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WO2025023505A1 - Dispositif de préhension sous vide comprenant une pluralité de zones de vide - Google Patents

Dispositif de préhension sous vide comprenant une pluralité de zones de vide Download PDF

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Publication number
WO2025023505A1
WO2025023505A1 PCT/KR2024/008319 KR2024008319W WO2025023505A1 WO 2025023505 A1 WO2025023505 A1 WO 2025023505A1 KR 2024008319 W KR2024008319 W KR 2024008319W WO 2025023505 A1 WO2025023505 A1 WO 2025023505A1
Authority
WO
WIPO (PCT)
Prior art keywords
vacuum
zone
gripper device
pad
device characterized
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2024/008319
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English (en)
Korean (ko)
Inventor
조호영
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
VTec Corp
Original Assignee
VTec Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by VTec Corp filed Critical VTec Corp
Publication of WO2025023505A1 publication Critical patent/WO2025023505A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the present invention relates to a vacuum gripper device used to adsorb and hold a target article in a vacuum transport system.
  • a vacuum transport system is a system that uses a vacuum pump that operates on high-speed compressed air to forcibly discharge the internal air of an adsorption pad, and then adsorbs and grips an item with the vacuum and negative pressure generated inside the pad, and then transports it to a designated location by driving a robotic means.
  • the pad is combined with a separate body to form a so-called 'vacuum gripper device'.
  • the vacuum pump may be placed outside or inside the body, and the pads constituting the gripper device may be provided singly or in multiples depending on the characteristics of the object to be transported, such as shape, shape, and weight.
  • the single method has the advantage of being easy to install and operate, but has the problem that if a vacuum leak occurs within the pad, the desired suction force is not generated or is lost, making it impossible to hold the item.
  • the array method which is composed of multiple small pads arranged in a single arrangement, has the advantage of being able to hold the item by the remaining pads that are functioning normally even if a vacuum leak occurs in some pads.
  • the array method has the problem that the individual and overall suction force of the pads is weak.
  • Patent Publication Nos. 10-2319367 and 10-2291521 disclose a method in which a plurality of pads are independently provided and a method in which a plurality of pads are formed integrally, respectively.
  • conventional vacuum gripper devices have fixed adsorption ranges and adsorption forces on the surface of an object, regardless of whether the applied pad is a single type or an array type, and thus lack flexibility or expandability in use.
  • the adsorption characteristics of the device are not selectively and variably controlled, and therefore, the range of application in the field is limited, and as a result, there is a problem of reducing the workability of transport.
  • the present invention has been proposed to solve the problems of the above-mentioned prior art.
  • the purpose of the present invention is to provide a vacuum gripper device that can flexibly respond to the morphological and physical characteristics of an object to be vacuum-transported by designing it to selectively and variably control the adsorption property based on a pad array method.
  • the vacuum gripper device of the present invention is a vacuum gripper device of the present invention.
  • a body including a partition wall formed on an inner bottom surface of a cross-section 'U' shape to divide the inner space into a plurality of concentric vacuum zones, and an exhaust hole formed through the bottom surface of each vacuum zone;
  • a vacuum cover as a cap member for the above body, having an exhaust port formed on one side thereof that communicates with each vacuum zone;
  • a vacuum pump individually provided for each of the above vacuum zones
  • the vacuum gripper device prefferably, the vacuum gripper device:
  • the above vacuum pump is individually mounted in each exhaust hole or each vacuum zone of the body;
  • a variable part comprising a cylinder coaxially arranged on the outside of the device, a cylindrical piston that moves up and down within the cylinder, and an outer pad that is connected to the lower end of the piston and creates a vacuum third zone surrounding the entire pad when lowered;
  • the above piston is designed to descend by the pressure of compressed air and return to its original position by the elasticity of a spring.
  • a shape-inducing wire that connects multiple pads so that each connected pad optimally corresponds to the surface shape of the product at its own position
  • the vacuum gripper device of the present invention has a plurality of vacuum zones concentrically separated by partitions and is configured to individually and selectively operate one or more of the vacuum zones. Therefore, it has the effect of being able to be used flexibly in response to the characteristics of the product. In addition, by variably configuring the outer pad, it has the effect of being able to be usefully used in tasks requiring, for example, a wider suction range or greater suction power.
  • the vacuum gripper device of the present invention has the effect of being able to be used flexibly in a work site according to the morphological and physical characteristics of an object to be vacuum-transported.
  • FIG. 1 is a perspective view of a vacuum gripper device according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view taken along line 'A-A' of Figure 1.
  • Figure 3 is an exploded perspective view of the body portion of Figure 2.
  • Figure 4 is a bottom view of Figure 1.
  • Figure 5 is a drawing for explaining the operation of Figure 2.
  • Fig. 6 is a drawing showing the configuration related to the 'shape induction wire' of Fig. 2.
  • Figure 7 is a drawing for explaining another operation of Figure 2.
  • the 'vacuum gripper device including a plurality of vacuum zones' (hereinafter referred to as the 'gripper device') of the present invention, which are described or not described above, will become more apparent through the description of preferred embodiments described below with reference to the attached drawings.
  • the gripper device according to the present invention is indicated by reference numeral 100.
  • the gripper device (100) of the present invention comprises a body (10) having a plurality of vacuum zones (12, 13) formed inside, a pad array (20) formed at the lower portion thereof, a vacuum cover (30) fastened at the upper portion thereof, and a vacuum pump (40) appropriately positioned to form a predetermined vacuum transport system.
  • the body (10) includes a partition wall (11) formed on an inner bottom surface having a cross-sectional 'U' shape to divide the inner space (S) into a plurality of concentric vacuum zones (12, 13), and a plurality of exhaust holes (14) formed by penetrating the bottom surface of each vacuum zone (12, 13).
  • the space (S) is divided into a first zone (12) on the inner side and a second zone (13) on the outer side by the partition wall (11), and an adsorption pad (21) that contacts the surface of an article (W) is connected to each exhaust hole (14).
  • the above pads (21) are connected one-to-one to each exhaust hole (14) and constitute a pad array (20) as a whole.
  • the vacuum cover (30) is a cap or cover member for the body (10), and a common air outlet (31) communicating with each vacuum zone (12, 13) is formed on one side thereof.
  • a common chamber (32) formed between each vacuum zone (12, 13) and the outlet (31) is formed inside the cover (30), and air passing through the vacuum zone (12, 13) passes through the chamber (32) and is discharged to the outside through the outlet (31).
  • this configuration may be omitted or modified.
  • the above vacuum pump (40) is individually provided for each vacuum zone (12, 13).
  • the gripper device (100) of the present invention includes a vacuum pump (40) that operates by high-speed compressed air, and the vacuum pump (40) is provided for each vacuum zone (12, 13).
  • each vacuum zone (12, 13) is first selected, and this selection can be optimally determined manually or automatically by considering the morphological and physical characteristics of the object (W) to be absorbed.
  • compressed air is supplied to a vacuum pump (40) corresponding to an appropriately selected vacuum zone (12, 13) and passes through at high speed, thereby exhausting the vacuum zone (12, 13) and the pad (21) connected thereto.
  • the vacuum pump (40) is a conventional air pump that sucks in surrounding air through a perforation (42) of a side wall and discharges it to the outside when compressed air passes through a multi-stage nozzle (41) provided inside at high speed.
  • the vacuum pump (40) is mounted in each exhaust hole (14) of the body (10) or each vacuum zone (12, 13).
  • reference numerals 33 and 34 are compressed air supply ports formed on the upper surface of the cover (30) and extending to each of the first zone (12) and the second zone (13). In this configuration, when compressed air is supplied at high speed through the supply ports (33, 34) to the vacuum zone (12, 13) appropriately selected above and discharged through the vacuum pump (40), the vacuum zone (12, 13) and the pad (21) connected thereto are exhausted.
  • the vacuum pump (40) is mounted in each exhaust hole (14) or vacuum zone (12, 13). However, in another embodiment, it may be separately placed outside the body (10) and connected to each vacuum zone (12, 13). Even so, in terms of compactly designing the vacuum system, the positions of the vacuum pump (40) and the supply ports (33, 34) described in the present embodiment are of significant significance.
  • the gripper device (100) is installed on the outside of the body (10) so as to be able to move up and down, and further includes a variable part (50) that operates as needed to provide suction force to the target object (W).
  • variable portion (50) is configured to include a cylinder (51) coaxially arranged on the outside of the cover (30), a cylindrical piston (52) that moves up and down within the cylinder (51), and an outer pad (53) that is connected to the lower end of the piston (52) and creates a vacuum third zone (56) that surrounds the entire pad array (20) when lowered. Accordingly, when compressed air is supplied at high speed to a selected vacuum zone (12, 13) and discharged through the discharge port (31), the vacuum third zone (56) inside the outer pad (53) connected to the corresponding vacuum zone (12, 13) is exhausted.
  • the piston (52) is designed to descend by compressed air pressure and return to its original position by the elasticity of a spring (54).
  • symbol 35 is a compressed air supply port formed on the upper surface of the cover (30) and extending to the head portion of the piston (52).
  • symbol 55 is a stopper for preventing the outer pad (53) from shaking unstably while contracting in contact with the article (W).
  • the stopper (55) is installed downward from a bracket fixed to the lower end of the piston (52), and is preferably configured to be height-adjustable by a screw or other means.
  • compressed air will first be supplied to a vacuum zone (12, 13) appropriately selected for each article (W). For example, if the surface size of the article (W) is small, the first zone (12) will be selected, and if it is slightly larger, the first zone (12) and the second zone (13) will be selected simultaneously. In addition, depending on the surface behavior of the article (W), the second zone (13) may be selected alone.
  • the drawing shows a case where compressed air is supplied to both vacuum zones (12, 13), including the first zone (12) and the second zone (13).
  • the compressed air (see arrow 1) supplied through each of the above supply ports (33, 34) passes through each vacuum zone (12, 13) and passes through the vacuum pump (40) at high speed (see arrow 2) and is discharged to the outside, and at this time, the internal air of each pad (21) is drawn into the interior through the hole (42) of the vacuum pump (40) and discharged together with the compressed air (see arrow 3).
  • a vacuum and negative pressure are generated inside each pad (21), and the article (W) is adsorbed and held by the generated negative pressure.
  • each pad (21) may become unstable due to its flexibility, as it cannot maintain a firm posture with respect to the surface of the article (W).
  • a shape-inducing wire (22) connecting a plurality of pads (21) constituting the pad array (20) is configured so that each connected pad (21) optimally corresponds to the surface shape of the article (W) at its position.
  • a reinforcing bar (23) is formed on each pad (21) and the wire (22) is configured to pass through the reinforcing bar (23).
  • variable portion (50) operates by supplying compressed air that pressurizes the head portion of the piston (52). That is, when compressed air is supplied through the supply port (35) (see arrow 4), the piston (52) descends (see arrow 5), and the outer pad (53) attached to the lower portion of the piston (52) descends together to contact the surface of the article (W), thereby providing a wide range of response force to the article (W).
  • the vacuum third zone (56) inside the outer pad (53) can be exhausted on the premise that the gripper device (100) of the above-described structure operates as shown in Fig. 5. That is, once compressed air is supplied at high speed to the selected vacuum zone (12, 13) and exhausted through the exhaust port (31), the vacuum third zone (56) of the outer pad (53) connected to the vacuum zone (12, 13) is exhausted (see arrow 6). At this time, the exhaust of the outer pad (53) can be performed through the inner pad (21) or directly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)

Abstract

La présente invention concerne un dispositif de préhension utilisé dans un système d'aspiration et de transfert sous vide. Le dispositif de la présente invention comprend : un corps ayant une pluralité de zones de vide concentriques ; des tampons reliés à la partie inférieure du corps pour être en communication avec les zones de vide ; et un couvercle sous vide ayant des sorties formées dans un côté de celui-ci, les sorties étant en communication avec les zones de vide. De plus, des pompes à vide sont individuellement prévues pour correspondre à chaque zone de vide, et lorsque de l'air comprimé est fourni à et évacué des pompes à vide correspondant à une zone de vide sélectionnée à une vitesse élevée, de l'air est expulsé des tampons qui sont en communication avec la zone de vide correspondante. De préférence, le dispositif de préhension comprend en outre une structure de tampon externe qui est entraînée verticalement et entoure le réseau de tampons.
PCT/KR2024/008319 2023-07-27 2024-06-17 Dispositif de préhension sous vide comprenant une pluralité de zones de vide Pending WO2025023505A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2023-0097942 2023-07-27
KR1020230097942A KR102616158B1 (ko) 2023-07-27 2023-07-27 복수의 진공-존을 포함하는 진공 그리퍼 장치

Publications (1)

Publication Number Publication Date
WO2025023505A1 true WO2025023505A1 (fr) 2025-01-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2024/008319 Pending WO2025023505A1 (fr) 2023-07-27 2024-06-17 Dispositif de préhension sous vide comprenant une pluralité de zones de vide

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KR (1) KR102616158B1 (fr)
WO (1) WO2025023505A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102616158B1 (ko) * 2023-07-27 2023-12-20 (주)브이텍 복수의 진공-존을 포함하는 진공 그리퍼 장치
KR102737726B1 (ko) * 2024-01-17 2024-12-02 (주)브이텍 U-형 채널을 포함하는 진공 그리퍼 장치

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05318369A (ja) * 1992-05-13 1993-12-03 Nikki Kogyo Kk 真空吸着装置
JP2015066666A (ja) * 2013-10-01 2015-04-13 日精工機株式会社 吸着シリンダ装置
KR20160076134A (ko) * 2014-12-22 2016-06-30 한국기계연구원 복합 코안다 노즐
KR102409288B1 (ko) * 2022-02-25 2022-06-15 (주)브이텍 진공 흡착 패드
KR102525827B1 (ko) * 2022-12-08 2023-04-26 (주)브이텍 세로형 진공 그리퍼 장치
KR102616158B1 (ko) * 2023-07-27 2023-12-20 (주)브이텍 복수의 진공-존을 포함하는 진공 그리퍼 장치

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005138276A (ja) * 2003-10-15 2005-06-02 Nissan Motor Co Ltd 吸着支持装置
KR20210079016A (ko) * 2019-12-19 2021-06-29 주식회사 에스에프에이 픽킹 로봇 및 그를 구비하는 포켓 소팅 시스템

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05318369A (ja) * 1992-05-13 1993-12-03 Nikki Kogyo Kk 真空吸着装置
JP2015066666A (ja) * 2013-10-01 2015-04-13 日精工機株式会社 吸着シリンダ装置
KR20160076134A (ko) * 2014-12-22 2016-06-30 한국기계연구원 복합 코안다 노즐
KR102409288B1 (ko) * 2022-02-25 2022-06-15 (주)브이텍 진공 흡착 패드
KR102525827B1 (ko) * 2022-12-08 2023-04-26 (주)브이텍 세로형 진공 그리퍼 장치
KR102616158B1 (ko) * 2023-07-27 2023-12-20 (주)브이텍 복수의 진공-존을 포함하는 진공 그리퍼 장치

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