Clamp system for manufacturing floor grid

Abstract

The present disclosure relates to a clamp system for manufacturing a floor grid. According to an embodiment, a clamp system includes: a base plate formed to allow an object to be processed to be seated on the upper portion thereof; a plurality of clamps formed on one side of the upper portion of the base plate and arranged at predetermined intervals to provide a pressing force for fixing the object to be processed; a sensor module including a positioning sensor formed at one end of the base plate in the longitudinal direction to obtain position information regarding a position at which the object to be processed is seated and a plurality of pressure sensors which measure a pressure value applied to a contact surface between the plurality of clamps and the object to be processed; and a control module which adjusts the pressing force of the plurality of clamps on the basis of sensor values measured by the sensor module.

Description

Clamp system for floor grid production

[0001] The present disclosure relates to a clamping system for manufacturing floor grids. More specifically, the present disclosure relates to a clamping system applicable to an MCT device for machining seat rails and cross beams, which are core components of the floor grid, an aircraft substructure.

[0002] The floor grid is a key component in the passenger-to-freighter conversion project for the A330 civil aircraft. Its reinforced floor structure is designed to increase the cargo capacity of the cargo aircraft, potentially increasing payload by up to 30% compared to existing passenger aircraft. Furthermore, due to its material (difficult-to-machine) and geometrical characteristics (up to 7 m in length), the floor grid presents a significant challenge in process optimization for strain control and productivity stabilization.

[0003] Various domestic automation companies are making great efforts to automatically process long aircraft parts exceeding 7 meters in length. However, due to the long length of the products and the nature of aluminum products, which are vulnerable to external impacts, they are facing many limitations in clamping the materials or adjusting the zero point.

[0004] In particular, the size of the floor grid components (workpieces) can reach up to 7 m, requiring workers to manually tighten and release multiple clamps and position the workpiece, resulting in a waste of time and manpower. For example, once the workpiece was secured to the base plate, workers had to individually tighten clamp bolts at over 20 clamp locations. After completing the clamping, the workers had to repeatedly recheck the clamping to ensure it was in the correct position, an inefficient process.

[0005] Accordingly, there is a need for the development of a clamping system technology to increase productivity by automatically adjusting the position and performing auto-clamping without requiring the operator to manually set the position of the workpiece or to engage and disengage the clamp.

[0006] According to some embodiments, a clamping system and method of operating the same for manufacturing a floor grid may be provided.

[0007] According to one embodiment of the present disclosure for achieving the above-described technical problem, a clamp system for manufacturing a floor grid may include: a base plate formed so that a workpiece is seated on the upper portion; a plurality of clamps formed on an upper side of the base plate and arranged at a predetermined interval to provide a pressing force for fixing the workpiece; a sensor module including a positioning sensor formed on one end of the base plate in the longitudinal direction to obtain position information on which the workpiece is seated and a plurality of pressure sensors for measuring a pressure value acting on a contact surface between the plurality of clamps and the workpiece; and a control module for adjusting the pressing force of the plurality of clamps based on the sensor value measured from the sensor module.

[0008] According to the present disclosure, productivity can be significantly improved through an auto-clamping system for a workpiece, and human accidents occurring during the clamping process can be reduced.

[0009] According to one embodiment, through a clamp system that is not affected by the worker's skill level or work environment, it is expected that the work time will be shortened by more than 80%, human error will be eliminated, and process quality will be improved.

[0010] FIG. 1 is a drawing schematically illustrating a clamp system according to one embodiment.

[0011] Figure 2 is a block diagram of a clamp system according to one embodiment.

[0012] FIG. 3 is a block diagram illustrating components of a clamp according to one embodiment.

[0013] Figure 4 is a flowchart illustrating the operation of a clamp system according to one embodiment.

[0014] In one embodiment, a clamp system may be provided, comprising: a base plate formed to allow a processing object to be secured thereon; a plurality of clamps formed on an upper side of the base plate and arranged at predetermined intervals to provide a pressing force for fixing the processing object; a sensor module including a positioning sensor formed on one end of the base plate in the longitudinal direction to obtain mounting state information on whether the processing object is normally secured and a plurality of pressure sensors for measuring a pressure value acting on a contact surface between the plurality of clamps and the processing object; and a control module for adjusting the pressing force of the plurality of clamps based on the sensor value measured from the sensor module.

[0015] The terms used in this specification will be briefly explained, and the present disclosure will be described in detail.

[0016] The terms used in this disclosure have been selected from widely used, current terms, taking into account the functions of the disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on the meanings of the terms and the overall content of the disclosure.

[0017] When a part of the specification is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part," "module," etc., used throughout the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software.

[0018] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description of the present disclosure, and similar parts are designated with similar reference numerals throughout the specification.

[0019] FIG. 1 is a drawing schematically illustrating a clamp system according to one embodiment.

[0020] According to one embodiment, the clamp system (1000) may include a base plate (110), a plurality of clamps (120), a sensor module (130), and a control module (140). However, the present invention is not limited thereto, and the clamp system (1000) may include more or fewer components. For example, unlike a conventional clamp system in which the position of the workpiece (1) is adjusted and the clamps are fastened manually by a worker, the clamp system (1000) may identify the position of the workpiece (1) based on the sensing values ​​measured from the positioning sensor (132) and the pressure sensor (134) included in the sensor module (130), and may clamp the workpiece (1) with an appropriate pressing force according to the material.

[0021] According to one embodiment, a plurality of support indexes (102) and a plurality of O-rings (104) may be formed on the upper portion of the base plate (110). For example, the plurality of support indexes (102) may be formed on one longitudinal side of the base plate (110) so that one side of the workpiece (1) may be supported in the process of the workpiece (1) being seated on the upper portion of the base plate (110). In addition, for example, the plurality of O-rings (104) may be provided with a fastening groove that is fastened when the base plate (110) is moved, and may be formed at a predetermined interval in an area that does not interfere with the workpiece (1).

[0022] According to one embodiment, the control module (140) can identify, through the positioning sensor (132), whether the workpiece (1) mounted on the upper portion of the base plate (110) is positioned in the correct position for clamping. For example, the positioning sensor (132) can be a proximity sensor for obtaining mounting status information including whether the workpiece (1) is normally mounted, which is determined by the distance from one end of the longitudinal direction of the workpiece (1).

[0023] In one embodiment, the proximity sensor may include at least one of an inductive proximity sensor, an ultrasonic proximity sensor, an optical proximity sensor, or a capacitive proximity sensor. For example, the inductive proximity sensor may include a measurement value for the distance including the magnitude of an induced current, the ultrasonic proximity sensor may include a measurement value for a reflected ultrasonic wave, and the optical proximity sensor may include a measurement value for a reflected light.

[0024] According to one embodiment, when the control module (140) determines that the workpiece (1) is properly seated on the upper portion of the base plate (110), the control module (140) determines driving information of the plurality of clamps (120), and drives the plurality of clamps (120) according to the determined driving information, thereby allowing the workpiece (1) to be fixed to the base plate (110).

[0025] According to one embodiment, the clamp system (1000) can perform the operation of the clamp system (1000) by interworking with the server (2000). For example, the server (2000) can receive information on the operation of a plurality of clamps (120) from the clamp system (1000) or information on the sensed values ​​measured from the sensor module (130). In addition, the server (2000) can store the received information, and when the stored information is modified or updated, the server (2000) can further store the modified and updated information. In addition, for example, the server (2000) can perform a part of the operation of the clamp system (1000) by executing a program related to the stored information through a processor (not shown) included in the server (2000).

[0026] Figure 2 is a block diagram of a clamp system according to one embodiment.

[0027] According to one embodiment, the base plate (110) may be formed so that a processing object is seated on the upper portion thereof, and may include a plurality of support indexes (102) and O-rings (104). For example, the plurality of support indexes (102) may be arranged at predetermined intervals on the upper portion of the base plate (110) to support one side of the longitudinal direction of the processing object when the processing object is seated on the base plate (110). According to one embodiment, the plurality of support indexes (102) may be arranged at intervals corresponding to the intervals at which the plurality of clamps (120) are arranged, but the present invention is not limited thereto.

[0028] According to one embodiment, each of the plurality of support indexes (102) is formed in a cylindrical shape so that the processing object does not deviate from the upper direction of the base plate (110), and the height of each of the plurality of support indexes (102) can be adjusted according to the height of one side of the processing object. For example, the plurality of support indexes (102) can be formed in a cylindrical shape so that the processing object does not deviate from the upper direction of the base plate (110) during the processing or moving process, and the height can be adjusted through a structure that moves and is fastened in the upper or lower direction of the base plate (110).

[0029] According to another embodiment, each of the plurality of support indexes (102) is formed in a form that is detachable from the base plate (110), thereby preventing interference from occurring during the process of settling the object to be processed (1), and the plurality of support indexes (102) may be selectively installed according to the height or material of the object to be processed. In addition, for example, the plurality of support indexes (102) may additionally be provided with an elastic member to prevent slipping or damage to the object to be processed on the surface that comes into contact with the object to be processed.

[0030] According to one embodiment, a plurality of O-rings (104) may be arranged at predetermined intervals on both sides of the base plate (110) to move the base plate (110) in combination with the transfer unit. For example, at least four of the plurality of O-rings (104) may be provided on the base plate (110), and a fastening groove may be formed to couple with the transfer unit.

[0031] According to one embodiment, the base plate (110) may further include a guide frame spaced apart from the positioning sensor (132) at a predetermined interval on the upper portion of the base plate (110) to support one end of the longitudinal direction of the object to be processed. For example, the guide frame may provide a guide so that the object to be processed can be easily aligned in the longitudinal direction during the process of being seated on the base plate (110), and may be detachable depending on product information of the object to be processed or the needs of the work.

[0032] According to one embodiment, a plurality of clamps (120) may be formed on an upper side of a base plate (110) and may be arranged at predetermined intervals to provide a pressing force for fixing the object to be processed. For example, the plurality of clamps (120) may be arranged to face a plurality of support indexes (102) to fix the object to be processed to the base plate (110). The components of the plurality of clamps (120) will be described in detail with reference to FIG. 3.

[0033] According to one embodiment, the plurality of clamps (120) may further include a variable clamp that provides a pressing force to fix the other end of the longitudinal direction of the object to be processed when one end of the object to be processed is seated on the guide frame. For example, the variable clamp may be formed in a structure that rises and falls in the vertical direction of the base plate (110) in a predetermined area to avoid interference with the object to be processed during the process of seating the object to the base plate (110).

[0034] According to one embodiment, when the variable clamp is determined to be not seated on the base plate (110) based on the seating state information obtained from the positioning sensor (132), the variable clamp is controlled to be in a lowered state, and when the workpiece (1) is determined to be normally seated on the base plate (110), the variable clamp can be controlled to apply pressure to the workpiece (1) in a raised state.

[0035] According to one embodiment, the sensor module (130) may include a positioning sensor (132) and a pressure sensor (134). According to one embodiment, the positioning sensor (132) may be formed at one end in the longitudinal direction of the base plate to obtain positioning status information including whether the object to be processed is normally positioned, and the pressure sensor (134) may measure a pressure value acting on a contact surface of the plurality of clamps and the object to be processed. For example, the pressure sensor (134) may measure a pressure value acting on a contact surface of the object to be processed and a pressurizing unit included in each of the plurality of clamps described below.

[0036] For example, the positioning sensor (132) may be a proximity sensor for obtaining the seating state information including whether the workpiece is normally seated, which is determined by the distance between the positioning sensor (132) and one end in the longitudinal direction of the workpiece supported on the guide frame. For example, the positioning sensor (132) may identify that the workpiece is normally seated when the distance between the one end in the longitudinal direction of the workpiece is identified as being within a preset threshold range. According to one embodiment, the positioning sensor (132) may transmit the obtained seating state information to the control module (140) in real time. According to one embodiment, the pressure sensor (134) may be provided in each of the plurality of clamps (120) and may transmit the measured pressure value to the control module (140) in real time.

[0037] According to one embodiment, the control module (140) includes a processor (216) and a memory (218), and can adjust the pressing force of the plurality of clamps (120) based on the sensor values ​​measured from the sensor module (130). The process of the control module (140) adjusting the pressing force of the plurality of clamps (120) will be described in detail with reference to FIG. 4.

[0038] According to one embodiment, if the control module (140) determines that the object to be processed is normally settled based on the settling status information acquired from the positioning sensor, before performing pressure control on the plurality of clamps, the control module first raises the variable clamp and then performs pressure control. If a user input regarding the release of the plurality of clamps is acquired or the object to be processed is identified as a defective product, some of the clamps whose pressure values ​​measured by the pressure sensor are greater than a preset threshold range are released first, and then the remaining clamps are released. For example, the control module (140) can effectively prevent damage to the object to be processed by first releasing some of the clamps whose pressure values ​​measured by the pressure sensor are greater than a preset threshold range, among the plurality of clamps.

[0039] The processor (216) can typically control the overall operation of the clamp system (1000). For example, the processor (216) can control the overall operation of a plurality of clamps (120), a sensor module (130), and a network interface (not shown) by executing programs stored in the memory (218).

[0040] According to one embodiment, the processor (216) according to the present disclosure can perform the function of the clamp system (1000) by executing programs stored in the memory (218). In addition, the processor (216) may be composed of one or more processors, and the one or more processors may be a general-purpose processor such as a CPU, an AP, a DSP (Digital Signal Processor), a graphics-only processor such as a GPU, or an artificial intelligence (AI)-only processor. According to one embodiment, when the processor (216) includes a general-purpose processor, an artificial intelligence processor, and a graphics-only processor, the artificial intelligence processor may be implemented as a separate chip from the general-purpose processor or the graphics-only processor.

[0041] In one embodiment, when the processor (216) is implemented as a plurality of processors or a graphics-only processor or an artificial intelligence-only processor, at least some of the plurality of processors or a graphics-only processor or an artificial intelligence-only processor may be mounted on the clamp system (1000) and other electronic devices or servers connected to the clamp system (1000).

[0042] The memory (218) can store a program for processing and controlling the processor (216), and can also store data input to or output from the clamp system (1000). In addition, the memory (218) can store sensor values ​​acquired from the sensor module (130). That is, when the data is modified and updated, the memory (218) can further store information regarding the modified and updated data.

[0043] The memory (218) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk.

[0044] According to one embodiment, the control module (140) may further include a network interface for communicating with a plurality of clamps (120) and a sensor module (130). The network interface (not shown) may include one or more components that allow the control module (140) to communicate with other devices (clamps, sensors). For example, the communication unit (not shown) may include a short-range communication unit and a mobile communication unit.

[0045] The short-range wireless communication unit may include, but is not limited to, a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a Near Field Communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an IrDA (infrared Data Association) communication unit, a WFD (Wi-Fi Direct) communication unit, a UWB (Ultra WideBand) communication unit, etc. The mobile communication unit transmits and receives a wireless signal with at least one of a base station, an external terminal, and a server on a mobile communication network.

[0046] FIG. 3 is a block diagram illustrating components of a clamp according to one embodiment.

[0047] In one embodiment, each of the plurality of clamps (120) may include, but is not limited to, a housing (310), a cylinder (320), a drive system (330), and a pressurizing portion (340), and may include more or fewer components. In another embodiment, the clamps may further include components of a conventionally known auto clamp.

[0048] According to one embodiment, the housing (310) may be formed with a joining groove to be fastened to the base plate (110), and may be formed with a structure to protect the cylinder (320) provided inside the housing (310) from external impact.

[0049] According to one embodiment, the cylinder (320) may be arranged so that the piston rod moves linearly in the up-and-down or left-right directions. For example, the cylinder (320) may include a piston that is arranged in a tube portion having an empty linear space formed therein and moves linearly back and forth, and a piston rod whose one end is coupled to the piston and whose other end is exposed to the outside of the cylinder (320) to transmit energy to the pressurizing portion (340). For example, the cylinder (320) may be operated by pneumatic or hydraulic pressure, and a supply port and an exhaust port through which compressed air can be supplied or exhausted may be formed on one side. In addition, the cylinder (320) may further include a gasket, packing, etc. to maintain airtightness with respect to the compressed air.

[0050] In one embodiment, the drive system (330) can provide driving force to the cylinder (320). For example, the drive system (330) can include components of a drive system of a conventionally known pneumatic or hydraulic cylinder. In one embodiment, the pressurizing portion (340) has one end coupled to an end of the piston rod, and the other end comes into close contact with the workpiece according to the driving force transmitted to the piston rod, thereby transmitting the pressurizing force to the workpiece.

[0051] According to one embodiment, the range of motion of the pressurizing member (340) may be set according to the width of the workpiece mounted on the base plate (110). For example, the range of movement displacement of the pressurizing member (340) with respect to the length protruding from the housing (310) may be set according to the width of the workpiece.

[0052] In one embodiment, each of the plurality of clamps (120) may further include a magnetic sensor (350) that measures the displacement of the piston rod and transmits a signal to the control module (140) when the measured displacement exceeds a threshold value. For example, the magnetic sensor (350) may transmit the displacement value of the piston rod to the control module (140) and may also transmit an error signal when the measured displacement value exceeds the threshold value. In one embodiment, the displacement value of the piston rod may correspond to the displacement value of the pressurizing portion (340).

[0053] Figure 4 is a flowchart illustrating the operation of a clamp system according to one embodiment.

[0054] According to one embodiment, the at least one processor included in the control module (140) obtains product information of a processing object based on a user input (S410), obtains the settling state information regarding whether the processing object is normally settling from the position designation sensor (S420), identifies whether the processing object is normally settling based on the obtained settling state information (S430), and when the processing object is identified as being settling at the normal position, determines driving information of the plurality of clamps based on the product information and pressure values ​​measured by the plurality of pressure sensors (S440), and drives the plurality of clamps based on the determined driving information (S450).

[0055] In S410, the control module (140) may obtain product information of a processing object mounted on the base plate (110) based on user input, or may obtain product information about the processing object from the server (2000). According to one embodiment, the product information may include, but is not limited to, at least one of a product name, a product code, a surface thickness, a material, a width type, or a length of the processing object.

[0056] In S420, the control module (140) can obtain the settling status information from the positioning sensor (132). According to one embodiment, the control module (140) can obtain real-time settling status information of the processing object obtained by the positioning sensor (132) from the sensor module (130).

[0057] In S430, the control module (140) can identify whether the processing object is settled in the normal position based on the acquired settling state information. According to one embodiment, if the measurement value included in the acquired settling state information is identified as being within a threshold range preset according to the product information, the control module (140) can identify that the processing object is settled in the normal position, and if the measurement value included in the acquired settling state information is not identified as being within a threshold range preset according to the product information, the control module (140) can identify that the processing object is not settled in the normal position. For example, if the positioning sensor (132) is an inductive proximity sensor, an ultrasonic proximity sensor, or an optical proximity sensor, the measurement value may correspond to the size of the induced current, the size of the reflected ultrasonic wave, or the size of the reflected light, respectively, and can identify whether the measurement value is identified as a preset threshold induced current size, a threshold ultrasonic wave size, or a threshold reflected light size.

[0058] For example, the control module (140) can identify in real time whether the processing target is positioned in a normal position by obtaining the measurement value in real time, and if it is identified as positioned in a normal position, it lights up a green LED, and if it is identified as not positioned in a normal position, it lights up a red LED, so that the user can confirm whether the normal position has been identified.

[0059] Although not shown in FIG. 4, after S430, if the control module (140) determines that the object to be processed is settled in a normal position, it performs a test drive of the plurality of clamps (120), obtains a test pressure value acting on the pressurized portion of the plurality of clamps (120) and the contact surface of the object to be processed by the test drive from the pressure sensors (134) and a test movement displacement value of the piston rod measured from the magnetic sensor (350), and based on the test pressure value and the test movement displacement value, it can identify whether the object to be processed is a good product.

[0060] For example, the test drive may mean that the plurality of clamps (120) are driven so that the test pressure value acting between the pressurizing portion (340) of each of the plurality of clamps (120) and the processing object becomes a preset threshold value, or the movement displacement of the piston rod gradually increases so that the movement displacement of the piston rod becomes a critical movement displacement.

[0061] According to one embodiment, the control module (140) can obtain a test pressure value from a pressure sensor provided in each pressurized portion and a test movement displacement value from a magnetic sensor provided in each cylinder by performing the test drive.

[0062] According to one embodiment, the control module (140) can identify whether the object to be processed is deformed based on the correlation between the acquired test pressure value and the test movement displacement value. For example, the control module (140) can identify whether the test movement displacement values ​​acquired from each of the plurality of clamps and the test pressure values ​​determined according to the test movement displacement values ​​are within a critical movement displacement and a critical pressure range that are differently set in advance for each of the plurality of clamps based on the product information, and if the test movement displacement values ​​and the test pressure values ​​acquired from each of the plurality of clamps are within a critical movement displacement and a critical pressure range that are differently set for each of the plurality of clamps, the object to be processed is identified as a good product, and if the ratio of the number of clamps including a test movement displacement value or a test pressure value that is not within the critical movement displacement or the critical pressure range among the test movement displacement values ​​and the test pressure values ​​according to the number of the plurality of clamps is greater than or equal to a critical ratio, the object to be processed is identified as a defective product.

[0063] According to one embodiment, the test movement displacement values ​​may correspond to the movement displacement values ​​of the pressurizing portion included in each of the plurality of clamps, and the critical movement displacement may be set differently according to the product information. For example, the control module (140) may obtain a plurality of test movement displacement values ​​for each clamp as the pressurizing portion of each clamp moves by the test drive, and may obtain test pressure values ​​corresponding to the plurality of test movement displacement values ​​for each clamp.

[0064] For example, if the control module (140) obtains a first test movement displacement value and a first test pressure value that is less than the threshold pressure range from one of the plurality of clamps, the control module (140) can identify that the workpiece is deformed (becomes smaller than the reference specification) in the area where the clamp is located because a pressure value that falls short of the reference pressure is measured in the first test movement displacement value. In addition, for example, if the control module (140) obtains a second test movement displacement value and a second test pressure value that is more than the threshold pressure range from one of the plurality of clamps, the control module (140) can identify that the workpiece is deformed (becomes wider than the reference specification) in the area where the clamp is located because a pressure value that exceeds the reference pressure is measured in the second test movement displacement value.

[0065] According to one embodiment, the control module (140) identifies the number of clamps that include a value that identifies the workpiece as deformed among a plurality of test movement displacement values ​​and test pressure values ​​obtained for each clamp, and if the identified number is greater than a threshold ratio in proportion to the total number of clamps, the workpiece can be identified as a defective product.

[0066] The control module (140) according to the present disclosure can effectively prevent malfunction of the clamp system (1000) or damage to devices constituting the clamp system by identifying whether the object to be processed is deformed before clamping the object to be processed through the test drive as described above.

[0067] In S440, if the control module (140) determines that the processing object is settled in a normal position, the control module (140) may determine the driving information of the plurality of clamps based on the product information and the pressure values ​​measured by the plurality of pressure sensors. According to one embodiment, the control module (140) may determine the movable range of the pressurizing portions of the plurality of clamps (120) determined according to the width type included in the product information, and may determine the pressurizing range determined according to the movement displacement of the piston rods of the plurality of clamps (120). For example, the movable range may be determined based on the minimum movement displacement and the maximum movement displacement of the pressurizing portion, and the pressurizing range may be determined based on the minimum pressurizing force corresponding to the minimum movement displacement of the pressurizing portion, and the maximum pressurizing force corresponding to the maximum movement displacement of the pressurizing portion.

[0068] According to one embodiment, the control module (140) may determine the operating range of the pressurizing unit as the first operating range when the width type is the first type, and may determine the operating range of the pressurizing unit as the second operating range when the width type is the second type.

[0069] In another embodiment, even if the object to be processed is identified as a defective product, the control module (140) may determine optimal driving information determined based on the test pressure value and test displacement value obtained by performing the test drive. For example, if deformation of the object to be processed is identified for an area where some of the clamps (120) are located, the control module (140) may determine optimal driving information for some of the clamps located in the area where the deformation is identified.

[0070] In S450, the control module (140) can drive the plurality of clamps (120) based on the determined driving information. According to one embodiment, the control module (140) can drive the plurality of clamps (120) with an average pressing force within the determined pressing range within the determined operating range of the pressurizing portion. For example, the control module (140) can determine an average value for the minimum and maximum values ​​of the determined pressing range as the average pressing force, and drive the plurality of clamps (120) with the average pressing force.

[0071] In addition, according to one embodiment, the control module (140) may obtain in real time a change in pressure value caused by vibration or shaking during the process of processing or moving the processing object, determine new driving information according to the changed pressure value, and drive a plurality of clamps (120) based on the determined driving information.

[0072] Although the embodiments of the present disclosure have been described in detail above, the scope of the present disclosure is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concepts of the present disclosure defined in the following claims also fall within the scope of the present disclosure.

Claims

1. A base plate formed so that a workpiece is placed on top; A plurality of clamps formed on an upper side of the base plate and arranged at a predetermined interval to provide a pressing force for fixing the workpiece; A sensor module including a positioning sensor formed on one end of the length direction of the base plate to obtain settling status information on whether the workpiece is normally settling and a plurality of pressure sensors for measuring pressure values ​​acting on the contact surface of the plurality of clamps and the workpiece; and A clamp system, comprising a control module that adjusts the pressing force of the plurality of clamps based on the sensor values ​​measured from the sensor module.

2. In the first paragraph, the base plate, When the above-mentioned processing object is secured to the base plate, a plurality of support indexes are arranged at a predetermined interval on the upper portion of the base plate to support one side of the longitudinal direction of the above-mentioned processing object; and A clamp system comprising a plurality of O-rings arranged at predetermined intervals on both sides of the base plate to move the base plate in combination with a transfer unit.

3. In the second paragraph, each of the plurality of support indices The above-mentioned processing object is formed in a shape of a guide so that it does not fall in the upper direction of the base plate, A clamp system characterized in that the height of each of the plurality of support indexes can be adjusted according to the height of one side of the object to be processed.

4. In the first paragraph, each of the plurality of clamps A housing having a joining groove formed to be connected to the above base plate; A cylinder in which the piston rod is arranged to move in a straight line; A drive system providing driving force to the above cylinder; and A clamp system comprising: a pressurizing member, one end of which is connected to an end of the piston rod, and the other end of which is brought into close contact with the workpiece according to the driving force transmitted to the piston rod, thereby transmitting a pressurizing force to the workpiece.

5. In the fourth paragraph, each of the plurality of clamps A clamp system further comprising: a magnetic sensor for measuring a displacement of the piston rod and transmitting a signal to the control module when the measured displacement exceeds a threshold value; 6. In the fifth paragraph, the clamp system To support one end of the longitudinal direction of the above-mentioned processing object, a guide frame spaced apart from the positioning sensor at a predetermined interval on the upper part of the above-mentioned base plate; and A clamp system further comprising a variable clamp that provides a pressing force to fix the other end of the longitudinal direction of the processing object when one end of the longitudinal direction of the processing object is secured to the guide frame.

7. In the 6th paragraph, the variable clamp A clamp system characterized in that, during the process of the processing object being secured to the base plate, the base plate is raised and lowered in a predetermined area to avoid interference with the processing object.

8. In the 7th paragraph, the control module Based on the settling status information acquired from the positioning sensor, if the workpiece is identified as being normally settling, before performing pressure control of the plurality of clamps, the variable clamp is first raised and then pressure control is performed. A clamping system characterized in that, when a user input regarding the release of the plurality of clamps is obtained or the workpiece is identified as a defective product, among the plurality of clamps, some clamps having a pressure value measured from the pressure sensor that is greater than a preset threshold range are released first, and then the remaining clamps are released.

9. In the 6th paragraph, the positioning sensor A clamp system characterized in that it is a proximity sensor for obtaining the settling state information including whether the workpiece is normally settling determined by the distance between the positioning sensor and one end of the length direction of the workpiece supported on the guide frame.

10. In the 8th paragraph, the control module Memory in which one or more instructions are stored; and At least one processor executing one or more of the above instructions; The at least one processor obtains product information of the processing object based on user input, Obtaining the settling status information regarding whether the processing object is normally settling from the positioning sensor, Based on the acquired settling status information, whether the processing object is normally settling is identified, When the above processing object is identified as being settled in a normal position, the driving information of the plurality of clamps is determined based on the product information and the pressure values ​​measured by the plurality of pressure sensors, A clamp system characterized in that it drives the plurality of clamps based on the determined driving information.

11. In clause 10, the product information is A clamp system characterized in that it includes at least one of a product name, a product code, a surface thickness, a material, a width type, or a length of the above-mentioned processing target.

12. In the 10th paragraph, the control module After identifying whether the above processing target is properly positioned, When the above-mentioned workpiece is identified as being settled in a normal position, a test drive of the plurality of clamps is performed, Obtain test pressure values ​​acting on the pressurized portion of the plurality of clamps and the contact surface of the workpiece by the test drive from the pressure sensors and test movement displacement values ​​of the piston rod measured from the magnetic sensors, A clamping system characterized in that it identifies whether the workpiece is of good quality based on the test pressure values ​​and the test displacement values.

13. In the 12th paragraph, the test drive A clamp system, characterized in that the test pressure value acting between the pressurizing portion of each of the plurality of clamps and the workpiece becomes a preset threshold value, or the displacement of the piston rod gradually increases so that the displacement of the piston rod becomes a critical displacement.

14. In the 12th paragraph, the control module Identifying whether the test movement displacement values ​​obtained from each of the plurality of clamps and the test pressure values ​​determined according to the test movement displacement values ​​are within a critical movement displacement and critical pressure range that are set differently in advance for each of the plurality of clamps based on the product information, If the test movement displacement values ​​and the test pressure values ​​obtained from each of the plurality of clamps are within a critical movement displacement and critical pressure range that are set differently for each of the plurality of clamps, the workpiece is identified as being a good product, A clamping system characterized in that, when the ratio of the number of clamps including a test movement displacement value or a test pressure value that is not within the critical movement displacement or the critical pressure range among the test movement displacement values ​​and the test pressure values ​​according to the number of the plurality of clamps is greater than or equal to a critical ratio, the workpiece is identified as a defective product.

15. In the 10th paragraph, the control module Determine the range of motion of the pressurizing portion of the plurality of clamps determined according to the width type included in the above product information, A clamp system characterized in that the pressure range is determined according to the displacement of the piston rods of the plurality of clamps.

16. In the 15th paragraph, the control module If the above width type is the first type, the operating range of the pressurizing part is determined as the first operating range, A clamp system characterized in that, when the above width type is the second type, the movable range of the pressurizing portion is determined as the second movable range.

17. In the 16th paragraph, the control module A clamp system characterized in that the plurality of clamps are driven with an average pressing force within the determined pressing range within the determined pressing range, within the determined pressing range.

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