KR101139411B1

KR101139411B1 - Industrial gripper for multifunction handling

Info

Publication number: KR101139411B1
Application number: KR20100019768A
Authority: KR
Inventors: 원종대
Original assignee: (주)영창로보테크
Priority date: 2010-03-05
Filing date: 2010-03-05
Publication date: 2012-04-27
Also published as: KR20110100771A

Abstract

The present invention provides an industrial gripper for multifunctional handling, which enables gripping different types of objects in various industrial sites having various working environments. Such a gripper is arranged so that the finger units consisting of the pivoted links are arranged symmetrically with each other, and these finger units are linked with each other by a cylinder actuated by the fluid. According to the gripper of the present embodiment, since it is possible to hold various types of objects such as spheres, round rods, and squares, there is no inconvenience to be replaced according to the shape of the object, and the accuracy and accuracy of the gripping operation can be ensured. As a gripper, various tasks can be performed, which can contribute to productivity improvement and the dissemination and utilization of robots.

Description

INDUSTRIAL GRIPPER FOR MULTIFUNCTION HANDLING

The present invention relates to an industrial gripper for multi-function handling, and more particularly to providing a multi-joint gripper for gripping different types of objects in various industrial sites having various working environments. It relates to an industrial gripper for multifunctional handling that can overcome, facilitate manufacturing, lower manufacturing costs, relatively easy maintenance, and ensure precision and accuracy of gripping operations. .

BACKGROUND ART Robots are generally used to handle materials, processed products, and finished products in almost all industries such as semiconductor manufacturing lines, assembly lines for automobile parts, and machine tools. In addition, industrial robots have been extended to more precise working areas due to the development of vision technology.

On the other hand, in relation to a gripper that provides a function of holding a target product in a robot, various forms of human robots have been attempted to operate similarly to human hand movements, but a gripper proposed in the human robot field is Since it is difficult to apply to the industrial robot field where the ease of manufacture and use and the production cost should be considered, the reality is that the industrial robot does not provide a gripper capable of implementing such a function.

In this regard, Korean Laid-Open Patent Publication No. 1989-0007838, "Workpiece gripper gripper" is a jaw for clamping the workpiece by adjusting the opening and closing angle, which is fixed by screwing or bonding the end of the jaw, and clamping the workpiece. A ping machine, between the operation for operating the jaw coupled to the ping, the jaw is fixed to the rotatable by the coating pin in the center, the clevis is connected between the operation and the screw, the jaw pivot pivot from the outside It proposes a gripper consisting of a body which is rotatably fixed by the body, wraps the jaws and clevis, and has a threaded portion engaged with one end of the working cylinder, and a nut fitted between the body and the cylinder.

In addition, Korean Patent Publication No. 10-0719049 "grip of the automatic packaging machine" is a pair of two gripper jaws each of which is a pair of two opposite to each of both sides of the envelope that is an automatic packaging object, but the pair One of the two gripper jaws is the movable side, and the other is the gripper of the automatic packaging machine having a fixed side, wherein the movable side gripper jaws have a gripping surface composed of a metal gripper jaw, and the fixed side opposite thereto. The gripper jaw is a soft gripper jaw selected from rubber, plastic or lead metal material, and is composed of a piece replacement type that is inserted into and removed from an insertion groove. The metal gripper jaw is formed with a '<' shape or a 'X' on the gripping surface. A 'shaped' or continuous array of 'o' shaped projections are formed, and the soft gripper jaws opposite to the projections are formed on the gripping surface. Doemeurosseo grooves formed in the shape corresponding number without damaging the envelope to strengthen the holding power envelope and proposes a gripper of an automatic packaging machine maintenance, replacement of the grip easy.

As described above, the grippers proposed in the related art are formed by driving two jaws disposed to face each other by pneumatic or the like, or by holding a target by allowing the jaws to be operated by a solenoid.

However, since the gripper according to the related art has to be manufactured and used separately for a large product to be handled, it is not compatible with other products and requires the use of an automatic tool change (ATC) when replacing the gripper. There is a problem. Therefore, the industrial gripper according to the prior art is extremely limited in structure and function, and basically, one type of gripper cannot be applied to several objects, so that a loss of work time is caused due to replacement and a gripper must be configured for each product. There is a problem of high investment costs.

In addition, the gripper according to the prior art has a problem that it is difficult to use in a poor working environment, such as forging or casting because it depends on the pneumatic or electronic actuator.

Therefore, the present invention has been proposed to solve the problems of the prior art, and is equipped with an industrial robot to enable the holding of various types of objects having different shapes or sizes within a predetermined range for a new type of multifunctional handling for industrial use. The purpose is to provide a gripper.

In particular, the present invention is relatively easy to manufacture the gripper of the human robot so that the gripper of the articulated joint that is being studied in the field of human robot can be easily applied to the industrial robot field, and it is possible to reduce the manufacturing cost. It is an object to provide an industrial gripper for multifunctional handling in its form.

According to a feature of the present invention for achieving the above object, the present invention is the base 20 coupled to the handling device 2, the rod 22 is reciprocated by the fluid acting on the base 20 from the outside A cylinder 12 that is moved; A movement block (40) coupled to the rod (22) of the cylinder (12); A supporting frame (14) coupled to the base (20) of the cylinder (12) and disposed on both sides with the movement block (40) therebetween; Is disposed between the supporting frame 14 of both sides is coupled by the first movement pin 43 so that one side is pivotable to the movement block 40, the other side is pivotable to the supporting frame 14 A first finger unit 16 coupled and linked by the first supporting pin 34; It is arranged to face the first finger unit 16 with the movement block 40 therebetween, one side is coupled by a second movement pin 43 ′ to enable the pivoting movement to the movement block 40, A second finger unit (18) coupled to the supporting frame (14) by a second supporting pin (34 ') so that the other side is pivotable and linked to link with the first finger unit (16); The first finger unit 16 and the second finger unit 18 are formed by being coupled by a pin so that the link can pivot, so that the link is pivoted about the object to hold the object.

In the industrial gripper for multifunctional handling according to the present invention, a third is disposed symmetrically with the first finger unit 16 in a direction parallel to the supporting frame 14 to correspond to the second finger unit 18. Further comprising a finger unit 18 '; On the opposite side of the first finger unit 16, the second and third finger units 18 and 18 ′ may be gripped by an object in a staggered state with the first finger unit 16.

In the industrial gripper for multifunctional handling according to the present invention, the first finger unit 16 is formed such that the body 52 extends to the upper portion 52a and the lower portion 52b about the first pivot hole 53. The first finger upper clamping link 50 and the lower end of the body 72, the pad 51 is coupled to the inside of the upper portion 52a, and the second pivot hole 54 is formed in the lower portion 52b. Coupled to the movement block 40 by the first movement pin 43 at 74, and at the top 76 of the body 72 to the first of the upper finger clamping links 50. The first finger lower clamping link 70 is pin-coupled to the pivot hole 53 so as to be pivotable, and the pad 71 is coupled to an upper inner side of the body 72, and the body 62 is the first finger. It is formed to be bent around the pivot hole 63 coupled to the supporting pin 34, the upper end 66 of the body 62 is the first finger upper clamping link 50 A pin 75 is pivotally coupled to the second pivot hole 54 so that the lower end 64 is formed to have a slot 75 which is opened outwardly so that the lower finger 74 of the first finger lower clamping link 70 may be formed. It may be provided with a first connecting link 60 to be coupled to the first movement pin 43 is inserted into the slot 65 and positioned.

In the industrial gripper for multifunctional handling according to the present invention, the second finger unit 18 is formed in a structure corresponding to the first clamping upper clamping link 50 so that the first pivot hole 53 and the pad 51 ) And a second finger upper clamping link 50 ′ having a second pivot hole 54 and a structure corresponding to the first finger lower clamping link 70, are formed on the second movement pin 43 ′. And a second finger lower clamping link 70 'coupled to the movement block 40 so as to pivotally move, and a pad 71 coupled to an upper inner side thereof, and a structure corresponding to the first connection link 60. And a slot 65 formed at a lower end 64 to pivotally connect to the second supporting pin 34 ', and through the second finger lower clamping link 70'. 43 ') is inserted into the slot 65, the second connecting link 60' and the body 82 is It is formed to extend to the lower 84 and the upper 86 about the center pivot hole 83 coupled to the two-finger lower clamping link (70 '), the second finger upper clamping link at the end of the upper 86 A first pivot hole 53 of 50 'and a pin pivoted to the second connection link 60' at an end of the lower 84 and a pad inside an upper portion of the central pivot hole 83; A third connecting link 80 to which the 81 is coupled; and a second lower clamping link 70 ', a second connecting link 60' and a third connecting link 80 below the body 92; A leg 93 is formed to form a space through which the passage passes, and an end of the leg 93 is pivotally coupled to the second supporting pin 34 ′, from above the second finger upper clamping link. And a fourth connection link 90 pinned to the second pivot hole 54 of 50 '.

According to the industrial gripper for multifunctional handling according to the invention, the finger units consisting of the pivoted links are arranged symmetrically with each other, and these finger units are provided by a cylinder 12 which is operated by fluid (typically hydraulic). Since it is configured to link movement with each other, the degree of freedom in the operation of holding the object is higher than in the prior art. Therefore, it is possible to hold various types of objects such as spheres, round rods, and squares, so that there is no inconvenience to be replaced according to the shape of the object, and the accuracy and accuracy of the gripping operation can be secured, and various operations can be performed as a single gripper. It is possible to contribute to productivity improvement and the dissemination and utilization of robots. In particular, the industrial gripper according to the present invention can be applied to the hydraulic cylinder and the link structure to hold the various types of objects, it can be easy to manufacture, lower the manufacturing cost, relatively easy to maintain, It can be easily applied even in harsh working conditions such as forging and casting sites.

1 is a view for explaining the technical spirit of the industrial gripper for multifunctional handling according to the present invention;
FIG. 2 is a view for explaining a state of holding a large product using an industrial gripper for multifunctional handling shown in FIG. 1; FIG.
3 is a perspective view of an industrial gripper for multifunctional handling according to a preferred embodiment of the present invention;
4 is a cross-sectional view taken along the line AA ′ in FIG. 3;
Figure 5 is an exploded perspective view showing the main configuration of the industrial gripper for multifunctional handling according to a preferred embodiment of the present invention;
FIG. 6 is a view illustrating a state in which finger units are assembled in the state of FIG. 5; FIG.
7 is a perspective view showing a state when the industrial gripper for the multifunctional handling according to the preferred embodiment of the present invention is opened to the maximum;
8 is a perspective view showing a state when the industrial gripper for the multi-function handling in accordance with a preferred embodiment of the present invention is closed at maximum;
9 is a view showing a state of holding a variety of objects using the industrial gripper for multi-function handling according to a preferred embodiment of the present invention.

1 is a view for explaining the technical idea of the industrial gripper for multi-function handling according to the present invention, Figure 2 is a view for explaining a state of holding a large product using the industrial gripper for the multi-function handling shown in FIG. .

1 and 2, the industrial gripper 10 for the multi-function handling according to the present invention allows to hold the object of various shapes while keeping the center line constant.

Industrial gripper 10 for the multi-function handling of the present invention has the advantage of lowering the manufacturing cost compared to the gripper that is implemented as an electric motor in a human robot, can be applied to the holding of a relatively heavy, such as dust Has the advantage that can be easily applied to the environment.

Such an industrial gripper 10 for multifunctional handling according to the present invention includes a cylinder 12, a motion block 40, a supporting frame 14, a first finger unit 16, and a second finger unit 18. In this case, the first finger unit 16 and the second finger unit 18 are characterized in that the link is pivoted and arranged symmetrically with each other.

The industrial gripper 10 for multifunctional handling according to the present embodiment having such a configuration is mutually supported by a cylinder 12 in which the first finger unit 16 and the second finger unit 18 are operated by pneumatic or hydraulic pressure. Since it is configured to be a link movement, the degree of freedom in the operation of holding the object compared to the prior art, it is possible to hold a variety of objects, such as spheres, round rods, squares.

More specifically, the cylinder 12 has a base 20 coupled to a handling device 2 such as a robot, and the rod 22 reciprocates by a fluid acting on the base 20 from the outside. The motion block 40 is coupled to the rod 22 of the cylinder 12. And, the supporting frame 14 is coupled to the base 20 of the cylinder 12, it is disposed on both sides with the movement block 40 therebetween. The first finger unit 16 is disposed between the supporting frame 14 on both sides, and is coupled by the first movement pin 43 so that one side is pivotable to the movement block 40, and the other side to the supporting frame 14. The first supporting pin 34 is engaged by the link movement so as to pivot. The second finger unit 18 is disposed to face the first finger unit 16 with the movement block 40 interposed therebetween, so that the second movement pin 43 can pivot on one side of the movement block 40. ') Coupled to the supporting frame (14) by the second supporting pin (34') so that the other side is pivotable so that the link movement to interlock with the first finger unit (16).

In the industrial gripper 10 for the multifunctional handling according to the present invention, the first finger unit 16 and the second finger unit 18 are formed by being coupled by a pin so that the link can pivot. Pivot to the center to grasp the object. That is, the first finger unit 16 and the second finger unit 18 are provided with pads 51, 71, and 81 contacting the object 1, so that the links 50, 70, 50 ', 70', 80 and pivots 60, 60 ', 90 which allow these links 50, 70, 50', 70 ', 80 to receive the driving force of the cylinder 12. It is configured to be coupled by a pin to be movable. That is, the industrial gripper 10 for multifunctional handling according to the present invention deviates from the concept of a human robot that implements a complex operation by using an electric motor or the like to form a finger unit of a link structure, and through the cylinder 12. This is to implement the grip operation.

Such an industrial gripper 10 for multifunctional handling according to the present invention, in the initial state as shown in FIG. 1, is supplied with fluid such as hydraulic pressure from the outside (that is, operation already programmed in the handling device 2 such as a robot). The hydraulic pressure will be supplied according to the process}, and the rod 22 is raised. Then, when the rod 22 is raised, the movement block 40 is raised. At this time, the links 60, 70, 60 ′, 70 ′ of the first finger unit 16 and the second finger unit 18 are connected to the first movement pin 43 and the second movement pin on the movement block 40. Pivotally coupled to 43 ', pivotally coupled to the supporting frame 14 in a state supported by the first supporting pin 34 and the second supporting pin 34', the first finger unit 16 The links 50, 60, 70, 50 ', 60', 70 ', 80, 90 of the links constituting the second finger unit 18 are pivoted together so that the nodes of each link are rotatable and constrained in totally engaged engagement. Have. Thus, the links 60, 60 ', 70, 70' of the first finger unit 16 and the second finger unit 18 pivotally coupled to the movement block 40 are pivoted and at the same time another link engaged link. As the fields 50, 80, 90, and 50 'are pivoted, as shown in FIG. 2, the articulated movement to grip the object 1 while the pads 51, 71, 81 are in close contact with the object 1 Will be

Hereinafter, an industrial gripper for multifunctional handling according to a preferred embodiment of the present invention will be described in detail with reference to FIGS. 3 to 9, and like reference numerals refer to like elements in FIGS. 1 to 9. Meanwhile, the drawings and detailed descriptions of configurations and operations and effects thereof which can be easily understood from related arts in the related art from general industrial grippers in each drawing are briefly or omitted, and the parts related to the present invention are illustrated.

3 is a perspective view of an industrial gripper for multi-function handling according to a preferred embodiment of the present invention, FIG. 4 is a cross-sectional view taken along the line A-A 'in FIG. 3, and FIG. 5 is in accordance with a preferred embodiment of the present invention. 6 is an exploded perspective view illustrating a main configuration of an industrial gripper for multifunctional handling, FIG. 6 is a view illustrating a state in which finger units are assembled in the state of FIG. 5, and FIG. 7 is a multifunctional handling unit according to a preferred embodiment of the present invention. Figure 8 is a perspective view showing a state when the industrial gripper is opened to the maximum, Figure 8 is a perspective view showing a state when the industrial gripper for the multi-function handling in accordance with a preferred embodiment of the present invention closed at maximum, Figure 9 is a view of the present invention Demonstrating the holding state of various objects using the industrial gripper for multifunctional handling according to a preferred embodiment A surface.

3 to 5, the industrial gripper 10 for multifunctional handling according to the preferred embodiment of the present invention is a cylinder 12, the movement block 40, the supporting frame 14 in accordance with the spirit of the present invention And a first finger unit 16 and a second finger unit 18, and the first finger unit 16 and the second finger unit 18 are made of a link pivoted, and a variety of spheres, round bars, squares, etc. Allows you to grasp forms of things.

More specifically, in this embodiment, the supporting frame 14 has a bottom plate 31 and a side wall plate 32 to be coupled to the cylinder 12. At this time, the cylinder 12 has a base 20 coupled to the handling device 2 such as a robot, the rod 22 is reciprocated by the fluid acting on the base 20 from the outside. In this embodiment, the cylinder 12 applies a hydraulic cylinder. The bottom plate 31 of the supporting frame 14 is fixedly coupled to the upper surface of the base 20 of the cylinder 12, and the side wall plate 32 is disposed on both sides with the movement block 40 interposed therebetween, and thus the bottom plate 31. ) Is fixed to the side of the screw. In the supporting frame 14 of the present embodiment, two kinds of setting bars 38, 36, and 36 ′ are installed at positions not interfering with the movement of each finger to maintain the gap between the side wall plates 32. Of course, various kinds of techniques may be applied to keep the gap between the sidewall plates 32 constant.

In the industrial gripper 10 for the multifunctional handling of the present embodiment, the motion block 40 is coupled to the rod 22 of the cylinder 12 which has passed through the bottom plate 31 of the supporting frame 14. As shown in FIG. 5, the movement block 40 is coupled to the pivot unit by the finger unit and the first and second movement pins 43 and 43 ′. Of course, the coupling spaces 42 and 44 for coupling the finger unit are installed at both sides, the configuration for the coupling of such a finger unit can be configured in various forms as necessary.

In the present embodiment, the first finger unit 16 and the second finger unit 18 are basically provided to hold the object. At this time, the first finger unit 16 is disposed between the supporting frame 14 on both sides, one side is coupled by the first movement pin 43 to enable the pivoting movement to the movement block 40, the supporting frame 14 The other side is coupled and linked by the first supporting pin 34 so as to be pivotable. The second finger unit 18 is disposed to face the first finger unit 16 with the movement block 40 interposed therebetween, so that the second movement pin 43 can pivot on one side of the movement block 40. ') Coupled to the supporting frame (14) by the second supporting pin (34') so that the other side is pivotable so that the link movement to interlock with the first finger unit (16).

The finger unit for holding the object in the present embodiment as described above is characterized in that it consists of three to have a three-point support structure when the object (1) is gripped. That is, the industrial gripper 10 for the multifunctional handling according to the present embodiment may be disposed symmetrically with the first finger unit 16 in a direction parallel to the supporting frame 14 to correspond to the second finger unit 18. It additionally has a three finger unit 18 '. In addition, the second and third finger units 18 and 18 ′ hold the object 1 in a state in which the second and third finger units 18 and 18 are staggered from each other on the opposite side of the first finger unit 16. At this time, the first finger unit 16 is disposed between the supporting frame 14 on both sides, one side is coupled by the first movement pin 43 to enable the pivoting movement to the movement block 40, the supporting frame 14 The other side is coupled and linked by the first supporting pin 34 so as to be pivotable. The second finger unit 18 and the third finger unit 18 ′ are disposed to face the first finger unit 16 with the movement block 40 therebetween, so that one side pivots on the movement block 40. It is coupled by the second movement pin 43 'to be movable, and coupled to the supporting frame 14 by the second supporting pin 34' so that the other side is pivotable so as to interlock with the first finger unit 16. Link is exercised.

As described above, the industrial gripper 10 for the multifunctional handling according to the present embodiment includes the first finger unit 16, the second finger unit 18, and the third finger unit 18 ′ to have a multi-joint structure and thus to be asymmetric. It has the advantage of effectively catching the phosphorus object. And, since they are arranged symmetrically with each other, it is possible to grip the objects of various shapes while maintaining the center line of the gripper constant.

Thus, the finger units of the gripper 10 according to the present embodiment for the articulated structure, as shown in Figure 5, consists of a link pivoted. That is, the first finger unit 16 is composed of three links consisting of the first finger upper clamping link 50, the first finger lower clamping link 70, and the first connection link 60. In this case, the first finger lower clamping link 70 is formed such that the body 52 extends to the upper portion 52a and the lower portion 52b about the first pivot hole 53, and has a pad inside the upper portion 52a. 51 is coupled, and a second pivot hole 54 is formed in the lower portion 52b. Here, the pad 51 may form a material and a shape according to the object 1 as a part in contact with the object 1. The first finger lower clamping link 70 is pivotally coupled to the movement block 40 by the first movement pin 43 at the bottom 74 of the body 72, and the top of the body 72. At 76, the first pivot hole 53 of the first finger upper clamping link 50 is pinned to be pivotable, and the pad 71 is coupled to the upper inner side of the body 72. In addition, the first connection link 60 is formed such that the body 62 is bent around the pivot hole 63 coupled to the first supporting pin 34, and the upper end 66 of the body 62 is firstly formed. The pin 75 is pivotally coupled to the second pivot hole 54 of the finger upper clamping link 50, and the lower end 64 is formed with a slot 75 that is opened outward to form the first finger lower clamping link 70. The first movement pin 43 is inserted into the slot 65 through the lower end 74 to be coupled thereto.

On the other hand, the second finger unit 18 and the third finger unit 18 'according to the present embodiment are the same as the second finger upper clamping link 50', the second finger lower clamping link 70 ', A second connection link 60 ', a third connection link 80 and a fourth connection link 90 are provided to enable multi-joint movement. In this case, the second finger upper clamping link 50 ′ is formed in a structure corresponding to the first finger upper clamping link 50 so as to form the first pivot hole 53, the pad 51, and the second pivot hole 54. Have In addition, the second finger lower clamping link 70 'is formed in a structure corresponding to the first finger lower clamping link 70, and is pivotally coupled to the motion block 40 by the second motion pin 43'. The pad 71 is coupled to the upper inner side. In addition, the second connection link 60 ′ is formed in a structure corresponding to the first connection link 60 so as to be pivotally coupled to the second supporting pin 34 ′, and has a slot formed at the lower end 64. 65 is coupled so that the second movement pin 43 'is inserted into the slot 65 through the second finger lower clamping link 70'. The third connecting link 80 is formed such that the body 82 extends to the lower 84 and the upper 86 about the center pivot hole 83 which is coupled to the second finger lower clamping link 70 '. Pinned with the first pivot hole 53 of the second finger upper clamping link 50 'at the upper end 86, pinned with the second connection link 60' at the lower end 84, The pad 81 is coupled to an upper inner side of the central pivot hole 83. In addition, the fourth connecting link 90 has a space for allowing the second finger lower clamping link 70 ', the second connecting link 60', and the third connecting link 80 to pass under the body 92. A leg 93 is formed, and an end of the leg 93 is pivotally coupled to the second supporting pin 34 ′, and a second pivot hole of the second finger upper clamping link 50 ′ from above. It is pinned to 54.

Through such a configuration, as shown in FIGS. 7 and 8, the industrial gripper 10 for the multifunctional handling according to the present embodiment has a high degree of freedom in the operation of catching an object by the link motion of the finger unit. Accordingly, as shown in FIG. 9, various types of objects, such as sphere (FIG. 9 (a)), square (FIG. 9 (b)), and round bar (FIG. 9 (c)) can be gripped.

Referring to FIG. 4, in the industrial gripper 10 for multifunctional handling according to the present embodiment, when the hydraulic pressure is supplied from the outside in the initial state as shown in FIG. 7, the rod 22 is raised. Then, when the rod 22 is raised, the movement block 40 is raised. At this time, the first finger unit 16 is a link movement of the first finger upper clamping link 50 through the first finger lower clamping link 70 and the first connection link 60, the second and third finger unit 18 and 18 'are the second fingers while the third connecting link 80 and the fourth connecting link 90 is link-moved through the second connecting link 60' and the second finger lower clamping link 70 '. The upper clamping link 50 'is linked and articulated. That is, the first to third finger units 16, 18, and 18 'according to the present embodiment are the first movement pin 43 and the second movement pin 43 on the movement block 40 in accordance with the spirit of the present invention. ', Pivotally coupled to the supporting frame 14 in a state supported by the first supporting pin 34 and the second supporting pin 34', and each of the links 50, 60, 70, 50 ', 60', 70 ', 80, 90 are pivotally coupled to each other so that the nodes of each link are pivotable and have a totally restrained link engagement. Thus, the links 60, 60 ′, 70, 70 ′ of the first to second bulge units 16, 18, 18 ′ pivoted to the movement block 40 are pivoted and at the same time another link engaged link. As the fields 50, 80, 90, and 50 ′ are pivoted, as shown in FIG. 9, the pads 51, 71, and 81 are in close contact with the object 1 to grip the object 1.

As described above, although the industrial gripper for the multi-function handling according to the preferred embodiment of the present invention has been shown in accordance with the above description and drawings, this is merely described for example and various within the scope without departing from the technical spirit of the present invention. It will be appreciated by those skilled in the art that changes and variations are possible.

2: handle device 10: gripper (for industrial use)
12: cylinder 14: supporting frame
16: first finger unit 18: second finger unit
18 '; Third finger unit 20: base
22: rod 34: first supporting pin
34 ': second supporting pin 40: motion block
43: first exercise pin 43 ': second exercise pin
50: first finger upper clamping link
50 ': second finger upper clamping link
51, 71, 81: pad
52: (first and second finger upper clamping link) body
52a: (first and second finger upper clamping link body) top
52b: (first and second finger upper clamping link body) lower
53: first pivot hole 54: second pivot hole
60: first connection link 60 ': second connection link
62: (first and second connection link) body
63: (first and second connection link) pivot hole
64: (first and second connection link body) bottom
65: (first and second connection link) slot
66: (first and second connection link body) top
70: first finger lower clamping link
70 ': second finger lower clamping link
72: (first and second finger lower clamping link) body
74: (first and second finger lower clamping link body) bottom
76: (first and second finger lower clamping link body) top
80: third connection link 82: (third connection link) body
83: (third connection link) pivot hole
84: lower part of the (third connection link body)
86: upper part (third connection link body)
90: fourth connection link 92: (fourth connection link) body
93: (fourth link) bridge

Claims

A base 20 coupled to the handling device 2, and a cylinder 12 reciprocating by a fluid acting on the base 20 from the outside;
A movement block (40) coupled to the rod (22) of the cylinder (12);
A supporting frame (14) coupled to the base (20) of the cylinder (12) and disposed on both sides with the movement block (40) therebetween;
Is disposed between the supporting frame 14 of both sides is coupled by the first movement pin 43 so that one side is pivotable to the movement block 40, the other side is pivotable to the supporting frame 14 A first finger unit 16 coupled and linked by the first supporting pin 34;
It is arranged to face the first finger unit 16 with the movement block 40 therebetween, one side is coupled by a second movement pin 43 ′ to enable the pivoting movement to the movement block 40, A second finger unit (18) coupled to the supporting frame (14) by a second supporting pin (34 ') so that the other side is pivotable and linked to link with the first finger unit (16);
The first finger unit 16 is formed such that the body 52 extends to the upper portion 52a and the lower portion 52b about the first pivot hole 53, and the pad 51 inside the upper portion 52a. Coupled to the first finger upper clamping link 50 having a second pivot hole 54 formed in the lower portion 52b,
Coupled to the movement block 40 by the first movement pin 43 at the bottom 74 of the body 72 so as to pivotally pivot, and the upper finger clamping at the top 76 of the body 72. A first finger lower clamping link 70 which is pin-coupled to the first pivot hole 53 of the link 50 so as to be pivotable and to which a pad 71 is coupled to an upper inner side of the body 72;
The body 62 is formed to be bent around the pivot hole 63 coupled to the first supporting pin 34, and the upper end 66 of the body 62 is the first finger upper clamping link 50. Pins are pivotally coupled to the second pivot hole 54, and the lower end 64 is formed with a slot 75 that opens outwardly, and thus, through the lower end 74 of the first finger lower clamping link 70. A first connecting link 60 coupled to the first moving pin 43 so as to be inserted into and positioned in the slot 65,
The second finger unit 18 is formed to have a structure corresponding to the first upper clamping link 50 and has a first pivot hole 53, a pad 51, and a second pivot hole 54. The upper finger clamping link 50 ',
It is formed in a structure corresponding to the first finger lower clamping link 70 is coupled to the movement block 40 by the second movement pin (43 ') pivotably, the pad 71 is in the upper inside A second finger lower clamping link 70 'coupled thereto,
A slot 65 is formed in a structure corresponding to the first connection link 60 so as to be pivotally coupled to the second supporting pin 34 ′, and a slot 65 formed at a lower end 64 of the second finger lower clamping. A second connecting link 60 'coupled to allow the second movement pin 43' to be inserted into the slot 65 through a link 70 ';
The body 82 is formed to extend to the lower portion 84 and the upper portion 86 around the center pivot hole 83 coupled to the second finger lower clamping link 70 ', and at the end of the upper portion 86 It is pin-coupled with the first pivot hole 53 of the second finger upper clamping link 50 ', pin-connected with the second connection link 60' at the end of the lower 84, the center pivot hole ( A third connecting link 80 to which the pad 81 is coupled to an upper inner side of the 83;
A leg 93 is formed below the body 92 to form a space through which the second finger lower clamping link 70 ', the second connecting link 60' and the third connecting link 80 pass. The end of the leg 93 is pivotally coupled to the second supporting pin 34 ′ and pin-coupled to the second pivot hole 54 of the second finger upper clamping link 50 ′ from above. By having a fourth connection link 90 to be made,
The first finger unit 16 and the second finger unit 18 are formed by being coupled by a pin so that the link can pivot, so that the link is pivoted about the object to grip the object. Industrial gripper for handling.

The method of claim 1,
A third finger unit (18 ') disposed symmetrically with the first finger unit (16) in a direction parallel to the supporting frame (14) so as to correspond to the second finger unit (18); Multifunction handling, characterized in that the second and third finger units 18, 18 ′ are held on the opposite side of the first finger unit 16 while holding the object in a staggered state with the first finger unit 16. Industrial Grippers

delete