KR0126113Y1 - Sensing apparatus for open or close gripper of handling robot - Google Patents

Sensing apparatus for open or close gripper of handling robot Download PDF

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Publication number
KR0126113Y1
KR0126113Y1 KR2019940022285U KR19940022285U KR0126113Y1 KR 0126113 Y1 KR0126113 Y1 KR 0126113Y1 KR 2019940022285 U KR2019940022285 U KR 2019940022285U KR 19940022285 U KR19940022285 U KR 19940022285U KR 0126113 Y1 KR0126113 Y1 KR 0126113Y1
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KR
South Korea
Prior art keywords
gripper chuck
robot
gripper
open
sensor
Prior art date
Application number
KR2019940022285U
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Korean (ko)
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KR960007267U (en
Inventor
김순철
권용수
Original Assignee
이해규
삼성중공업주식회사
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Priority to KR2019940022285U priority Critical patent/KR0126113Y1/en
Publication of KR960007267U publication Critical patent/KR960007267U/en
Application granted granted Critical
Publication of KR0126113Y1 publication Critical patent/KR0126113Y1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

본 고안에 따른 그리퍼척 개폐감지장치는 로보트 그리퍼척(1)(1')에 부착된 센서를 없애고 로보트 본체(8)에 부착된 솔레노이드(2)(2')의 공압라인(2a)(2b)(2a')(2b')에 각각 압력센서(9a)(9b)(9a')(9b')를 설치한 구조로서, 그리퍼척에 부착되는 센서를 없애고 솔레노이드의 공압라인에 압력센서를 설치하여 그리퍼척에 공급되는 공압을 점검하여 그리퍼척의 개폐를 수행할 수 있게 하므로서 센서신호선의 꼬임 또는 단선으로 인한 로보트의 오동작을 방지할 수 있다.The gripper chuck opening and closing detecting device according to the present invention eliminates the sensor attached to the robot gripper chuck (1) (1 ') and the pneumatic line (2a) (2b) of the solenoid (2) (2') attached to the robot body (8). Pressure sensors 9a, 9b, 9a ', and 9b' are installed on the 2a 'and 2b', respectively, eliminating the sensor attached to the gripper chuck and installing the pressure sensor on the solenoid's pneumatic line. By checking the pneumatic pressure supplied to the gripper chuck, the gripper chuck can be opened and closed to prevent malfunction of the robot due to twisting or breaking of the sensor signal line.

Description

공작물 핸드링용 로보트의 그리퍼척 개폐감지장치Gripper chuck opening and closing device of robot for workpiece handing

제1도는 공작물 핸드링용 로보트 정면도.1 is a front view of the robot for the workpiece handling.

제2도는 종래의 그리퍼척 개폐 공압회로도.2 is a conventional gripper chuck opening and closing pneumatic circuit diagram.

제3도는 본 고안에 따른 그리퍼척 개폐 공압회로도.3 is a gripper chuck opening and closing pneumatic circuit diagram according to the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1,1' : 그리퍼척 2,2' : 솔레노이드1,1 ': Gripper chuck 2,2': Solenoid

2a,2a',2b,2b' : 공압라인 9a,9a',9b,9b' : 압력센서2a, 2a ', 2b, 2b': Pneumatic line 9a, 9a ', 9b, 9b': Pressure sensor

본 고안은 핸드링용 로보트의 그리퍼척 개폐감지방법을 개선함으로서 로보트 그리퍼 부분의 동작 신뢰성 향상 및 매우 경제성 있는 그리퍼척 개폐감지장치에 관한 것이다.The present invention is to improve the gripper chuck opening and closing detection method of the robot for handing, and to improve the operation reliability of the robot gripper part and a very economical gripper chuck opening and closing detection device.

종래에는 제2도에서 보는 것처럼 그리퍼척(1)(1')를 개폐하기 위해서 솔레노이드(2)(2')를 구동함으로서 그리퍼척(1)(1')이 개방 또는 폐쇄된다. 이때 그리퍼척(1)(1')의 개방 또는 폐쇄 상태를 확인하기 위해서 그리퍼척에 개폐감지센서(3)(4)(3')(4')를 부착한다. 작동된 개폐감지센서 신호를 받아 로보트 콘트롤러는 로보트의 다음 동작을 진행한다. 제1도를 보면 로보트가 공작물을 로딩(LOADING), 언로딩(UNLOADING)하기 위해서 로보트의 그리퍼척(1)(1')를 시계방향 또는 반시계방향으로 회전시키기 위해서 모터(5)를 동작시킨다. 그리퍼척(1)(1')의 개폐를 확인시키기 위해서 그리퍼척에 부착한 센서(3)(3')(4)(4')의 신호선(6)은 제1도의 핸드선회축(7) 중심을 통해 로보트 콘트롤러에 인터페이스된다. 그리퍼척(1)(1')의 시계방향(180회전) 또는 반시계방향(180회전)으로 인해 센서신호선(6)의 꼬임현상이 발생된다. 이러한 현상으로 그리퍼척의 센서신호선(6)의 내구성 문제, 센서신호의 오동작으로 많은 문제가 발생되고 있다.Conventionally, as shown in FIG. 2, the gripper chuck 1, 1 'is opened or closed by driving the solenoid 2, 2' to open and close the gripper chuck 1, 1 '. At this time, in order to check the open or closed state of the gripper chuck (1) (1 ') is attached to the open and close detection sensors (3) (4) (3') (4 '). The robot controller proceeds to the next operation of the robot by receiving the activated open / close sensor signal. Referring to FIG. 1, the robot operates the motor 5 to rotate the gripper chuck 1, 1 'of the robot clockwise or counterclockwise to load and unload the workpiece. . The signal line 6 of the sensors 3, 3 ', 4, 4' attached to the gripper chuck to confirm the opening and closing of the gripper chuck 1, 1 'is the hand pivot 7 of FIG. It is interfaced to the robot controller through the center. The twisting of the sensor signal line 6 occurs due to the clockwise rotation (180 rotation) or the counterclockwise rotation (180 rotation) of the gripper chuck 1 (1 '). This phenomenon causes many problems due to the durability problems of the sensor signal lines 6 of the gripper chuck and the malfunction of the sensor signals.

본 고안의 목적은, 이러한 문제점을 해결하기 위한 것으로, 그리퍼척에 부착되는 센서를 없애고 솔레노이드의 공압라인에 압력센서를 설치하여 그리퍼척에 공급되는 공압을 점검하여 그리퍼척의 개폐를 수행할 수 있게 하므로 센서신호선의 꼬임 또는 단선으로 인한 로보트의 오동작을 방지할 수 있는 그리퍼척 개폐감지장치를 제공하는 것이다.The object of the present invention is to solve this problem, and by removing the sensor attached to the gripper chuck and installing a pressure sensor in the pneumatic line of the solenoid, it is possible to open and close the gripper chuck by checking the pneumatic pressure supplied to the gripper chuck. It is to provide a gripper chuck opening and closing detection device that can prevent the malfunction of the robot due to twisting or breaking of the sensor signal line.

본 고안에 따른 그리퍼척 개폐감지장치를 첨부된 도면을 참고로 하여 이하에 상세히 설명한다.With reference to the accompanying drawings gripper chuck opening and closing device according to the present invention will be described in detail below.

제3도에 도시한 바와 같이, 본 고안에 따른 그리퍼척 개폐감지장치는 로보트 그리퍼척(1)(1')에 부착된 센서를 없애고 제1도의 로보트 본체(8)에 부착된 솔레노이드(2)(2')의 공압라인(2a)(2b)(2a')(2b')에 각각 압력센서(9a)(9b)(9a')(9b')를 설치한 구조로, 이와 같은 구조를 갖는 본 고안에 따른 그리퍼척 개폐감지장치는 솔레노이드(2)(2')가 작동하여 그리퍼척(1)(1')를 개방시키기 위해 공압라인(2)(2a') 또는 (2b)(2b')에 일정압력이 가해지면 압력센서(9a)(9a') 또는 (9b)(9b')에 압력이 표시되고 상기 압력센서가 일정압력 이상을 지시하게 되면 그리퍼척이 개방되었음을 확인할 수 있게 되는 것이다. 그리퍼척(1)(1')의 폐쇄작동시의 폐쇄상태 역시 다른 압력센서(9b)(9b') 또는 (9a)(9a')에 의해 명확하게 감지할 수 있게 되는 것이며, 이와 같이 로보트의 그리퍼척에 공급되는 공압을 압력센서(9a)(9b)(9a')(9b')에 의해 첵크함으로서 그리퍼척의 개폐 확인을 행한다. 이렇게 함으로서 로보트 핸드에 부착된 그리퍼 회전시 센서신호선의 꼬임으로 인한 로보트의 오동작 또는 로보트의 작동불량을 방지할 수 있다.As shown in FIG. 3, the gripper chuck opening / closing detecting device according to the present invention eliminates the sensor attached to the robot gripper chuck 1, 1 ', and the solenoid 2 attached to the robot body 8 of FIG. The pressure sensors 9a, 9b, 9a ', and 9b' are respectively provided in the pneumatic lines 2a, 2b, 2a ', and 2b' of (2 '). The gripper chuck opening / closing detection device according to the present invention operates the solenoid (2) (2 ') to open the gripper chuck (1) (1') to open the pneumatic line (2) (2a ') or (2b) (2b'). When a certain pressure is applied to the pressure sensor, pressure is displayed on the pressure sensors 9a, 9a 'or 9b, 9b', and when the pressure sensor indicates a certain pressure or more, the gripper chuck is opened. . The closing state in the closing operation of the gripper chuck 1, 1 'can also be clearly detected by other pressure sensors 9b, 9b' or 9a, 9a '. The air pressure supplied to the gripper chuck is checked by pressure sensors 9a, 9b, 9a ', and 9b' to check the opening and closing of the gripper chuck. By doing so, it is possible to prevent malfunction of the robot or malfunction of the robot due to twisting of the sensor signal line when the gripper rotates attached to the robot hand.

Claims (1)

솔레노이드(2)(2')에 의해 개폐되는 그리퍼척(1)(1')의 개폐상태를 감지하기 위하여 상기 솔레노이드(2)(2')의 공압라인(2a)(2a')(2b)(2b')에 압력센서(9a)(9a')(9b)(9b')가 각각 설치된 것을 특징으로 하는 그리퍼척 개폐감지장치.Pneumatic lines 2a, 2a 'and 2b of the solenoids 2 and 2' for sensing the opening and closing state of the gripper chuck 1 and 1 'which are opened and closed by solenoids 2 and 2'. And a pressure sensor (9a) (9a ') (9b) (9b') are respectively provided at (2b ').
KR2019940022285U 1994-08-31 1994-08-31 Sensing apparatus for open or close gripper of handling robot KR0126113Y1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR2019940022285U KR0126113Y1 (en) 1994-08-31 1994-08-31 Sensing apparatus for open or close gripper of handling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR2019940022285U KR0126113Y1 (en) 1994-08-31 1994-08-31 Sensing apparatus for open or close gripper of handling robot

Publications (2)

Publication Number Publication Date
KR960007267U KR960007267U (en) 1996-03-13
KR0126113Y1 true KR0126113Y1 (en) 1998-12-15

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KR102472245B1 (en) 2022-10-11 2022-11-30 (주)피에프에이 A device for adjusting the length of a manual wire rope

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