KR101718095B1 - Surface contact type gripper - Google Patents

Surface contact type gripper Download PDF

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Publication number
KR101718095B1
KR101718095B1 KR1020150054749A KR20150054749A KR101718095B1 KR 101718095 B1 KR101718095 B1 KR 101718095B1 KR 1020150054749 A KR1020150054749 A KR 1020150054749A KR 20150054749 A KR20150054749 A KR 20150054749A KR 101718095 B1 KR101718095 B1 KR 101718095B1
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KR
South Korea
Prior art keywords
clamping body
jaw
nozzle holder
product
right sides
Prior art date
Application number
KR1020150054749A
Other languages
Korean (ko)
Other versions
KR20160123915A (en
Inventor
문효재
Original Assignee
재성정밀주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 재성정밀주식회사 filed Critical 재성정밀주식회사
Priority to KR1020150054749A priority Critical patent/KR101718095B1/en
Publication of KR20160123915A publication Critical patent/KR20160123915A/en
Application granted granted Critical
Publication of KR101718095B1 publication Critical patent/KR101718095B1/en

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    • 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
    • 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
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means

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

Abstract

The surface contact type gripper 100 according to the present invention includes a nozzle holder 110 having a hole 113 penetrating vertically and a clamping body 110 connected to a lower end of the nozzle holder 110 and opened downward, A rod 130 housed in the nozzle holder 110 and passing through the clamping body 120, a rack 140 connected to the lower end of the rod 130, A pinion 150 accommodated in the clamping body 120 so as to be engaged with the left and right sides of the pinion 150 and configured to be rotated, And a jaw 160 mounted on the clamping body 120 and formed with gear teeth 163 engaged with the pinion 150 at its upper end.
Therefore, since the jaw 160 reciprocates in the horizontal direction, the product E can be gripped or released, and the product E of all sizes can be pressed against the inner surface of the jaw 160, (E) can be gripped.

Description

[0001] Surface contact type gripper [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a surface contact type gripper, and more particularly, to a surface contact type gripper configured to firmly grip the inner surface of a jaw regardless of the size of the product.

FIG. 1 is a front view showing a gripper according to the background art, in which a product is gripped on the inner side of the grip; FIG. 2 is a gripper according to the background of the present invention, As a front view showing a ping state, the background art will be described as follows.

In general, the gripper 1 for picking up and moving the product E in the surface mounting process is constituted by a nozzle holder 20 in which upper and lower holes are formed. A flange 25 is formed around the lower end of the nozzle holder 20 so that the nozzle holder 20 can be attached to the clamping body 10 described later. In addition, a clamping body 10 is attached to the lower surface of the flange 25 and formed with through-holes connected to the holes, and is opened in a downward direction and left and right.

A rod 30 is accommodated in the nozzle holder 20 to move up and down. The jaw 30 is axially joined to the rod and disposed on the left and right sides of the inside of the clamping body 10.

The guiding shaft 50 connecting the rod and the jaw 30 is sandwiched by a slot 13 formed on both sides of the clamping body 10. The slot 13 is elongated vertically. The jaws 30 on both sides are fixed to both sides of the clamping body 10 through the support shaft 60.

Hereinafter, an operation example of the gripper 1 according to the background art will be described.

When the nozzle holder 20 is connected to a nozzle holder shaft in a tubular shape and air is sucked by the air pump, the rod is lifted. Therefore, since the guide shaft 50 moves along the slot 13, the jaws 30 on both sides pivot inward about the support shaft 60. Therefore, . The guide shaft 50 is lowered and the jaws 30 on both sides are pivoted outward about the support shaft 60 so that the gripping state of the product E is released .

However, according to the background art, the maximum size product E that can be picked up as shown in Fig. 1 grips the product E to the inner side of the both side jaws 30, so that it can be stably picked up. However, When the small size product E is picked up, the jaws 30 are pivoted while being rotated inwardly and gripped by the inner edge 33 at the lower end, so that there is a problem of line contact and the product can not be picked up stably.

Korean Patent Registration No. 10-1333820 (November 21, 2013)

The present invention aims to provide a surface contact type gripper configured to firmly grip a product of any size through an inner surface of a jaw so that both side jaws for picking up a product are reciprocated in a horizontal state.

The surface contact type gripper according to the present invention comprises: a nodule holder having a hole penetrating up and down; a clamping body connected to a lower end of the nodle holder and opened downward and left and right, A rack connected to the lower end of the rod; a pinion accommodated in the inside of the clamping body so as to be engaged with the left and right sides of the rack and rotated so as to be respectively housed in the lower portion of the pinion; And a jaw mounted on the clamping body to horizontally move and having gear teeth meshed with the pinion formed on the upper end thereof.

In addition, the flange includes a flange formed on left and right sides received in the clamping body at the jaw, and a guide groove formed at the left and right sides of the clamping body to allow the flange to pass therethrough.

In addition, a horizontal guide shaft passing through the lower portion of the flange at the jaws, and a slot formed at the left and right of the clamping body to guide the horizontal guide shaft along the jaw transport direction.

The surface contact type gripper according to the present invention is not a structure in which the product is gripped in a line contact manner by the hinge method as in the background art, and since the grip is reciprocated in the horizontal direction to grip or release the product, So that it is possible to hold the product stably in a surface contact manner by pressurizing the inner surface of the jaw.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a front view of a gripper according to the background art showing a state in which a product is gripped on the inner side of a jaw.
FIG. 2 is a front view showing a gripper according to the background art, in which a product is gripped by a lower inner edge of the jaw;
3 is a perspective view showing a face contact type gripper according to the present invention.
4 is a cross-sectional view taken along the line M-M 'in Fig. 3;
5 is a cross-sectional view taken along the line L-L 'in FIG. 4;
6 is a cross-sectional view taken along line G-G 'of FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

3 is a cross-sectional view taken along the line M-M 'in FIG. 3, FIG. 5 is a cross-sectional view taken along line L-L' in FIG. 4, Are taken along the line G-G 'in FIG. 4 together.

The surface contact type gripper 100 according to the present invention is characterized in that the product E of any size can be gripped stably by pressing the inner surface of the jaw 160.

To this end, the present invention is configured as follows.

A nozzle holder 110 having a nozzle holder shape in which a hole 113 is vertically penetrated is formed. A flange 111 is formed around the lower end of the nozzle holder 110. The clamping body 120 is attached to the lower end of the nozzle holder 110 because it is attached to the flange 111. The clamping body 120 is formed in an ∩ shape opened downward and left and right.

A rod 130 is accommodated in the nozzle holder 110 and penetrates the clamping body 120. A rack 140 connected to the lower end of the rod 130 is formed in the rack 140, Gear teeth 141 are formed on the left and right sides. The rack 140 has a vertical guide shaft 118 penetrating therethrough and a slot 126 formed in the clamping body 120 so as to be vertically extended in the vertical direction so that both ends of the vertical guide shaft 118 are inserted and guided, Respectively. Therefore, since the vertical guide shaft 118 is guided by the slot 126, the rod 130 and the rack 140 can reciprocate up and down.

Further, a pinion 150 configured to be accommodated in the inside of the clamping body 120 so as to be engaged with the left and right sides of the rack 140 is configured. The pinion 150 is supported by the clamping body 120 so that the pinion 150 passes through the clamping body 120 and the pinion 150.

The gear teeth 163 are accommodated in the clamping body 120 and are mounted on the clamping body 120 so as to be horizontally moved so as to be respectively disposed on the lower portion of the pinion 150. The gear teeth 163 are engaged with the pinions 150, A jaw 160 is formed at the upper end thereof. The jaws 160 are formed in a U shape or a T shape, and the gear teeth 163 are formed at an upper end thereof. That is, the rack 162 having the gear teeth 163 is formed, and the plate 164, which extends downward from the rack 162 to press the product E, is formed, have. An inner slip pad 167 such as a rubber material is attached to the inner surface of the plate 164 so as not to slip when the product E is pressed and gripped.

The flanges 160 are formed on the left and right sides of the jaw 160 so that the jaws 160 can move horizontally within the clamping body 120. 169 are formed. The guide grooves 124 are formed on the left and right sides of the clamping body 120 so that the flange 169 passes through the guide grooves. A horizontal guide shaft 165 penetrating through the lower portion of the flange 169 is formed in the jaw 160 so that the jaws 160 are provided on the left and right sides of the clamping body 120 to guide the horizontal guide shaft 165. [ The slit 127 is formed to be long along the conveying direction of the conveying rollers 160. Therefore, the jaw 160 can be reciprocated in the horizontal direction by the flange 169, the guide groove 124, the horizontal guide shaft 165, and the slot 127.

Hereinafter, an operation example of the surface contact type gripper 100 according to the present invention will be described.

When the nozzle holder 110 is connected to the nozzle holder shaft and the air is sucked, the rod 130 rises and the rack 140 rises. Then, the jaws 160 on both sides are moved inward by the rotation of the pinions 150 on both sides. Therefore, the product E can be pressed and gripped. At this time, slippage of the product E by the slip pad 167 is prevented. At this time, since the pressing force acts evenly on the entire surface of the plate 164 of the jaw 160, the product E having a small size can be firmly held by surface contact.

When the gripping state of the product E is released, the air is compressed by the nozzle holder 110 so that the rod 130 is lowered and the rack 140 is lowered. Then, as the pinions 150 on both sides rotate in the reverse direction, the jaws 160 are transferred to the outer room, and thus the product E can be placed.

According to the present invention, it is possible to securely grasp a product (E) by clamping it by surface contact of the jaw (160) regardless of the size of the product (E).

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Therefore, it is to be understood that the embodiments disclosed herein are not for purposes of limiting the technical idea of the present invention, but are intended to be illustrative, and therefore, the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: Face contact type gripper 110: Nozzle holder
111: flange 113: hole
118: Vertical guide shaft 120: Clamping body 123: Through hole 124: Guide groove 125: Slot 126: Slot
130: load 140: rack
141: gear teeth 150: pinion
153: support shaft 160:
163: gear teeth 165: horizontal guide shaft
167: Pad

Claims (3)

delete delete A nozzle holder 110 having a hole 113 penetrating the upper and lower chambers,
A clamping body 120 connected to a lower end of the nozzle holder 110 and opened downward and left and right,
A rod 130 received in the nozzle holder 110 and passing through the clamping body 120,
A rack 140 connected to the lower end of the rod 130,
A pinion 150 accommodated in the inside of the clamping body 120 so as to be engaged with the left and right sides of the rack 140 and configured to rotate,
The gear teeth 163 are received in the clamping body 120 and are mounted on the clamping body 120 to be horizontally moved so that the gear teeth 163 engage with the pinions 150, And a jaw (160) formed on the substrate (110).
A flange 169 formed on the left and right sides of the jaw 160 received in the inside of the clamping body 120,
And guide grooves (124) formed on the left and right sides of the clamping body (120) to allow the flange (169) to pass therethrough;
A horizontal guide shaft 165 passing through the lower portion of the flange 169 at the jaw 160,
And a slot (127) formed on the left and right sides of the clamping body (120) so as to guide the horizontal guide shaft (165) along the conveying direction of the jaws (160).
KR1020150054749A 2015-04-17 2015-04-17 Surface contact type gripper KR101718095B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150054749A KR101718095B1 (en) 2015-04-17 2015-04-17 Surface contact type gripper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150054749A KR101718095B1 (en) 2015-04-17 2015-04-17 Surface contact type gripper

Publications (2)

Publication Number Publication Date
KR20160123915A KR20160123915A (en) 2016-10-26
KR101718095B1 true KR101718095B1 (en) 2017-03-20

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109368244B (en) * 2018-09-29 2020-12-08 盐城同环机电科技有限公司 Annular heavy drill production is with transport anchor clamps
CN111440698A (en) * 2020-03-26 2020-07-24 佛山科学技术学院 Press from both sides instrument of getting grinding pearl
CN111922948B (en) * 2020-08-19 2021-12-03 芜湖超源力工业设计有限公司 Clamping mechanism of hand agricultural machine
CN114623132B (en) * 2020-12-10 2023-07-04 东友科技股份有限公司 Assembled frame system
CN112959350B (en) * 2021-02-05 2022-08-09 平顶山市博翔碳素有限公司 Hydraulic two-claw machining tool
CN114392979B (en) * 2021-12-25 2024-05-17 成都智易瓴科技有限公司 Dispensing frame cleaning machine

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100297675B1 (en) 1999-02-11 2001-09-13 최승환 Robot hand

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6394521B1 (en) * 2000-03-10 2002-05-28 Millo Bertini Gripper with enhanced gripping power accuracy and repeatability
KR20090055769A (en) * 2007-11-29 2009-06-03 황용태 Parallel gripper with mult direction jaws
KR101333820B1 (en) 2010-10-18 2013-11-29 추형욱 A robotic arm assembly

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100297675B1 (en) 1999-02-11 2001-09-13 최승환 Robot hand

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