CN111844117A

CN111844117A - Gripper for robot

Info

Publication number: CN111844117A
Application number: CN202010811715.0A
Authority: CN
Inventors: 陈小兵; 高青
Original assignee: Nanjing Zhijin Science And Technology Innovation Service Center
Current assignee: Nanjing Zhijin Science And Technology Innovation Service Center; Nanjing Zhijin Technology Innovation Service Center
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2020-10-30
Also published as: WO2022032771A1

Abstract

The present invention provides a gripper for a robot, which has excellent operability and controllability by simultaneously moving a plurality of symmetrically arranged fingers by a single actuator. In order to achieve the above object, the present invention provides a gripper for a robot, which is mounted to an industrial robot to grip a workpiece, the gripper including: a base supporting the monolithic structure; an actuator mounted to the base so as to be operated by an external power; four fingers disposed under the substrate; and a converting means that converts the operation of the actuator so that the four directional center points are transferred in a form of being gathered at the same time or being spread at the same time.

Description

Gripper for robot

Technical Field

The present invention relates to a gripper for a robot, and more particularly, to a gripper for a robot having excellent driving performance.

Background

In general, robots are invented to replace operations performed by humans in dangerous work environments, repeated mechanical operations, or operations requiring large forces, and are widely used not only in industrial fields but also in medical, military, aerospace, agricultural, and other fields in recent years.

In particular, industrial robots are widely used in the fields of welding, assembly, coating, inspection, and transfer (loading/unloading), as the most applicable field, for example.

Here, as for the mobile robot, various configurations of grippers for a robot have been proposed, which can easily pick up and transfer an object in consideration of a working environment, a size and a weight of the object to be transferred, and the like.

The related art describes a general gripper form of a robot and a gripper designed for a specific purpose. For example, it is constituted by two fingers of a plate type, configured so that the clamp is horizontally closed, or operates with a fixed point as an axis, like scissors.

The structure of the tongs as described above has a disadvantage in that the size of the object that can be gripped is limited, or a plurality of actuators are required, and the structure includes a turbine or a cam inside, and thus the structure is complicated.

Disclosure of Invention

The present invention has been made to overcome the above-described drawbacks of the prior art, and an object of the present invention is to provide a gripper for a robot, which has excellent operability and controllability by simultaneously moving a plurality of symmetrically arranged fingers by a single actuator.

In order to achieve the object, the present invention relates to a gripper for robot, which is mounted to an industrial robot to grip a workpiece, comprising: a base supporting the monolithic structure; an actuator mounted to the base so as to be operated by an external power; four fingers disposed under the substrate; and a converting means that converts the operation of the actuator so that the four directional center points are transferred in a form of being gathered at the same time or being spread at the same time.

Preferably, the actuator is a rotary actuator.

More preferably, the actuator drives a sub gear (pinion), and the changing means causes one finger to be coupled with two transfers including a total of four transfers, the transfers being operated by the sub gear.

More preferably, the transfer body includes: a rack portion including a rack engaged with the pinion; and a coupling portion attached to a distal end of the rack portion in a direction perpendicular to a longitudinal direction of the rack portion, both ends of the coupling portion being coupled to respective different fingers.

More preferably, the two transfer bodies are a single combined structure engaged with the pinion gear and symmetrically arranged with each other, and the remaining combined structure is arranged to be rotated by 90 degrees on a plane different from the plane of the former combined structure.

More preferably, the finger includes an upper end portion formed at an upper end thereof, the upper end portion includes two coupling holes formed in a 90-degree rotated manner at different heights, and coupling portions of different transfer bodies are inserted into the coupling holes.

More preferably, the fingers are formed at a connection portion having a circular cross section extended from the lower end portion, the connection portion is guided by a slit formed in a diagonal shape under the substrate when transferring the substrate.

More preferably, the finger further includes a grip portion combined with the combining portion.

More preferably, the actuator is a linear actuator.

More preferably, the transformation means comprises: a pinion gear rotatably fixed to the base; four transfer bodies, one of the transfer bodies by linear actuator transfers, four transfer bodies include rack portion and joint portion, rack portion include with pinion's rack, the joint portion along with the length direction vertically direction of rack portion attached to the end of rack portion, both ends and the finger combination of diverse.

More preferably, two transfer bodies are a single combined structure engaged with the pinion gear and symmetrically arranged with each other, and a combined structure formed by the remaining two transfer bodies is arranged to be rotated by 90 degrees on a plane different from the plane of the former combined structure.

The gripper for a robot according to the present invention includes: a substrate; an actuator; a transfer body transferred by the actuator; and a plurality of fingers coupled to the transfer body, vertically disposed on the base, and simultaneously transferred in a horizontal direction toward a center point, and the plurality of fingers have an effect that the operability of the fingers is excellent, and the controllability is also excellent because the operation of the actuator and the transfer of the fingers are linearly related.

Drawings

Figure 1 is a block diagram of a gripper for a robot according to the invention,

figure 2 is an explanatory diagram showing the operation state of figure 1,

fig. 3 is an explanatory view of a state in which the workpiece is gripped in fig. 1,

figure 4 is a block diagram of the fingers shown in figure 1,

figure 5 is a block diagram of the conversion device shown in figure 1,

fig. 6 is a structural view of the transfer body shown in fig. 5,

fig. 7 is a combined structure view of two transfer bodies of fig. 6,

figure 8 is a state diagram of the operation of figure 5,

fig. 9 is another embodiment of fig. 1.

Detailed Description

Hereinafter, some embodiments of the present invention will be described in detail with reference to the exemplary drawings. Reference numerals are attached to the components in the respective drawings, and it should be noted that the same components are denoted by the same reference numerals as much as possible in the other drawings. In describing the embodiments of the present invention, detailed descriptions of related well-known structures or functions will be omitted if it is determined that the detailed descriptions do not interfere with the understanding of the present invention.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), and the like may be used. Such terms are only intended to distinguish one component from another component, and do not limit the nature, order, or sequence of the corresponding components. When it is stated that a certain component is connected, coupled or coupled to another component, it is understood that the component can be directly connected or coupled to another component, but it is also understood that another component can be connected, coupled or coupled to each other.

As shown in fig. 1, a gripper 100 for a robot according to the present invention includes: a substrate 10; a changer 20 disposed inside the substrate 10; an actuator 80 disposed at an upper end of the base 10 to drive the changer 20; and four fingers 90 disposed at a lower end of the base 10, coupled to the changer 20, and transferred according to an operation of the changer 20.

When the actuator 80 is activated, the fingers 90 move simultaneously toward a center point, as shown in fig. 2, or from a center point in a progressively farther direction.

The four fingers 90 are located at respective apexes of the regular quadrangle, and are transferred in diagonal directions from each other.

As shown in fig. 3, the gripper 100 for a robot operating as above is characterized in that the end of a workpiece in a cylindrical shape can be gripped and moved, and the spherical shape can also be gripped, with the effect that, when it is a symmetrical workpiece such as a spherical shape, a regular hexahedron, a cylinder, etc., the center of the workpiece coincides with the center point of the finger 90.

Further, in the case of a workpiece having a rectangular cross section, since the two fingers 90 facing each other are gripped, the workpiece can be transferred, and the center points thereof are also aligned with each other.

As shown in fig. 4, the finger 90 includes two coupling holes 91, the coupling holes 91 are formed to penetrate through the finger in a 90-degree arrangement, and the two coupling holes 91 are formed at different heights to prevent interference with each other.

Further, the fingers 90 include: an upper end portion 92 formed with the coupling hole 91; a connecting portion 93 formed at a lower portion of the upper end portion 92; and a grip portion 94 formed at a lower end of the connecting portion 93.

Here, the upper end portion 92 may be formed in any form having the coupling hole 91 arranged at 90 degrees, but is preferably formed in a quadrangular prism form in consideration of directionality and workability.

Preferably, the connecting portion 93 is formed as a circular cross-section column having a diameter smaller than the upper end portion 92 and the gripping portion 94.

In particular, when the slit 11 is formed at the lower end of the base 10, the connecting portion 93 is preferably formed to have a circular cross section having a size capable of accommodating the slit 11, and the slit 11 guides the movement of the finger 90.

The grip portion 94 has a triangular cross-sectional shape, but may have a different shape if necessary, or may have a curved shape along the longitudinal direction as described above.

The grip 94 can be configured to be separable from and attachable to the connecting portion 93, and the grip 94 can be selected to have an appropriate shape according to the type of work to be performed.

In addition, a conversion device 20 is arranged inside the base 10, and the conversion device 20 performs the following functions: the rotation of the actuator 80 is converted into the simultaneous transfer of the fingers 90, and as shown in fig. 5, the four transfer bodies 30 having the same shape are included.

Here, two transfer bodies 30 arranged symmetrically with each other are combined on the same plane as one another, and the remaining two transfer bodies 90 are also arranged symmetrically with each other and combined with the other transfer body 30 and arranged on the other plane in a 90-degree rotated state.

As shown in fig. 6, the transfer unit 30 includes: a rack portion 31 formed with a rack vertically arranged to mesh with a pinion 81 of the actuator 80; and a coupling portion 32 disposed at one end of the rack portion 31 in a horizontal direction, and having fingers 90 slidably coupled to both sides.

Here, it is preferable that the rack portion 31 is formed of a quadrangular cross section and coupled to the base 10 to be slidable in a longitudinal direction of the rack portion 31.

Preferably, the coupling portion 32 of the transfer body 30 has a circular cross-sectional shape, the coupling portion 32 is inserted into a coupling hole 91 of the two coupling holes 91 in the same direction, and the coupling hole 91 is formed in the finger 90. Of course, both ends of the coupling portion 32 are coupled to the coupling holes 91 of the respective fingers 90.

As shown in fig. 6, the coupling portion 32 is extended from the center of the pinion 81, and the lengths of the left and right sides are made equal at a point perpendicularly intersecting the coupling portion 32. Thus, the length of the coupling portion 32 in the direction in which the rack 33 is formed is made long.

As shown in fig. 7, two of the transfer units 30 are arranged symmetrically with respect to each other with the pinion 81 at the center, and the fingers 90 are coupled to the ends of the coupling portions 32 of the respective transfer units 30.

Thus, since the combinations of the transfer units 30 arranged on the same plane are shifted from each other when the pinion 81 rotates, the fingers 90 facing each other move closer to each other or move in the direction of gradually moving away from each other.

In the structure of fig. 7, two transfer units 30 are added to the other plane, as shown in fig. 8.

At this time, the pinion 81 is extended in the upper and lower end planes, and the four fingers 90 are moved in a diagonal direction or in a gradually distant state by the rotation of the pinion 81.

Further, the actuator 80 may include a reduction gear inside if necessary, although the pinion 81 is rotated by another energy source.

In addition, when the two coupling holes 91 formed in one finger 90 are formed in different planes, the height difference between the two planes is the same as that between the two transfer units 30.

The actuator 80 may be a linear actuator. In this case, the pinion 81 is rotatably coupled to the base 10, and as shown in fig. 9, the linear actuator 80 is fixed to a side surface of the base 10 so that the operation portion is coupled to one transfer body 30.

Thus, if the actuator 80 is driven, one transfer body 30 is transferred, and the pinion 81 rotates according to the transfer of the transfer body 30, so that the remaining transfer bodies 30 are transferred, and finally, all the fingers 90 are simultaneously transferred.

The structure described above has an advantage in that the height of the clamp 100 can be configured to be low because the actuator 80 is disposed on the side of the substrate 10.

The above description is only for the embodiment for implementing the gripper for robot according to the present invention, and the present invention is not limited to the embodiment, and hereinafter, the gist of the claimed invention is that a person having ordinary knowledge in the technical scope of the present invention can implement various modifications within the technical spirit of the present invention by anyone without departing from the scope of the specific claims.

Description of the reference symbols

10: substrate 11: slit

20: the conversion device 30: transfer body

31: rack portion 32: joining part

33: rack 80: actuator device

81: pinion 90: finger-shaped

91: the coupling hole 92: upper end part

93: connection portion 94: grasping part

100: gripper for robot

Claims

1. A gripper for a robot, which is mounted to an industrial robot so as to grasp a workpiece, comprising:

a base supporting the monolithic structure;

an actuator mounted to the base so as to be operated by an external power;

four fingers disposed under the substrate; and

a switching means for switching the operation of the actuator so that the four directional center points are moved in a simultaneously gathered, or simultaneously spread manner.

2. The gripper for robot according to claim 1,

the actuator is a rotary actuator.

3. The gripper for robot according to claim 2,

the actuator drives a pinion, and the changing means causes one finger to engage two transfers, thereby including a total of four transfers, which are operated by the pinion.

4. The gripper for robot as claimed in claim 3, wherein the transfer body comprises:

a rack portion including a rack engaged with the pinion; and a coupling portion attached to a distal end of the rack portion in a direction perpendicular to a longitudinal direction of the rack portion, both ends of the coupling portion being coupled to respective different fingers.

5. The gripper for robot according to claim 4,

the two transfer bodies are a single combined structure which is engaged with the pinion gear and symmetrically arranged with each other, and the remaining combined structure is arranged to be rotated by 90 degrees on a plane different from the former combined structure.

6. The gripper for robot according to claim 5,

the finger includes an upper end portion formed at an upper end, the upper end portion includes two coupling holes formed in a shape rotated in a 90-degree direction at different heights, and coupling portions of different transfer bodies are inserted into the coupling holes.

7. The gripper for robot according to claim 6,

the fingers are formed on a connection part having a circular cross section extended from the lower end, the connection part is guided by a slit during transfer, and the slit is formed diagonally under the substrate.

8. The gripper for robot according to claim 7,

the finger further includes a grip portion coupled to the connecting portion.

9. The gripper for robot according to claim 1,

the actuator is a linear actuator.

10. The gripper of claim 9, wherein said transformation means comprises:

a pinion gear rotatably fixed to the base; four transfer bodies, one of the transfer bodies by linear actuator transfers, four transfer bodies include rack portion and joint portion, rack portion include with pinion's rack, the joint portion along with the length direction vertically direction of rack portion attached to the end of rack portion, both ends and the finger combination of diverse.

11. The gripper for robot according to claim 10,

two transfer bodies are a single combined structure which is engaged with the pinion gear and symmetrically arranged with each other, and a combined structure formed by the other two transfer bodies is arranged on a plane different from the former combined structure, and is rotated by 90 degrees.