KR101251585B1 - A universal box handling robot hand - Google Patents

Abstract

According to a preferred embodiment of the present invention, a robot hand installed in an industrial robot and used in a process of transferring or loading a box, the robot hand being installed at one end of the industrial robot and having a first servo motor on one side, 1 frame; First moving means installed in a longitudinal direction of the first frame and converting a rotational movement of the first servo motor into a linear movement; A second frame installed at a lower side of the first frame and provided with a second servo motor at one side, the second frame being movable along the first moving means; A second moving means installed in the longitudinal direction of the second frame and converting the rotational motion of the second servo motor into a linear motion; And a plurality of main clamps extending downward of the second moving means, the main clamps being movable in the longitudinal direction of the first frame and the longitudinal direction of the second frame by the first moving means and the second moving means, respectively. There is provided a robot hand characterized in that.

Description

Universal box handling robot hand {A universal box handling robot hand}

The present invention relates to a general-purpose box handling robot hand, and more particularly, by using the first moving means and the second moving means, it is possible to load or move boxes of various sizes without replacing the robot hand module. It is about the hand.

Thin Film Transistor (TFT) Liquid Crystal Display (LCD) has excellent display capability such as display capacity, brightness, contrast, afterimage, and viewing angle, and enables thin and large screen display. The widespread use of various digital products, including navigation and navigation, has led to an expansion of LCD glass production.

In general, the LCD panel module box (Panel Module Box) is present in a variety of sizes ranging from 11 inch (57 inch) LCD model to 57 inch LCD model, there is also a difference in the number of stacked.

In the transfer and stacking process of LCD panel module boxes, industrial robots with hand modules can be classified into three groups of large, medium, and small according to their size, and then transported and stacked LCD panel module boxes of each size. There is a problem that requires several hand modules.

That is, in the case of transferring the LCD panel module box as described above or transferring the stacked boxes of various other sizes, various hand modules are required in the related art, which causes a problem in that the efficiency of the process is lowered.

The present invention is to solve the problems described above, an embodiment of the present invention relates to a general-purpose robot hand made to be able to transport and load the module box of various sizes without replacing the robot hand.

According to a preferred embodiment of the present invention, a robot hand installed in an industrial robot and used in a process of transferring or loading a box, the robot hand being installed at one end of the industrial robot and having a first servo motor on one side, 1 frame; First moving means installed in a longitudinal direction of the first frame and converting a rotational movement of the first servo motor into a linear movement; A second frame installed at a lower side of the first frame and provided with a second servo motor at one side, the second frame being movable along the first moving means; A second moving means installed in the longitudinal direction of the second frame and converting the rotational motion of the second servo motor into a linear motion; And a plurality of main clamps extending downward of the second moving means, the main clamps being movable in the longitudinal direction of the first frame and the longitudinal direction of the second frame by the first moving means and the second moving means, respectively. There is provided a robot hand characterized in that.

According to one embodiment of the present invention as described above, first, since the size of the box is changed, there is no need to replace the robot hand, since it can be used for general purposes, it is applicable to the mixing process.

Second, by applying the side sensor to prevent excessive movement of the robot can prevent the collision with the box.

Third, it is possible to prevent the pick-up operation error by applying a lower sensor to detect the stacking height of the box.

Fourth, by applying an auxiliary clamp in addition to the main clamp it can prevent the sag of the box double.

Fifth, the axial movement of the main clamp is made smoothly by the interlocking shaft, it is possible to prevent the collision between the main clamps.

Sixth, since the first servo motor and the second servo motor are applied, the box can be moved and stacked, so that only the main clamp is moved within the moving area on the frame without moving the flange coordinates of the robot to grasp, transfer and load the box. Due to this, the work area can be secured to an area where work is impossible due to minimization of operation time of the robot and interference with the surroundings.

Seventh, the existing equipment has a high height step of the box and pallet, the material gripping defects and falls occurred, but the present invention can automatically find the groove using the sensor function even if the height is slightly different using the home search function and the gripping function Therefore, the error rate can be significantly reduced compared to existing equipment.

1 is a front sectional view showing a robot hand according to an embodiment of the present invention;
2 is a plan sectional view of the robot hand shown in FIG. 1;
3 is a side cross-sectional view of the robot hand shown in FIG. 1;
4 is a front sectional view of the robot hand shown in FIG. 1 in a retracted state.

Hereinafter, a preferred embodiment of a universal robot hand according to an embodiment of the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

In addition, the following examples are not intended to limit the scope of the present invention, but merely illustrative of the components set forth in the claims of the present invention, which are included in the technical spirit throughout the specification of the present invention and constitute the claims Embodiments that include a substitutable component as an equivalent in the element may be included in the scope of the present invention.

1 is a front sectional view showing a robot hand according to an embodiment of the present invention, FIG. 2 is a plan sectional view of the robot hand shown in FIG. 1, FIG. 3 is a side sectional view of the robot hand shown in FIG. 1 is a front sectional view of the robot hand shown in FIG.

A general-purpose robot hand according to an exemplary embodiment of the present invention is a robot hand installed in an industrial robot and used in a process of transferring or loading a box, which is installed at one end of the industrial robot and has a first servo motor 110 at one side. A first frame 100 having a rectangular shape; First moving means (120) installed in the longitudinal direction of the first frame (100) and converting a rotational movement of the first servo motor (110) into a linear movement; A second frame 200 installed below the first frame 100 and provided with a second servo motor 210 on one side thereof and movable along the first moving means 120; Second moving means (220) installed in the longitudinal direction of the second frame (200) and converting the rotational movement of the second servo motor (210) into a linear movement; And extends downwardly from the second moving means 220, the first moving means 120 and the second moving means 220 in the longitudinal direction of the first frame 100 and the second frame ( And a plurality of main clamps 300 each movable along the length direction of the 200.

The general purpose robot hand of the present invention includes a first frame 100, a second frame 200, a first moving unit 120, a second moving unit 220, and a main clamp 300. Unlike conventional robot hands, the general-purpose robot hand of the present invention is a general-purpose hand module that can be used to transport boxes of various sizes.

As shown in FIG. 1, the present invention is installed at one end of an industrial robot to be applied to transport boxes of various sizes in various processes. The end of the industrial robot is provided with a flange, the robot hand is coupled to the lower side of the flange.

As shown in FIG. 2, a rectangular first frame 100 is installed below the flange, and the first frame 100 has a rectangular shape extending in the first axial direction when viewed from above. In addition, two first servo motors 110 are provided on the upper side of the first frame 100, and the two first servo motors 110 are respectively positioned at point symmetry with respect to the center point of the first frame 100 plane. It extends upwards.

The first moving means 120 is installed in the first axial direction, which is the longitudinal direction of the first frame 100, and the first moving means 120 converts the rotational motion of the first servo motor 110 into a linear motion. Play a role.

A rectangular second frame 200 is installed below the first frame 100, and the second frame 200 has a rectangular shape extending in a second axis direction when viewed from above.

Two second servo motors 210 are provided on the upper side of the second frame 200, and the two second servo motors 210 are respectively upwardly positioned at point symmetry with respect to the center point of the plane of the second frame 200. Is extended.

The second moving means 220 is installed in the second axis direction, which is the longitudinal direction of the second frame 200, and the second moving means 220 converts the rotational motion of the second servo motor 210 into a linear motion. Play a role.

A plurality of main clamps 300 are provided below the second moving means 220, for example, four main clamps 300 may be provided.

As a result, the rotational motion of the first servo motor 110 is converted into a linear motion in the first axial direction by the first moving means 120, and the second frame 200 is formed by the first moving means 120. It is made to enable linear motion in one axis direction. In addition, the rotational motion of the second servo motor 210 is converted into a linear motion in the second axial direction by the second moving means 220, and the main clamp 300 by the second moving means 220 Since the linear movement in the axial direction is made possible, the four main clamps 300 are formed by two first servo motors 110 and two second servo motors 210. It is possible to move to an arbitrary position. Therefore, the four main clamps 300 are made so that the length between each of the main clamps 300 can be adjusted to clamp boxes of various sizes.

In the general-purpose robot hand according to the preferred embodiment of the present invention, the first moving means 120 includes a pair of first A ball screw shaft 121 and the first B ball screw shaft 122 which are arranged spaced apart from each other. The second moving means 220 includes a pair of second A ball screw shaft 221 and a second B ball screw shaft 222 arranged to be spaced apart from each other, and the first moving means ( 120 and the second moving means 220 is arranged to cross perpendicular to each other, the first servo motor 110 and the second servo motor 210 are provided with two, respectively, the first servo motor 110. ) And the second servo motor 210 rotate the first A ball screw shaft 121 and the first B ball screw shaft 122 and the second A ball screw shaft 221 and the second B ball screw shaft by a timing belt. Each to 222.

As shown in FIG. 2, the first moving unit 120 and the second moving unit 220 are provided, and the first moving unit 120 and the second moving unit 220 are vertically intersected with each other.

The first moving means 120 includes a first A ball screw shaft 121 and a first B ball screw shaft 122 arranged to be spaced apart by a predetermined distance, and the second moving means 220 is arranged to be spaced apart by a predetermined distance. A second A ball screw shaft 221 and a second B ball screw shaft 222 are formed. As a result, the pair of first A ball screw shaft 121, the first B ball screw shaft 122, and the pair of second A ball screw shaft 221 and the second B ball screw shaft 222 form a square structure. .

As shown in FIG. 1 and FIG. 3, two first servo motors 110 and two second servo motors 210 are provided, respectively, and four servo motors are installed.

As shown in FIG. 2, the rotational motions of the two first servo motors 110 are transmitted to a pair of the first A ball screw shafts 121 and the first B ball screw shafts 122, and the two second servo motors. The rotational motion of 210 is transmitted to the pair of second A ball screw shafts 221 and the second B ball screw shafts 222, respectively.

In the general-purpose robot hand according to the preferred embodiment of the present invention, two main clamps 300 are spaced apart from each other in the pair of second A ball screw shaft 221 and the second B ball screw shaft 222. One end of the first main clamp 310 installed in the second A ball screw shaft 221 and the upper end of the second main clamp 320 installed in the second B ball screw shaft 222 is connected to each other by an interlocking shaft 400. .

As shown in FIG. 3, a main clamp 300 is provided.

The second moving means 220 includes a pair of second A ball screw shaft 221 and a second B ball screw shaft 222, and a pair of second A ball screw shaft 221 and a second B ball screw. In each of the shafts 222, two main clamps 300 are spaced apart from each other. That is, two first main clamps 310 are provided on the second A ball screw shaft 221, and two second main clamps 320 are provided on the second B ball screw shaft 222.

1 and 4, one end of the first main clamp 310 and the second main clamp 320 is connected to each other by an interlocking shaft 400.

In the general-purpose robot hand according to an embodiment of the present invention, the linkage shaft 400, the first pipe 410 is fitted to the upper end of the first main clamp 310; A second pipe 420 inserted into an upper end of the second main clamp 320; And a connection pipe 430 fitted to the first pipe 410 and the second pipe 420 and having a stopper 431 at the center thereof.

As shown in FIG. 1 and FIG. 4, the interlocking shaft 400 includes a first tube 410, a second tube 420, and a connecting tube 430.

The first pipe 410 is fitted to the top of the first main clamp 310, the second pipe 420 is fitted to the top of the second main clamp 320, the connection pipe 430 is the first pipe (410) And the second pipe 420 is fitted. Therefore, as the first main clamp 310 or the second main clamp 320 moves, the connection pipe 430 slides to the first pipe 410 or the second pipe 420. That is, the axial movement of the first main clamp 310 or the second main clamp 320 is smoothly performed by the interlocking shaft 400 interlocked in the longitudinal direction of the second frame 200.

A stopper 431 is provided at the center of the interlocking shaft 400. Since the stopper 431 has a diameter of a size corresponding to that of the first tube 410 or the second tube 420, the portion of the stopper 431 is slid to the first tube 410 or the second tube 420. This prevents the collision between the first main clamp 310 and the second main clamp 320.

In the general-purpose robot hand according to the preferred embodiment of the present invention, the first main clamp 310 and the second main clamp 320, the first main clamp 310 and the second main clamp 320 is a box When picking up the auxiliary clamp 500 to prevent the sag of the box is provided.

As shown in FIG. 3, an auxiliary clamp 500 is provided.

The auxiliary clamp 500 is provided at one end of the side surfaces of the first main clamp 310 and the second main clamp 320, and the first main clamp 310 and the second main clamp 320 pick up the box. To prevent sagging.

In the general-purpose robot hand according to the preferred embodiment of the present invention, the first main clamp 310 and the second main clamp 320, the side detection sensor 600 and the box of the box to prevent a collision during the movement of the robot hand The lower detection sensor 700 for determining the loading height is provided respectively.

As shown in Figure 3, the side sensor 600 and the lower sensor 700 is provided.

The side sensor 600 and the lower sensor 700 may be made of an ultrasonic sensor, the side sensor 600 serves to prevent a collision with other objects when the robot hand moves, the lower sensor ( 700 serves to detect the height of the stacked box.

Hereinafter, the operation of the robot hand will be described in detail.

The main clamp 300 of the robot hand according to the preferred embodiment of the present invention has a motion control by a servo motor and consists of four axes. It is possible to move the clamp up to 860mm on the first axis and 690mm on the second axis on the frame of the robot hand module without moving the flange coordinates of the robot. Through the location of the box and the clamp is moved it is possible to transport and load.

The hand module for transporting and stacking boxes of various sizes includes a first frame 100 and a second frame 200 capable of moving four main clamps to a first axis and a second axis. The four main clamps 300 are paired two by one to move in the first axial direction and the second axial direction to secure a pick-up space for corresponding boxes of various sizes. Auxiliary clamp 500 is added to each main clamp 300, and the auxiliary clamp 500 is used for picking up an 11 inch box, which is the smallest size among various sizes of boxes, or picking up using the main clamp 300. If used, it is used as an auxiliary purpose to prevent sagging of the box.

The main clamp 300 of the robot hand module has a side sensor 600 and a lower sensor 700, respectively, and the side sensor 600 is a sensor for preventing a collision during the movement of the hand module. The operation of the robot hand module is composed of three operations of weight, sensing, and pickup. The weight operation is a basic operation for sensing or picking up and maintaining an interval between the main clamps 300 at a predetermined distance. The sensing operation consists of two types: sensing the lower distance and detecting the number of stages of the module box, and detecting the position of the groove before pickup using an optical sensor. The pickup operation is an operation in which the universal clamp hand maintains the interval of the main clamp 300 to move to the position of the pickup groove without colliding with the module box waiting for work.

When the industrial robot moves the robot hand module in the weighted state to the initial position where boxes of various sizes are loaded, the robot hand module performs the sensing operation and the end of the main clamp 300 is 300 mm from the top of the box to be transferred. Move the robot hand to position it. At the end of the movement, check the number of stages of the module box based on the flange position information. If the number of boxes is larger than the stored information, an error is processed. If there is no box, it moves to the next box position to be transferred.

If there is no abnormality when checking the number of stages of the module box, the robot hand module performs the pick-up operation and moves to the position of the pickup groove in the first axis direction. At this time, when the lower sensor 700 detects the box, it determines that the main clamp 300 does not move to the pickup position of the box and generates an error. In general, boxes of various sizes are not stacked vertically, but are stacked with some error so that a check process is inserted in order to prevent a collision when the boxes are picked up.

If no error occurs in the above process, the main clamp 300 is moved to the pickup standby position of the box. The position of the groove is determined by receiving the input of the optical sensor, which is a home recognition sensor, in the box pickup standby position. However, since the box is often pulled to one side, the position of the groove is aligned by narrowing the 10mm additional axis from the position where the home sensor is detected. Find. Move upward 10mm downward 10mm in the direction of the first axis to find the correct pickup position and pick up.

As discussed above, according to the present invention, since the four-axis servomotor including the first servo motor and the second servo motor is applied, the boxes can be moved and stacked, so that the robot moves within the frame without moving the flange coordinates. Only the main clamp moves, so that the box can be gripped, transported, and stacked, thereby minimizing the operating time of the robot and having a work area that can be secured to an area where work is impossible due to interference with the surroundings. .

In addition, the existing equipment has a high height step of the box and the pallet has a bad material gripping and fall occurs, but the present invention can automatically find the groove using the sensor function even if the height is slightly different using the home search function and the gripping function Therefore, the error rate can be significantly reduced compared to existing equipment.

100: first frame, 110: first servo motor, 120: first moving means, 121: first A ball screw shaft, 122: first B ball screw shaft
200: second frame, 210: second servo motor, 220: second moving means, 221: second A ball screw shaft, 222: second B ball screw shaft
300: main clamp, 310: first main clamp, 320: second main clamp
400: linkage shaft, 410: 1st pipe, 420: 2nd pipe, 430: connector, 431: stopper
500: auxiliary clamp
600: side detection sensor
700: lower detection sensor

Claims (6)

In the robot hand installed in the industrial robot used in the process of transferring or loading the box,
A rectangular first frame installed at one end of the industrial robot and provided with a first servo motor at one side;
First moving means installed in a longitudinal direction of the first frame and converting a rotational movement of the first servo motor into a linear movement;
A second frame installed below the first frame and provided with a second servo motor at one side thereof, the second frame being movable along the first moving means;
Second moving means installed in a longitudinal direction of the second frame and converting a rotational movement of the second servo motor into a linear movement; And
A plurality of main clamps extending downward of the second moving means and movable in the longitudinal direction of the first frame and the longitudinal direction of the second frame by the first moving means and the second moving means; Universal box handling robot hand, characterized in that comprises a.
The method of claim 1,
The first moving means includes a pair of first A ball screw shaft and the first B ball screw shaft are arranged spaced apart from each other,
The second moving means includes a pair of second A ball screw shaft and a second B ball screw shaft which are arranged spaced apart from each other,
The first moving means and the second moving means is made to be arranged to cross perpendicular to each other,
The first servo motor and the second servo motor are each provided with two, and the rotational motion of the first servo motor and the second servo motor is controlled by the timing belt. A general-purpose box handling robot hand, characterized in that the transmission is made to the screw shaft and the 2B ball screw shaft.
The method of claim 2,
Two pairs of main clamps are provided on the pair of second A ball screw shafts and the second B ball screw shafts,
One end of the first main clamp installed on the second A ball screw shaft and the upper end of the second main clamp installed on the second B ball screw shaft are connected to each other by an interlocking shaft.
The method of claim 3, wherein the linkage shaft,
A first tube fitted to an upper end of the first main clamp;
A second tube fitted to an upper end of the second main clamp; And
Fitted to the first tube and the second tube, the center of the box handling robot hand comprising a; a connection tube provided with a stopper at the center.
The method of claim 4, wherein the first main clamp and the second main clamp,
When the first main clamp and the second main clamp picks up a box, the auxiliary box for preventing sagging of the box is provided.
The method of claim 5, wherein the first main clamp and the second main clamp,
A general-purpose box handling robot hand, characterized in that the side detection sensor for preventing a collision during the movement of the robot hand and the lower detection sensor for determining the loading height of the box, respectively.

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