface of the body via the first and second pivot axes to release the tubes from contact with the suction members, and the second ends of each of the first and second grippers may be positioned adjacent to each other to grip the tubes from contact with the suction members.

[0025] In exemplary embodiments, the tubes may be positioned within the first and second recessed portions when the second ends of each of the first and second grippers are positioned adjacent to each other.

[0026] In exemplary embodiments, the tube transport device may further include a control unit that controls the suction of the air through the suction members and controls the gripper to grip or release the tubes.

[0027] In order to achieve the object of the present invention described above, in accordance with exemplary embodiments of the present invention, there is provided a tube transport device for transporting tubes positioned at preset positions among a plurality of tubes in a storage unit in which the tubes are arranged, the tube transport device comprising: a body; a suction structure including suction members positioned on a lower surface of the body and maintaining a state of contact with an upper surface of the tube by sucking air; pusher blocks protruding from the lower surface of the body; and first and second side pusher blocks extending in a first direction from the lower surface of the body apart from the suction members and the pusher blocks and having a bar shape positioned on one side and the other side of each of the suction members and the pusher blocks, at least one pusher block being positioned between the suction members on the lower surface of the body, an elastic structure providing an elastic force in a direction from the body to the tube with respect to an upper surface of the tube; a gripper for gripping or releasing a tube in contact with each of the suction members; and a device for controlling the suction members so that the suction members suck air or not, and controlling the gripper so that the gripper grips or releases the tubes. It may include a control unit.

[0028] In order to achieve the above-described object of the present invention, in a tube transport device for transporting tubes positioned at preset positions among the tubes in a storage unit in which a plurality of tubes are arranged according to exemplary embodiments of the present invention, the tube transport device may include a body, a suction structure including suction members positioned on a lower surface of the body and maintaining a state of contact with an upper surface of the tube by sucking air, and a gripper for gripping or releasing a tube in contact with each of the suction members.

[0029] The tube transport device according to exemplary embodiments of the present invention includes an elastic structure so that even if a burr is created in the tube, the tubes positioned at predetermined positions and the tubes positioned adjacent to the tubes positioned at the predetermined positions can be prevented from being lifted together with the tubes positioned at the predetermined positions during the process of the tube transport device lifting the tubes positioned at the predetermined positions. Accordingly, since the tube transport device accurately transports only the tubes positioned at the predetermined positions, the tubes can be prevented from being lost.

[0030] In addition, since tubes positioned adjacent to the tubes positioned at the preset positions are not lifted together with the tubes positioned at the preset positions, the gripper can prevent failure of the gripper by only gripping the tubes positioned at the preset positions.

[0031] However, the effects of the present invention are not limited to the effects described above, and may be expanded in various ways without departing from the spirit and scope of the present invention.

[0032] Figures 1 and 2 are perspective views showing a tube transport device according to exemplary embodiments of the present invention.

[0033] Fig. 3 is a block diagram showing a control unit included in the tube transport device of Fig. 1.

[0034] Fig. 4 is a drawing for explaining the tubes arranged in the storage unit of Fig. 1.

[0035] Fig. 5 is a rear view showing the tube transport device of Fig. 1.

[0036] Figures 6 and 7 are drawings for explaining the suction structure and elastic structure included in the tube transport device of Figure 5.

[0037] Fig. 8 is a perspective view illustrating a gripper included in the tube transport device of Fig. 1.

[0038] Figures 9 and 10 are drawings for explaining the state in which the suction structure and elastic structure of Figures 6 and 7 are in contact with the tubes arranged in the storage unit.

[0039] Figure 11 is a flowchart showing a tube transport method of a tube transport device according to exemplary embodiments of the present invention.

[0040] Fig. 12 is a drawing for explaining a tube transport method of the tube transport device of Fig. 11.

[0041] Hereinafter, a tube transport device according to exemplary embodiments of the present invention will be described in detail with reference to the attached drawings. In the attached drawings, identical or similar reference numerals are used for identical or similar components.

[0042] In this specification, specific structural and functional descriptions are merely exemplified for the purpose of explaining 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 herein, but should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention. When a component is described as being “connected to” or “in contact with” another component, it should be understood that it may be directly connected to or in contact with the other component, but there may also be another component in between. Furthermore, when a component is described as being “directly connected to” or “in direct contact with” another component, it can be understood that there is no another component in between. Other expressions describing the relationship between components, such as “between” and “directly between” or “adjacent to” and “directly adjacent to”, can be interpreted similarly.

[0043] The terminology used herein is for the purpose of describing exemplary embodiments only and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, it should be understood that the terms “comprise,” “include,” or “have” specify the presence of an implemented 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. Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0044] Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0045] Terms such as "first," "second," and "third" may be used to describe various components, but these components are not limited by these terms. These terms are used to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second" or "third" component, and similarly, a "second" or "third" component could be referred to interchangeably.

[0046] FIGS. 1 and 2 are perspective views illustrating a tube transport device according to exemplary embodiments of the present invention, FIG. 3 is a block diagram illustrating a control unit included in the tube transport device of FIG. 1, FIG. 4 is a drawing for explaining tubes arranged in a storage unit of FIG. 1, and FIG. 5 is a rear view illustrating the tube transport device of FIG. 1. For example, FIG. 1a is a perspective view illustrating a state in which a tube transport device (100) is positioned on a storage unit (410), and FIG. 1b is a perspective view illustrating a state in which tubes (10) are lifted from the storage unit (410) via the tube transport device (100). In addition, FIGS. 2a and 2b are perspective views for explaining a state in which a gripper of the tube transport device (100) grips tubes (10).

[0047] Referring to FIGS. 1, 2, 3, 4, and 5, the tube transport device (100) may include a body (110), a fixing member (130), a suction structure (200), an elastic structure (300), a gripper (500), a first pivot shaft (515), a second pivot shaft (525), a control member (400), etc. Here, the suction structure (200) may include first, second, third, fourth, and fifth suction members (201, 202, 203, 204, 205), and the elastic structure (300) may include first, second, third, and fourth pusher blocks (301, 302, 303, 304) and first and second side pusher blocks (430, 450). Additionally, the gripper (500) may include a first gripper (510) and a second gripper (520).

[0048] The tube transport device (100) is connected to a robotic arm and can move along a preset path. The tube transport device (100) capable of moving via the robotic arm may correspond to a transport device implemented to provide tubes (10) to a designated location in a designated space. Here, the designated location may correspond to a location where the tubes (10) are spaced apart at a preset interval.

[0049] In exemplary embodiments, the tube transport device (100) may transport tubes (10) positioned at predetermined positions among the tubes (10) in a storage unit (410) in which a plurality of tubes (10) are arranged. For example, the tubes (10) may be arranged in 10 rows and 10 columns in the storage unit (410), and the intervals between the tubes (10) may be relatively small in order to provide a relatively large number of tubes (10) in a limited space.

[0050] However, although the tubes (10) are arranged in 10 rows and 10 columns in the storage unit (410) of the present invention, the configuration of the present invention is not limited thereto. For example, in other exemplary embodiments, the tubes (10) may be arranged in a row and b column in the storage unit (410) (provided that a and b are integers greater than or equal to 2).

[0051] As illustrated in FIG. 3, the control unit (400) can control the suction structure (200) and the gripper (500). In exemplary embodiments, the control unit (400) can control the suction of air through the suction structure (200). For example, the control unit (400) can control the suction structure (200) to suck air or not to suck air. In addition, the control unit (400) can control the gripper (500) to grip or release the tubes (10). For example, as illustrated in FIGS. 1A and 1B, the control unit (400) can control the gripper (500) to be positioned parallel to the ground, or as illustrated in FIGS. 2A and 2B, the control unit (400) can control the gripper (500) to be positioned adjacent to each other. In other exemplary embodiments, the control unit (400) may also control the overall operation of the tube transport device (100).

[0052] As illustrated in FIG. 4A, the tube (10) may include a container (22) and a lid (27). The container (22) may have a cylindrical shape, and a protrusion (25) may be formed on a side of the container (22) (e.g., a neck of the tube). In addition, the container (22) may be capped (or sealed) with a lid (27). Furthermore, the container (22) may contain a liquid solution (or a solid powder).

[0053] As illustrated in FIGS. 4b and 4c, a burr (15) may be generated on the outer surface of the lid (27) during the manufacturing process of the lid (27). Here, the burr (15) refers to a thin, fin-shaped, excess portion generated on the outer surface of a metal or plastic product when the surface of the product is not cleanly processed during the manufacturing process. For example, FIG. 4b illustrates a lid (27) in which a burr (15) is not generated, and FIG. 4c illustrates a lid (27) in which a burr (15) is generated.

[0054] As illustrated in FIG. 5, first to fifth suction members (201, 202, 203, 204, 205), first to fourth pusher blocks (301, 302, 303, 304), and first and second side pusher blocks (430, 450) may be positioned on the lower surface of the body (110). Additionally, at least one of the first to fourth pusher blocks (301, 302, 303, 304) may be positioned between adjacent suction members among the first to fifth suction members (201, 202, 203, 204, 205), and the first and second side pusher blocks (430, 450) may be positioned on both sides of the first to fourth pusher blocks (301, 302, 303, 304) and the first to fifth suction members (201, 202, 203, 204, 205).

[0055] In exemplary embodiments, the suction structure (200) can suck air and maintain contact with the upper surface of the tube (10), and the elastic structure (300) can provide elastic force in the direction from the body (110) to the tube (10) with respect to the upper surface of the tube (10).

[0056] FIGS. 6 and 7 are drawings for explaining the suction structure and elastic structure included in the tube transport device of FIG. 5, and FIG. 8 is a perspective view for explaining the gripper included in the tube transport device of FIG. 1. For example, FIG. 8a is a perspective view showing a state in which the first and second grippers (510, 520) are positioned parallel to the ground, and FIG. 8b is a perspective view showing a state in which the first and second grippers (510, 520) are positioned adjacent to each other.

[0057] Referring to FIGS. 1, 5, 6, 7, and 8, a fixing member (130) may be positioned on the body (110), and the fixing member (130) may be connected to the robot arm. A gripper (500) may be connected to a side of the fixing member (130), and as shown in FIGS. 1, 2, and 8, the tube transport device (100) may have a state in which the first gripper (510) and the second gripper (520) are positioned parallel to the ground (see FIG. 8a) and a state in which the first gripper (510) and the second gripper (520) are positioned adjacent to each other (see FIG. 8b) via the first and second pivot axes (515, 525). Additionally, a body (110) can be connected to the bottom surface of the fixed part (130), and the body (110) can be fixed to the fixed part (130).

[0058] The fixing member (130) may include a metal, an alloy, a metal nitride, etc. For example, the fixing member (130) may include a metal material such as gold (Au), silver (Ag), aluminum (Al), iron (Fe), zinc (Zn), lead (Nb), tungsten (W), copper (Cu), platinum (Pt), nickel (Ni), titanium (Ti), palladium (Pd), magnesium (Mg), calcium (Ca), lithium (Li), chromium (Cr), tantalum (Ta), molybdenum (Mo), scandium (Sc), neodymium (Nd), iridium (Ir), etc., an alloy such as an alloy containing aluminum, an alloy containing silver, an alloy containing copper, an alloy containing molybdenum, etc., and a metal nitride such as aluminum nitride (AlN), tungsten nitride (WN), titanium nitride (TiN), chromium nitride (CrN), tantalum nitride (TaN), etc. In other exemplary embodiments, the fixing member (130) may include a plastic such as polyether ether ketone PEEK, polyacrylether ketone PAEK, polyether imide PEI, polyether sulfone PES, or the like.

[0059] A body (110) may be positioned below the fixed member (130). As described above, first to fifth suction members (201, 202, 203, 204, 205), first to fourth pusher blocks (301, 302, 303, 304), and first and second side pusher blocks (430, 450) may be mounted on the lower portion of the body (110). The body (110) may be manufactured using a metal, an alloy, a metal nitride, a plastic, or the like.

[0060] Referring again to FIGS. 5 and 6, first to fifth suction members (201, 202, 203, 204, 205) may be arranged on the bottom surface of the body (110) spaced apart from each other by a first interval (sd) along the first direction (D1). A portion of each of the first to fifth suction members (201, 202, 203, 204, 205) may protrude from the bottom surface of the body (110), and the remaining portion of each of the first to fifth suction members (201, 202, 203, 204, 205) may be located inside the body (110). In other words, first openings may be formed on the bottom surface of the body (110), and a portion of each of the first to fifth suction members (201, 202, 203, 204, 205) may protrude from the bottom surface of the body (110) through the first openings. Here, the length by which each of the first to fifth suction members (201, 202, 203, 204, 205) protrudes from the bottom surface of the body (110) is defined as the first length (h1). In addition, a passage (e.g., an opening) through which air can move may be formed in the center of each of the first to fifth suction members (201, 202, 203, 204, 205). Each of the first to fifth suction members (201, 202, 203, 204, 205) can be manufactured using a metal, an alloy, a metal nitride, a plastic, or the like. In other exemplary embodiments, when each of the first to fifth suction members (201, 202, 203, 204, 205) comes into contact with the tube (10), a buffer member made of rubber, silicone, or the like may be mounted on the lower end of each of the first to fifth suction members (201, 202, 203, 204, 205) to alleviate impact.

[0061] On the lower surface of the body (110), the first to fourth pusher blocks (301, 302, 303, 304) may be arranged spaced apart from each other at a first interval (sd) along the first direction (D1). In other words, the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) may be arranged alternately along the first direction (D1). A portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may protrude from the bottom surface of the body (110), and the remaining portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may be positioned inside the body (110). In other words, second openings may be formed in the bottom surface of the body (110), and a portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may protrude from the bottom surface of the body (110) through the second openings. Additionally, the size (e.g., diameter) of the remaining portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may be larger than the size (e.g., diameter) of the portion of each of the first to fourth pusher blocks (301, 302, 303, 304). In other words, the size of the portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may be substantially the same as the size (e.g., diameter) of the second opening, and the size of the remaining portion of each of the first to fourth pusher blocks (301, 302, 303, 304) may be larger than the size of the second opening. Accordingly, since the size of the remaining portion of each of the first to fourth pusher blocks (301, 302, 303, 304) located inside the body (110) is larger than the size of the second opening, the first to fourth pusher blocks (301, 302, 303, 304) can be prevented from being separated from the body (110).Here, the length by which each of the first to fourth pusher blocks (301, 302, 303, 304) protrudes from the bottom surface of the body (110) is defined as the second length (h2). In exemplary embodiments, the length by which each of the first to fourth pusher blocks (301, 302, 303, 304) protrudes from the bottom surface of the body (110) (i.e., the second length (h2)) may be greater than the length by which each of the first to fifth suction members (201, 202, 203, 204, 205) protrudes from the bottom surface of the body (110) (i.e., the first length (h1)). Additionally, the elastic structure (300) may further include an elastic member (600), and the elastic member (600) may contact the upper surface of each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450). The elastic member (600) may include a compression spring. For example, the compression spring may be an open coil helical spring that provides resistance to a compression force applied in an axial direction (e.g., a second direction (D2) or a fifth direction (D5)).

[0062] For example, as illustrated in FIG. 1, in a storage unit (410) in which tubes (10) are arranged, when the tubes (10) positioned at preset positions and the first to fifth suction members (201, 202, 203, 204, 205) are in contact with each other, the first to fourth pusher blocks (301, 302, 303, 304) can contact the tubes (10) positioned adjacent to the tubes (10) in contact with the first to fifth suction members (201, 202, 203, 204, 205). In this case, since the second length (h2) is greater than the first length (h1), each of the first to fourth pusher blocks (301, 302, 303, 304) can move in the direction from the tube (10) to the body (110) (e.g., the fifth direction (D5)), and the elastic members (600) positioned on each of the first to fourth pusher blocks (301, 302, 303, 304) can be compressed. As a result, each of the first to fourth pusher blocks (301, 302, 303, 304) can provide an elastic force to each of the tubes (10) in contact with each of the first to fourth pusher blocks (301, 302, 303, 304) in the direction from the body (110) to the tube (10) (e.g., the second direction (D2)). Here, the fifth direction (D5) and the second direction (D2) may be substantially opposite directions.

[0063] In exemplary embodiments, the distance between two adjacent suction members among the first to fifth suction members (201, 202, 203, 204, 205) and the distance between two adjacent pusher blocks among the first to fourth pusher blocks (301, 302, 303, 304) and the distance between two adjacent pusher blocks and the first to fourth pusher blocks may be substantially the same.

[0064] Referring back to FIGS. 5 and 7, the first side pusher block (430) may extend in the first direction (D1) and spaced apart from the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) in the third direction (D3). The first side pusher block (430) may face one side of the suction structure (200) and each of the first to fourth pusher blocks (301, 302, 303, 304) and may have a bar shape. A portion of the first side pusher block (430) may protrude from the bottom surface of the body (110), and the remaining portion of the first side pusher block (430) may be located inside the body (110). In other words, a third opening may be formed in the bottom surface of the body (110), and a portion of the first side pusher block (430) may protrude from the bottom surface of the body (110) through the third opening. In addition, a size (e.g., diameter) of the remaining portion of the first side pusher block (430) may be larger than a size (e.g., diameter) of the portion of the first side pusher block (430). In other words, a size of the portion of the first side pusher block (430) may be substantially the same as a size (e.g., diameter) of the third opening, and a size of the remaining portion of the first side pusher block (430) may be larger than a size of the third opening. Accordingly, since the size of the remaining portion of the first side pusher block (430) located inside the body (110) is larger than the size of the third opening, the first side pusher block (430) can be prevented from being separated from the body (110).

[0065] The second side pusher block (450) may extend in the first direction (D1) and be spaced apart from the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) in the fourth direction (D4). The second side pusher block (450) may face the other side of the suction structure (200) and each of the first to fourth pusher blocks (301, 302, 303, 304) and may have a bar shape. Here, the third direction (D3) and the fourth direction (D4) may be substantially opposite directions. A portion of the second side pusher block (450) may protrude from the bottom surface of the body (110), and the remaining portion of the second side pusher block (450) may be located inside the body (110). In other words, a fourth opening may be formed in the bottom surface of the body (110), and the portion of the second side pusher block (450) may protrude from the bottom surface of the body (110) through the fourth opening. In addition, a size (e.g., diameter) of the remaining portion of the second side pusher block (450) may be larger than a size (e.g., diameter) of the portion of the second side pusher block (450). In other words, a size of the portion of the second side pusher block (450) may be substantially the same as a size (e.g., diameter) of the fourth opening, and a size of the remaining portion of the second side pusher block (450) may be larger than a size of the fourth opening. Accordingly, since the size of the remaining portion of the second side pusher block (450) located inside the body (110) is larger than the size of the fourth opening, the second side pusher block (450) can be prevented from being separated from the body (110).

[0066] In exemplary embodiments, the first side pusher block (430) and the second side pusher block (450) may be substantially parallel to each other, and the suction structure (200) and the first to fourth pusher blocks (301, 302, 303, 304) may be positioned between the first and second side pusher blocks (430, 450). In addition, the length by which each of the first and second side pusher blocks (430, 450) protrudes from the bottom surface of the body (110) is defined as the second length (h2), and the length by which each of the first and second side pusher blocks (430, 450) protrudes from the bottom surface of the body (110) (i.e., the second length (h2)) and the length by which each of the first to fourth pusher blocks (301, 302, 303, 304) protrudes from the bottom surface of the body (110) (i.e., the second length (h2)) may be substantially the same.

[0067] For example, as illustrated in FIG. 1, in a storage unit (410) in which tubes (10) are arranged, the tubes (10) may be arranged along a column direction (e.g., a first direction (D1) or a sixth direction (D6)) and a row direction (e.g., a third direction (D3) or a fourth direction (D4)). Here, the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) may correspond to tubes (10) positioned in the same row among the tubes (10), and the first and second side pusher blocks (430, 450) may correspond to tubes (10) positioned in rows adjacent to the tubes (10) corresponding to the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) among the tubes (10).

[0068] That is, in the storage unit (410) where the tubes (10) are arranged, when the tubes (10) located in the same row and the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) come into contact, each of the first to fourth pusher blocks (301, 302, 303, 304) can provide elasticity to each of the remaining tubes (10) except for the tubes (10) that come into contact with the first to fifth suction members (201, 202, 203, 204, 205) among the tubes (10) located in the same row, and the first and second side pusher blocks (430, 450) can provide elasticity to each of the tubes (10) located in the adjacent rows. there is.

[0069] In other words, the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) can contact the tubes (10) located in the same row among the tubes (10), and the first and second side pusher blocks (430, 450) can contact the tubes (10) located in rows adjacent to the tubes (10) corresponding to the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) among the tubes (10). In this case, since the second length (h2) is greater than the first length (h1), each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can move in the direction from the tube (10) to the body (110), and the elastic member (600) positioned on each of the first and second side pusher blocks (430, 450) can be compressed. As a result, each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can provide elastic force to each of the tubes (10) in contact with each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) in the direction from the body (110) to the tube (10). Specifically, due to the movement of each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) in the fifth direction (D5), an elastic force (or restoring force) may be generated to return the compressed elastic member (600) (see FIGS. 9 and 10) to its original shape (FIGS. 6 and 7).Since the elastic member (600) is in contact with each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450), the elastic force can be provided to the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) through the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450). Accordingly, when the tube transport device (100) is raised in the fifth direction (D5) together with the tubes (10) in contact with the suction structure (200) while maintaining a state of sucking air through the suction structure (200), the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) are not lifted together with the tubes (10) in contact with the suction structure (200) due to the elastic force provided, and the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can remain in the storage unit (410).

[0070] Referring again to FIGS. 1, 2, and 8, the gripper (500) can grip or release the tubes (10) that are in contact with the first to fifth suction members (201, 202, 203, 204, 205).

[0071] The first gripper (510) may be positioned on one side of the fixed portion (130) and may be hinge-connected to a first pivot shaft (515) extending in a first direction (D1). A first end of the first gripper (510) may be adjacent to the first pivot shaft (515). In addition, a second end of the first gripper (510) may extend in the first direction (D1), and the second end of the first gripper (510) may include a number of first recessed portions (530) equal to the number (e.g., 5) of the first to fifth suction members (201, 202, 203, 204, 205).

[0072] The second gripper (520) may be positioned on the other side of the fixed member (130) and may be hinge-connected to a second pivot shaft (525) extending in a first direction (D1). A first end of the second gripper (520) may be adjacent to the second pivot shaft (525). In addition, a second end of the second gripper (520) may extend in the first direction (D1), and the second end of the second gripper (520) may include a number of second recessed portions (540) equal to the number of the first to fifth suction members (201, 202, 203, 204, 205) (e.g., 5).

[0073] In exemplary embodiments, the first and second grippers (510, 520) may be positioned substantially parallel to the bottom surface of the body (110) via the first and second pivot axes (515, 525) to release the tubes (10) from contact with the first to fifth suction members (201, 202, 203, 204, 205). In addition, the second ends of each of the first and second grippers (510, 520) may be positioned adjacent to each other to grip the tubes (10) from contact with the first to fifth suction members (201, 202, 203, 204, 205). Here, when the second ends of each of the first and second grippers (510, 520) are positioned adjacent to each other, the tubes (10) can be positioned within the first and second recessed portions (530, 540), and as shown in FIG. 2b, the first and second recessed portions (530, 540) can be formed along the profile of the outer surface of the container (22).

[0074] The suction structure (200), elastic structure (300), and gripper (500) can be manufactured using metal, alloy, metal nitride, plastic, etc.

[0075] FIGS. 9 and 10 are drawings for explaining a state in which the suction structure and elastic structure of FIGS. 6 and 7 are in contact with a tube arranged in a storage unit. For example, the arrows shown in FIGS. 9 and 10 may indicate the direction in which a force is applied to the tube (10).

[0076] Referring to FIGS. 1, 9 and 10, in order to transport the tubes (10) positioned at preset positions in preset columns in a storage unit (410) in which the tubes (10) are arranged along the row and column directions, when the upper surface of each of the tubes (10) positioned at the preset positions and the lower surface of each of the first to fifth suction members (201, 202, 203, 204, 205) come into contact, each of the first to fourth pusher blocks (301, 302, 303, 304) in contact with the remaining tubes (10) except for the tubes (10) in contact with the first to fifth suction members (201, 202, 203, 204, 205) in the preset row can move in the fifth direction (D5), and the first to fourth pusher blocks (301, 302, 303, 304) The elastic member (600) positioned on each of the upper surfaces can be compressed.

[0077] In addition, in order to transport the tubes (10) positioned at the preset positions of the preset columns in the storage unit (410) in which the tubes (10) are arranged along the row and column directions, when the upper surface of each of the tubes (10) positioned at the preset positions and the lower surface of each of the first to fifth suction members (201, 202, 203, 204, 205) come into contact, each of the first and second side pusher blocks (430, 450) in contact with the tubes (10) positioned in the row adjacent to the preset row can move in the fifth direction (D5), and the elastic member (600) positioned on each of the first and second side pusher blocks (430, 450) can be compressed. After the elastic members (600) positioned on each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) are compressed, air can be sucked in through the first to fifth suction members (201, 202, 203, 204, 205). In this case, the tubes (10) in contact with the first to fifth suction members (201, 202, 203, 204, 205) can have a force applied in the fifth direction (D5) due to the suction force of the suction structure (200), and the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can have a force applied in the second direction (D2) due to the elastic force of the elastic member (600).

[0078] However, although the present invention has been described as including five suction members and the elastic structure (300) including four pusher blocks, the configuration of the present invention is not limited thereto. For example, in other exemplary embodiments, the suction structure (200) may include first to nth (where n is an integer greater than or equal to 3) suction members arranged along the first direction (D1), and the elastic structure (300) may include first to mth (where m is an integer greater than or equal to 2) pusher blocks arranged along the first direction (D1). Among the first to nth suction members, the jth (where j is an integer greater than or equal to 1) pusher block among the first to mth pusher blocks may be positioned between the kth (where k is an integer between 1 and n) and k+1th suction members, and the j+1th pusher block may be positioned between the k+1th and k+2th suction members. In addition, the elastic structure (300) may further include first and second side pusher blocks that extend in the first direction (D1) on both sides of the first to n-th suction members and the first to m-th pusher blocks and face each other. Furthermore, the tubes (10) in the storage unit (410) may be arranged in rows a and columns b (wherein a and b are integers greater than or equal to 3), and when the first to n-th suction members come into contact with the tubes (10) located in column g (wherein g is an integer between 1 and a), the first to m-th pusher blocks may provide elastic force to each of the tubes (10) located in column g that do not come into contact with the first to n-th suction members, the first side pusher block may provide elastic force to each of the tubes (10) located in column g-1, and the second side pusher block may provide elastic force to each of the tubes (10) located in column g+1.

[0079] In addition, in the present invention, the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) are described as being arranged alternately in the first direction (D1), but the configuration of the present invention is not limited thereto. For example, in other exemplary embodiments, at least two pusher blocks may be positioned along the first direction (D1) between two adjacent suction members among the first to fifth suction members (201, 202, 203, 204, 205), and the first to fifth suction members (201, 202, 203, 204, 205) and the first to fourth pusher blocks (301, 302, 303, 304) may be arranged irregularly along the first direction (D1).

[0080] In a conventional tube transport device, in order to transport the tubes (10) located in the odd-numbered rows in the first column of the storage unit (410), the conventional tube transport device brings the tubes (10) located in the odd-numbered rows in the first column of the storage unit (410) into contact with the suction members, and then sucks in air to lift the tubes (10) located in the odd-numbered rows in the first column of the storage unit (410), and due to the burr (15), the tubes (10) located adjacent to the tubes (10) located in the odd-numbered rows in the first column of the storage unit (410) can be lifted together with the tubes (10) located in the odd-numbered rows in the first column of the storage unit (410). In such a case, the tube (10) that is lifted together while the conventional tube transport device moves may be lost, or the tube (10) that is lifted together may be lost while the conventional tube transport device releases the tubes (10) into a designated space.

[0081] According to exemplary embodiments of the present invention, the tube transport device (100) includes an elastic structure (300) (e.g., first to fourth pusher blocks (301, 302, 303, 304) and first and second side pusher blocks (430, 450)), so that even if a burr (15) is created in the tube (10), when the tube transport device (100) lifts the tubes (10) positioned at preset positions, the tubes (10) positioned adjacent to the tubes (10) positioned at the preset positions may not be lifted together with the tubes (10) positioned at the preset positions. Accordingly, since the tube transport device (100) accurately transports only the tubes (10) positioned at the preset positions, the tubes (10) may not be lost.

[0082] In addition, since the tubes (10) positioned adjacent to the tubes (10) positioned at the preset positions are not lifted together with the tubes (10) positioned at the preset positions, the gripper (500) can prevent a failure of the gripper (500) by only gripping the tubes (10) positioned at the preset positions.

[0083] Fig. 11 is a flowchart illustrating a tube transport method of a tube transport device according to exemplary embodiments of the present invention, and Fig. 12 is a drawing for explaining the tube transport method of the tube transport device of Fig. 11. For example, Fig. 12 is a drawing for explaining the transport order of tubes arranged in a storage unit through a tube transport device.

[0084] Referring to FIGS. 11 and 12, the tube transport method of the tube transport device (100) includes a step (S810) of moving the tube transport device (100) from the storage unit (410) to preset positions, a step (S820) of lowering the tube transport device (100) so that the elastic structure (300) comes into contact with the tubes (10) located at the preset positions and the adjacent tubes (10), a step (S830) of lowering the tube transport device (100) so that the tubes (10) in contact with the elastic structure (300) are pressurized, and then a step (S830) of bringing the suction structure (200) into contact with the tubes (10) located at the preset positions, and then a step (S840) of sucking air through the suction structure (200) while maintaining a state of sucking air through the suction structure (200). It may include a step (S850) of raising a tube transport device (100) together with tubes (10) in contact with a structure (200), a step (S860) of blocking air intake through the suction structure (200) after gripping the tubes (10) in contact with the suction structure (200) through a gripper (500), a step (S870) of transporting the tubes (10) gripped by the tube transport device (100) through the gripper (500), and a step (S880) of releasing the gripper (500) to provide the tubes (10) to a designated space.

[0085] Referring again to FIGS. 1a, 11, and 12a, the tube transport device (100) can be moved to preset positions in the storage unit (410), and the tube transport device (100) can be lowered so that the elastic structure (300) can contact the tubes (10) positioned at the preset positions and the adjacent tubes (10). Here, the preset positions can be positions corresponding to rows 1, 3, 5, 7, and 9 of the second column in the storage unit (410). Additionally, the first to fourth pusher blocks (301, 302, 303, 304) of the elastic structure (300) can be in contact with the tubes (10) located in rows 2, 4, 6, and 8 of the second column in the storage unit (410), and the first and second side pusher blocks (430, 450) of the elastic structure (300) can be in contact with the tubes (10) located in rows 1 and 3 of the storage unit (410). For example, the first pusher block (301) can contact a tube (10) located in the second row of the second column in the storage unit (410), the second pusher block (302) can contact a tube (10) located in the fourth row of the second column in the storage unit (410), the third pusher block (303) can contact a tube (10) located in the sixth row of the second column in the storage unit (410), and the fourth pusher block (304) can contact a tube (10) located in the eighth row of the second column in the storage unit (410).

[0086] Referring again to FIGS. 9, 10, 11, and 12a, after the elastic structure (300) comes into contact with the tubes (10) positioned at the predetermined locations and the adjacent tubes (10), the tube transport device (100) may be lowered so that the suction structure (200) comes into contact with the tubes (10) positioned at the predetermined locations. In this process, the tubes (10) in contact with the elastic structure (300) may be pressurized in the second direction (D2). For example, while the tube transport device (100) is lowered so that the suction structure (200) comes into contact with the tubes (10) positioned at the predetermined positions, each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can move in the fifth direction (D5), and the elastic member (600) positioned on each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can be compressed. As a result, each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can provide an elastic force in the second direction (D2) to each of the tubes (10) in contact with each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450), and the tubes (10) in contact with each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can be pressurized with a force corresponding to the elastic force.

[0087] After each of the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) moves in the fifth direction (D5) by a length that is equal to the second length (h2) minus the first length (h1) (see FIGS. 6 and 7), the suction structure (200) and the tubes (10) positioned at the preset positions can come into contact. Here, the suction structure (200) can come into contact with the tubes (10) positioned at the 1st, 3rd, 5th, 7th, and 9th rows of the 2nd row in the storage unit (410). For example, a first suction member (201) may contact a tube (10) located in the first row of the second column in the storage unit (410), a second suction member (202) may contact a tube (10) located in the third row of the second column in the storage unit (410), a third suction member (203) may contact a tube (10) located in the fifth row of the second column in the storage unit (410), a fourth suction member (204) may contact a tube (10) located in the seventh row of the second column in the storage unit (410), and a fifth suction member (205) may contact a tube (10) located in the ninth row of the second column in the storage unit (410).

[0088] After the suction structure (200) and the tubes (10) positioned at the predetermined locations come into contact, air can be sucked through the suction structure (200). In this process, the tubes (10) in contact with the suction structure (200) can be pressurized in the fifth direction (D5), and the tubes (10) in contact with the suction structure (200) can maintain a state of being in contact with the suction structure (200).

[0089] Referring again to FIGS. 1b, 11, and 12b, the tube transport device (100) can be raised (e.g., moved in the fifth direction (D5)) together with the tubes (10) in contact with the suction structure (200) while maintaining a state of sucking air through the suction structure (200). Here, while the tube transport device (100) together with the contacted tubes (10) moves in the fifth direction (D5) by a length equal to the second length (h2) minus the first length (h1), the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can pressurize the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450). That is, when the tube transport device (100) is raised together with the tubes (10) in contact with the suction structure (200), the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) may be left in the storage unit (410) by the pressurized force, and rows 1, 3, 5, 7, and 9 of the second column in the storage unit (410) may be empty spaces.

[0090] Referring again to FIGS. 2b, 11, and 12b, after the tubes (10) in contact with the suction structure (200) are gripped by the gripper (500), the intake of air through the suction structure (200) can be blocked. In this case, the tubes (10) that were in contact with the suction structure (200) can be separated from the suction structure (200).

[0091] After the intake of air through the suction structure (200) is blocked, the tube transport device (100) can transport the gripped tubes (10) through the gripper (500), and release the gripper (500) to provide the tubes (10) to a designated space.

[0092] Referring again to FIGS. 1a, 11, and 12b, after the tube transport device (100) provides the tubes (10) to the designated space, the tube transport device (100) can move to preset positions in the storage unit (410), and the tube transport device (100) can be lowered so that the first and second side pusher blocks (430, 450) of the elastic structure (300) can contact the tubes (10) positioned at the preset positions and the adjacent tubes (10). Here, the preset positions can be positions corresponding to rows 2, 4, 6, 8, and 10 of the second column in the storage unit (410). Additionally, the first to fourth pusher blocks (301, 302, 303, 304) of the elastic structure (300) can be positioned in rows 3, 5, 7, and 9 of the second column in the storage unit (410), and the first and second side pusher blocks (430, 450) of the elastic structure (300) can be in contact with the tubes (10) positioned in rows 1 and 3 of the storage unit (410).

[0093] Referring again to FIGS. 9, 10, 11, and 12b, after the first and second side pusher blocks (430, 450) contact the tubes (10) positioned at the predetermined positions and the adjacent tubes (10), the tube transport device (100) may be lowered so that the suction structure (200) contacts the tubes (10) positioned at the predetermined positions. In this process, the tubes (10) in contact with the first and second side pusher blocks (430, 450) may be pressurized in the second direction (D2). For example, while the tube transport device (100) is lowered so that the suction structure (200) comes into contact with the tubes (10) positioned at the predetermined positions, each of the first and second side pusher blocks (430, 450) can move in the fifth direction (D5), and the elastic members (600) positioned on each of the first and second side pusher blocks (430, 450) can be compressed. As a result, each of the first and second side pusher blocks (430, 450) can provide an elastic force in the second direction (D2) to each of the tubes (10) in contact with each of the first and second side pusher blocks (430, 450), and the tubes (10) in contact with each of the first and second side pusher blocks (430, 450) can be pressurized with a force corresponding to the elastic force.

[0094] After each of the first and second side pusher blocks (430, 450) moves in the fifth direction (D5) by a length equal to the second length (h2) minus the first length (h1) (see FIGS. 6 and 7), the suction structure (200) and the tubes (10) positioned at the preset positions can come into contact. Here, the suction structure (200) can come into contact with the tubes (10) positioned at rows 2, 4, 6, 8, and 10 of the second row in the storage unit (410). For example, a first suction member (201) may contact a tube (10) located in the second row of the second column in the storage unit (410), a second suction member (202) may contact a tube (10) located in the fourth row of the second column in the storage unit (410), a third suction member (203) may contact a tube (10) located in the sixth row of the second column in the storage unit (410), a fourth suction member (204) may contact a tube (10) located in the eighth row of the second column in the storage unit (410), and a fifth suction member (205) may contact a tube (10) located in the tenth row of the second column in the storage unit (410).

[0095] After the suction structure (200) and the tubes (10) positioned at the predetermined locations come into contact, air can be sucked through the suction structure (200). In this process, the tubes (10) in contact with the suction structure (200) can be pressurized in the fifth direction (D5), and the tubes (10) in contact with the suction structure (200) can maintain a state of being in contact with the suction structure (200).

[0096] Referring again to FIGS. 1b, 11, and 12c, the tube transport device (100) can be raised together with the tubes (10) in contact with the suction structure (200) while maintaining a state of sucking air through the suction structure (200). Here, while the tube transport device (100) with the contacted tubes (10) moves in the fifth direction (D5) by a length obtained by subtracting the first length (h1) from the second length (h2), the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) can pressurize the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450). That is, when the tube transport device (100) is raised together with the tubes (10) in contact with the suction structure (200), the tubes (10) in contact with the first to fourth pusher blocks (301, 302, 303, 304) and the first and second side pusher blocks (430, 450) may be left in the storage unit (410), and rows 2, 4, 6, 8, and 10 of the second column in the storage unit (410) may be empty spaces.

[0097] Referring again to FIGS. 2b, 11, and 12c, after the tubes (10) in contact with the suction structure (200) are gripped by the gripper (500), the intake of air through the suction structure (200) may be blocked. In this case, the tubes (10) that were in contact with the suction structure (200) may be separated from the suction structure (200).

[0098] After the intake of air through the suction structure (200) is blocked, the tube transport device (100) can transport the gripped tubes (10) through the gripper (500), and release the gripper (500) to provide the tubes (10) to a designated space.

[0099] In the above manner, the tube transport device (100) can transport all tubes (10) arranged in the storage unit (410) to the designated space.

[0100] However, for convenience of explanation, the tube transport device (100) is described as transporting tubes (10) arranged in two rows in the storage unit (410), but the method of the present invention is not limited thereto. For example, the tube transport device (100) may transport tubes (10) arranged in one row in the storage unit (410), or may transport tubes (10) arranged in a preset row.

[0101] In addition, although the present invention has been described as the tube transport device (100) transporting the gripped tubes (10) through the gripper (500) after the air intake through the suction structure (200) is blocked, the method of the present invention is not limited thereto. For example, after the tube transport device (100) transports the gripped tubes (10) through the gripper (500), the air intake through the suction structure (200) may be blocked. That is, the tube transport device (100) may transport the gripped tubes (10) through the gripper (500) while maintaining the air intake through the suction structure (200).

[0102] Although the present invention has been described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

[0103] The present invention can be applied to tube transport devices that transport tubes. For example, it can be applied to a tube transport device that transports tubes positioned at preset locations from a storage unit in which tubes are arranged.

[0104] <Explanation of symbols>

[0105] 10: Tube 15: Burr

[0106] 22: Container 25: Protrusion

[0107] 27: Lid 100: Tube transport device

[0108] 110: Body 130: Fixed part

[0109] 200: Suction structure 300: Elastic structure

[0110] 201, 202, 203, 204, 205: first to fifth suction members

[0111] 301, 302, 303, 304: First to fourth pusher blocks

[0112] 400: Control unit 410: Storage unit

[0113] 430: 1st side pusher block 450: 2nd side pusher block

[0114] 500: Gripper 510: 1st gripper

[0115] 520: Second gripper 515: First pivot axis

[0116] 525: Second pivot axis 530: First depression

[0117] 540: Second depression 600: Elastic member

Claims

1. In a tube transport device that transports tubes located at preset positions among the tubes in a storage unit in which a plurality of tubes are arranged, body; A suction structure including suction members positioned on the lower surface of the body and maintaining contact with the upper surface of the tube by sucking air; and A tube transport device comprising pusher blocks protruding from the lower surface of the body, at least one pusher block positioned between the suction members on the lower surface of the body, and an elastic structure providing an elastic force in the direction from the body to the tube with respect to the upper surface of the tube.

2. A tube transport device according to claim 1, characterized in that the suction members and the pusher blocks are arranged alternately along the first direction.

3. A tube transport device according to claim 1, characterized in that the distance between adjacent suction members among the suction members and the distance between adjacent pusher blocks among the pusher blocks are the same.

4. A tube transport device characterized in that, in the storage section in which the tubes are arranged, when the tubes positioned at the predetermined positions and the suction members come into contact, the pusher blocks come into contact with the tubes positioned adjacent to the tubes in contact with the suction members, and each of the pusher blocks provides elastic force to each of the tubes.

5. A tube transport device, characterized in that, in the first paragraph, the length by which each of the pusher blocks protrudes from the bottom surface of the body is greater than the length by which each of the suction members protrudes from the bottom surface of the body.

6. In the first paragraph, the elastic structure, A tube transport device characterized in that it further includes a first side pusher block having a bar shape, extending in a first direction away from the suction members and the pusher blocks on the lower surface of the body, facing one side of each of the suction members and the pusher blocks.

7. In the 6th paragraph, the elastic structure, A tube transport device characterized in that it further includes a second side pusher block having a bar shape, extending in the first direction away from the suction members and the pusher blocks on the lower surface of the body, and facing the other side of each of the suction members and the pusher blocks.

8. A tube transport device according to claim 7, wherein the first side pusher block and the second side pusher block are parallel to each other, the suction members and the pusher blocks are positioned between the first and second side pusher blocks, and the length of each of the pusher blocks protruding from the bottom surface of the body is the same as the length of each of the first and second side pusher blocks protruding from the bottom surface of the body.

9. A tube transport device according to claim 7, wherein in the storage section in which the tubes are arranged, the tubes are arranged in the column direction and the row direction in the storage section, the suction members and the pusher blocks correspond to tubes positioned in the same column among the tubes, and the first and second side pusher blocks correspond to tubes positioned in adjacent rows to the tubes corresponding to the suction members and the pusher blocks among the tubes.

10. A tube transport device according to claim 9, wherein, in the storage section in which the tubes are arranged, when the tubes located in the same row and the suction members and the pusher blocks come into contact, each of the pusher blocks provides elasticity to each of the tubes located in the same row except for the tubes in contact with the suction members, and each of the first and second side pusher blocks provides elasticity to each of the tubes located in the adjacent rows.

11. In the first paragraph, the suction structure includes first to nth suction members (where n is an integer greater than or equal to 3) arranged along the first direction, The elastic structure includes first to mth pusher blocks (wherein m is an integer greater than or equal to 2) arranged along the first direction, A tube transport device characterized in that a jth (wherein j is an integer between 1 and m) pusher block among the first to nth suction members is positioned between the kth (wherein k is an integer between 1 and n) and k+1th suction members, and a j+1th pusher block is positioned between the k+1th and k+2th suction members.

12. In the 11th paragraph, the elastic structure, A tube transport device characterized in that it further includes first and second side pusher blocks extending in the first direction and facing each other on both sides of the first to n-th suction members and the first to m-th pusher blocks.

13. In the 12th paragraph, the tubes in the storage are arranged in rows a and columns b (wherein a and b are integers of 3 or more), and when the first to nth suction members come into contact with the tubes located in column g (wherein g is an integer between 1 and a), the first to mth pusher blocks provide elasticity to each of the tubes located in column g that do not come into contact with the first to nth suction members, the first side pusher block provides elasticity to each of the tubes located in column g-1, and the second side pusher block provides elasticity to each of the tubes located in column g+1. A tube transport device.

14. In paragraph 1, A tube transport device further comprising a gripper for gripping or releasing a tube in contact with each of the suction members.

15. In paragraph 14, Further comprising a fixing member positioned on the body and fixing the body, The above gripper, A first gripper positioned on one side of the above fixed part and hinge-connected to a first pivot axis extending in a first direction; and A tube transport device characterized by comprising a second gripper located on the other side of the fixed part and hinge-connected to a second pivot axis extending in the first direction.

16. In the 15th paragraph, the first end of the first gripper is adjacent to the first pivot axis, and the second end of the first gripper extends in the first direction and includes first recessed portions having the same number as the number of the suction members. A tube transport device characterized in that the first end of the second gripper is adjacent to the second pivot axis, and the second end of the second gripper extends in the first direction and includes a number of second recessed portions equal to the number of the suction members.

17. A tube transport device according to claim 16, wherein the first and second grippers are positioned parallel to the bottom surface of the body via the first and second pivot axes to release the tubes in contact with the suction members, and the second ends of each of the first and second grippers are positioned adjacent to each other to grip the tubes in contact with the suction members.

18. A tube transport device according to claim 17, characterized in that the tubes are positioned within the first and second recessed portions when the second ends of each of the first and second grippers are positioned adjacent to each other.

19. In paragraph 14, A tube transport device characterized in that it further includes a control unit that controls the suction of the air through the suction members and controls the gripper to grip or release the tubes.

20. In a tube transport device that transports tubes located at preset positions among the tubes in a storage unit in which a plurality of tubes are arranged, body; A suction structure including suction members positioned on the lower surface of the body and maintaining contact with the upper surface of the tube by sucking air; An elastic structure comprising pusher blocks protruding from the bottom surface of the body and first and second side pusher blocks extending in a first direction from the bottom surface of the body and spaced apart from the suction members and the pusher blocks and having a bar shape and located on one side and the other side of each of the suction members and the pusher blocks, at least one pusher block being located between the suction members on the bottom surface of the body, and providing an elastic force in the direction from the body to the tube with respect to the upper surface of the tube; A gripper for holding or releasing a tube in contact with each of the above suction members; and A tube transport device comprising a control unit for controlling the suction members so that the suction members suck air or not suck air, and for controlling the gripper so that the gripper grips or releases the tubes.

21. In a tube transport device that transports tubes located at preset positions among the tubes in a storage unit in which a plurality of tubes are arranged, body; A suction structure including suction members positioned on the lower surface of the body and maintaining contact with the upper surface of the tube by sucking air; and A tube transport device comprising a gripper for gripping or releasing a tube in contact with each of the above suction members.

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