KR100374493B1 - a gripper for a robot - Google Patents

Abstract

The present invention relates to a gripper mounted on the arm of an industrial robot to grip an object, in order to facilitate the gripping and to prevent damage during gripping, the vacuum pump (controlled by the solenoid valves 82) 83, the one end of each slide shaft 60 is fixed to the outer portion of the first plate 50 attached to the robot, and the second end of the slide shaft is fixed to the second end of the slide shaft. Both sides of the middle part and the lower part of the plate 70 are movably supported, and the vacuum cup 80 having the pleat pad 81 is installed to be folded in three stages on the upper part of the second plate. When the position setting of the object is finished, the robot connects the center of the object to the center of the corrugation pad 81, and the second plate 70 slides along the slide shaft 60. When the holding position of the object is set, a vacuum is generated in the vacuum pump 83 so that the object is adsorbed to the vacuum cup 80. At this time, the object is elastically adsorbed to the three-stage pleat pad 81 to prevent impact. It is gripper of industrial robot using short pad.

Description

Industrial robot gripper using three-stage corrugated pad {a gripper for a robot}

The present invention relates to a gripper that is attached to an arm of an industrial robot to grip an object. More specifically, the gripper may be improved by improving the structure of the gripper to facilitate gripping, and by improving the structure that absorbs the impact force during gripping. It relates to an industrial robot gripper using a three-stage corrugated pad to prevent.

In general, an industrial robot is provided with a gripper for gripping an object at the end of an arm of the main body. The structure of the gripper is, as illustrated in FIGS. 1 to 3, upper and lower outer portions of the bracket 10 mounted to the robot. One end of the support 30 is fixed, the outer portion of the plate 20 formed in a flat plate shape on the other end of the support 30 is elastically supported by the shock-proof spring 31 and cushion bolts, the plate ( The vacuum cup 40 is formed to be extended to the outer side of the outer side portion 20, the hard pad 41 to be controlled to the vacuum pressure of the vacuum pump 43 is mounted inside the vacuum cup 40 Is done.

The vacuum cup 40 is mounted in communication with the connecting tube on the rear side, and the vacuum pump 43 controlled by the vacuum switch 45 and the solenoid valves 42 is in communication with the connecting pipe pad 41. Is controlled by the vacuum pressure of the vacuum pump 43, and the vacuum filter 44 is controlably provided in the flow path extending to the pleat pad 41.

In the gripper of the conventional industrial robot configured as described above, when the object comes to the gripping position by the conveyor, the robot receives a signal from the control device, and when the gripping position of the object is held, the vacuum switch 45 opens to hold the vacuum cup ( Since the inside of the 40 is to communicate with the vacuum pump 43, a predetermined vacuum pressure is applied to the inside of the vacuum cup (40). As a result, the object is absorbed by the pad 41 at the front portion of the vacuum cup 80, and the shock of the object contacted by the elasticity of the spring 31 and the pad 41 is absorbed.

However, the gripper of the conventional industrial robot, the cushion bolt used to prevent the impact when holding the object is frequently damaged, there is economic loss and inconvenience in operation due to frequent replacement, and the error of the object is less because the plate is the frame There is a problem in that gripping becomes difficult when the gripping position is not constant.

An object of the present invention is to solve such a conventional problem, by improving the structure of the vacuum cup and the support structure of the frame to efficiently absorb the shock when grasping the object can be corrected by the large acceptance range of the position error It is to provide a gripper of an industrial robot using a three-stage corrugated pad.

1 is a partial cutaway cross-sectional view showing a gripper of a conventional industrial robot.

2 is a plan view showing a gripper of a conventional industrial robot.

3 is an air circuit diagram of a gripper of a conventional industrial robot.

Figure 4 is a partial cutaway cross-sectional view showing the gripper of the industrial robot using a three-stage corrugated pad according to an embodiment of the present invention.

5 is a plan view of a gripper of an industrial robot using a three-stage corrugated pad according to an embodiment of the present invention.

6 is an air circuit diagram of a gripper of an industrial robot using a three-stage corrugated pad according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawing

50: first plate 60: slide axis

61: stop seal 70: second plate

80: vacuum cup 81: pleat pad

82 solenoid valve 83 vacuum pump

84: vacuum filter 85: vacuum switch

86: connector

As a means for achieving the above object, the configuration of the present invention, in the structure to be gripped by the vacuum pressure of the vacuum pump controlled by the solenoid valves to be mounted on the robot, the first mounting to the robot One end of each slide shaft is fixed to an outer portion of the plate, and both ends of the middle part and the lower end of the second plate are movably supported at the other end of the slide shaft, and the upper end of the second plate can be folded in three steps. It is characterized in that the vacuum cup is equipped with a pleat pad is mounted.

DETAILED DESCRIPTION Hereinafter, the most preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention. .

For reference, the embodiments disclosed herein are only presented to select the most preferred examples from among the various possible examples to help those skilled in the art to understand, the technical spirit of the present invention is not necessarily limited or limited only by this embodiment. .

4 to 6, one end of each slide shaft 60 is fixed to an outer portion of the first plate 50 attached to the robot, and the other end of the slide shaft 60 is fixed to the outer portion of the first shaft 50. Both sides of the middle part and the lower part of the second plate 70 are supported to be movable, and the vacuum cup 80 is provided with a pleat pad 81 so as to be folded in three stages at the upper end of the second plate 70. It is mounted. In addition, the vacuum cup 80 is to be operated by the vacuum pressure of the vacuum pump 83 is controlled by the solenoid valve 82, three fold pad 81 mounted therein, the vacuum filter 84 It is a basic feature of the technical configuration that is mounted in the flow path between the pleat pad 81 and the vacuum pump 83 and the vacuum switch 85 is controllable in the flow path that extends to the pleat pad (81).

Here, the slide shaft 60 is formed at both ends and the middle end, respectively, so that the stepped end and the end of the middle step to perform the stopper function, respectively, the stop seal 61 is fitted to the end of the end and the other end, respectively, The first plate 50 and the second plate 70 are supported in close contact with the stop seal 61, respectively.

The vacuum cup 80 is fixed to the second plate 70 such that the back of the cup-like shape is connected to the vacuum pump 83 by the connecting pipe 86, and a plurality of corrugations are formed on the front surface, such as a bellows. Foldable.

According to the present invention configured as described above, when the object comes to the grip position by the kenvey, the robot receives the signal from the control device and suppresses it. After finishing setting the position of the object, the robot moves the center of the object and the center of the corrugation pad 81. The second plate 70 is slid along the slide shaft 60. In addition, when the holding position of the object is held, the vacuum pump 83 generates a vacuum so that the pleat pad 81 is in a vacuum state, so that the object is adsorbed to the vacuum cup 80. At this time, the object is a three-stage pleat pad ( 81) is elastically adsorbed to prevent shock when gripping.

The present invention constructed and operated as described above allows the cushion bolt used in the conventional structure to be removed, thereby reducing the cost and reducing the size, and thus absorbing the impact force from the pleat pad formed in three stages, thereby preventing frequent damage. Let me do the inconvenience. In addition, since the plate is slidable by using the slide shaft, the receiving width of the position error is increased, thereby making the operation convenient and having the effect of being applicable to multiple processes.

Claims (1)

(Correction) In the structure which is attached to the robot, the object is gripped by the vacuum pressure of the vacuum pump 83 controlled by the solenoid valves 82, One end of each slide shaft 60 is fixed to an outer portion of the first plate 50 mounted to the robot, On both ends of the slide shaft 60, both sides of the middle portion and both sides of the lower portion of the second plate 70 are movably supported. A vacuum cup 80 having a pleat pad 81 is mounted on the upper end of the second plate 70 so as to be folded in three stages. The vacuum cup 80 is to be operated by the vacuum pressure of the vacuum pump 83 is controlled by the solenoid valve 82, three fold pad 81 mounted inside, The vacuum filter 84 is mounted in the flow path between the pleat pad 81 and the vacuum pump 83, A gripper for an industrial robot using a three-stage wrinkle pad, characterized in that the vacuum switch 85 is controllably installed in a flow path extending to the pleat pad 81.