KR101866349B1 - Holding system of object - Google Patents

Holding system of object Download PDF

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Publication number
KR101866349B1
KR101866349B1 KR1020170011667A KR20170011667A KR101866349B1 KR 101866349 B1 KR101866349 B1 KR 101866349B1 KR 1020170011667 A KR1020170011667 A KR 1020170011667A KR 20170011667 A KR20170011667 A KR 20170011667A KR 101866349 B1 KR101866349 B1 KR 101866349B1
Authority
KR
South Korea
Prior art keywords
clamping
pin
unit
clamping unit
guide
Prior art date
Application number
KR1020170011667A
Other languages
Korean (ko)
Inventor
이형석
김종진
윤은식
이종화
김성신
채장범
Original Assignee
주식회사 엠앤디
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 주식회사 엠앤디 filed Critical 주식회사 엠앤디
Priority to KR1020170011667A priority Critical patent/KR101866349B1/en
Application granted granted Critical
Publication of KR101866349B1 publication Critical patent/KR101866349B1/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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • 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

Abstract

Provided is a system for holding a target object, including: a clamping device (100); and a target object (200), wherein the clamping device (100) includes: a base unit (10); a first linear guide unit (21) coupled to the base unit (10); a second guide unit (22) formed on the base unit (10) and arranged in a fan shape with respect to the first guide unit (21); first and second clamping units (31, 32) guided by the first and second guide units (21, 22) so as to be linearly movable; first and second pins (311, 321) protruding from ends of the first and second clamping units (31, 32); a clamping link (40) having both ends inserted into a first clamping unit groove (312) and a second clamping unit groove (322), respectively; a ball screw module (50) coupled to the clamping link (40) to push the clamping link (40) outward or pull the clamping link (40); and a driving motor (60) for operating the ball screw module (50). The present invention provides the system for holding the target object, capable of gripping the target object by using a single driving motor.

Description

Holding system of object}

The present invention relates to an object holding system capable of gripping objects using one driving motor.

Conventionally, robots have been used to hold and move objects. These robots use several drive motors. In addition, each drive motor must be precisely controlled. Robots that can drive and control precise driving motors were expensive.

Therefore, it is necessary to develop a device capable of holding and moving objects at a low cost.

- Related literature -

Korean Patent No. 10-1197125 (Object Paging System and Object Paging Method)

The object of the present invention is to provide an object holding system capable of gripping an object using a single driving motor.

According to an aspect of the present invention,

A clamping device (100); In an object holding system comprising an object (200)

The clamping device (100)

A base portion 10;

A first linear guide portion 21 coupled to the base portion 10;

A second guide part 22 formed on the base part 10 and arranged in a fan shape with respect to the first guide part 21;

A first clamping unit (31) guided by the first guide unit (21) and linearly movable;

A first pin 311 protruding from the distal end of the first clamping unit 31;

A second clamping part (32) guided by the second guide part (22) and linearly movable;

A second pin (321) protruding from the distal end of the second clamping part (32);

A first clamping unit groove (312) formed in the first clamping unit (31) in a direction opposite to the second clamping unit (32);

A second clamping unit groove (322) formed in the second clamping unit (32) in a direction opposite to the first clamping unit groove (312);

A clamping link 40 having both ends thereof inserted into the first clamping grooves 312 and the second clamping grooves 322;

A ball screw module (50) coupled to the gripper link (40) and capable of pushing or pulling the gripper link (40) outward;

And a drive motor (60) for operating the ball screw module (50)

A first coupling hole 210 into which the first pin 311 can be inserted when the first pin 311 protrudes to the outside;

The object 200 is provided with a second fastening hole 220 through which the second pin 321 can be inserted when the second pin 321 protrudes to the outside.

The present invention provides an object holding system capable of gripping an object using one driving motor.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 and FIG. 2 are operation examples (plan views) of an object holding system according to an embodiment of the present invention.
3 is a perspective view of an object holding system in accordance with an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. , Thereby not limiting the spirit and scope of the present invention.

The object holding system 300 of the present embodiment includes a gripping device 100; And an object 200.

The clamping device (100)

A base portion 10;

A first linear guide portion 21 coupled to the base portion 10;

A second guide part 22 formed on the base part 10 and arranged in a fan shape with respect to the first guide part 21;

A first clamping unit (31) guided by the first guide unit (21) and linearly movable;

A first pin 311 protruding from the distal end of the first clamping unit 31;

A second clamping part (32) guided by the second guide part (22) and linearly movable;

A second pin (321) protruding from the distal end of the second clamping part (32);

A first clamping unit groove (312) formed in the first clamping unit (31) in a direction opposite to the second clamping unit (32);

A second clamping unit groove (322) formed in the second clamping unit (32) in a direction opposite to the first clamping unit groove (312);

A clamping link 40 having both ends thereof inserted into the first clamping grooves 312 and the second clamping grooves 322;

A ball screw module (50) coupled to the gripper link (40) and capable of pushing or pulling the gripper link (40) outward;

And a drive motor (60) for operating the ball screw module (50).

The base portion 10 of the clamp device 100 provides a space in which various components can be mounted. The base portion 10 may be made of metal or plastic.

The first guide portion 21 is coupled to the base portion 10. The first guide portion 21 may have a linear shape and may protrude from the base portion 10. The first guide portion 21 may be a straight groove formed in the base portion 10.

The second guide portion 22 is coupled to the base portion 10. The second guide portion 22 is arranged in a fan shape with respect to the first guide portion 21. The second guide portion 22 projects linearly on the base portion 10. The second guide portion 22 may be a straight groove formed in the base portion 10.

In the present embodiment, the first guide portion 21 and the second guide portion 22 are arranged in a fan shape in the base portion 10 in a form spreading outward. However, the first guide portion 21 and the second guide portion 22 may be arranged so as to be gathered toward the outside.

The first clamping unit 31 is guided by the first guide unit 21 and is linearly movable. A first pin (311) protrudes from the distal end of the first clamping unit (31). Rubber or synthetic resin may be coated on the first pin 311 to increase frictional force.

The second pinch 32 is linearly guided by the second guide portion 22. A second pin 321 protrudes from the distal end of the second pinch 32. The second pin 321 321 may be coated with rubber or synthetic resin to increase frictional force.

The first clamping portion 31 is formed with a first clamping portion groove 312 in a direction facing the second clamping portion 32. In addition, a second clamping portion 322 is formed in the second clamping portion 32 in a direction opposite to the first clamping portion groove 312.

Both ends of the clamping link 40 are inserted into the first clamping groove groove 312 and the second clamping groove groove 322, respectively. When the pincer link 40 moves outward or moves inward, the first pincer part 31 protrudes outward or retracts along the first guide part 21. In addition, when the clamping link 40 moves outward or moves inward, the second clamping portion 32 protrudes outward or retracts along the second guide portion 22.

The ball screw module 50 may be coupled to the gripper link 40 to push or pull the gripper link 40 outward. The forward and backward movement of the gripper link 40 can be precisely controlled by the ball screw module 50. The ball screw module 50 operates by the operation of the drive motor 60.

Meanwhile, when the first pin 311 protrudes to the outside, a first fastening hole 210 into which the first pin 311 can be inserted is formed in the object 200. [ In addition, when the second pin 321 protrudes to the outside, a second fastening hole 220 into which the second pin 321 can be inserted is formed in the object 200.

 The first fastening hole 210 is formed in the same direction as the advancing direction of the first pin 311. The second fastening hole 220 is formed in the same direction as the advancing direction of the second pin 321. The second fastening hole 220 may be formed in the same direction as the first pin 311, . In addition, the tolerance of the second fastening hole 220 when the second pin 321 is engaged is minimum.

When the first pin 311 is inserted into the first fastening hole 210 and the second pin 321 is inserted into the second fastening hole 220, the object 200 and the clamp device 100 are fixed. Even if the object 200 is pulled out from the outside, it is not separated from the clamping device 100. The first fastening hole 210 and the first pin 311, and the second fastening hole 220 and the second pin 321 are connected to each other three-dimensionally.

  While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Modifications and additions by those skilled in the art to an equivalent range based on the embodiments will also fall within the scope of the present invention.

The clamping device (100)
The base portion 10, the first guide portion 21,
The second guide portion 22, the first grip portion 31,
The first pin 311, second pinch 32,
The second pin 321, the first clamping groove 312,
The second clamping groove 322, the clamping link 40,
The ball screw module 50 drives the motor 60,
The first fastening hole 210, the second fastening hole 220,

Claims (1)

A clamping device (100); In an object holding system comprising an object (200)

The clamping device (100)
A base portion 10;
A first linear guide portion 21 coupled to the base portion 10;
A second guide part 22 formed on the base part 10 and arranged in a fan shape with respect to the first guide part 21;
A first clamping unit (31) guided by the first guide unit (21) and linearly movable;
A first pin 311 protruding from the distal end of the first clamping unit 31;
A second clamping part (32) guided by the second guide part (22) and linearly movable;
A second pin (321) protruding from the distal end of the second clamping part (32);
A first clamping unit groove (312) formed in the first clamping unit (31) in a direction opposite to the second clamping unit (32);
A second clamping unit groove (322) formed in the second clamping unit (32) in a direction opposite to the first clamping unit groove (312);
A clamping link 40 having both ends thereof inserted into the first clamping grooves 312 and the second clamping grooves 322;
A ball screw module (50) coupled to the gripper link (40) and capable of pushing or pulling the gripper link (40) outward;
And a drive motor (60) for operating the ball screw module (50)

A first coupling hole 210 into which the first pin 311 can be inserted when the first pin 311 protrudes to the outside;
Wherein the object (200) includes a second fastening hole (220) through which the second pin (321) can be inserted when the second pin (321) protrudes to the outside.





KR1020170011667A 2017-01-25 2017-01-25 Holding system of object KR101866349B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020170011667A KR101866349B1 (en) 2017-01-25 2017-01-25 Holding system of object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020170011667A KR101866349B1 (en) 2017-01-25 2017-01-25 Holding system of object

Publications (1)

Publication Number Publication Date
KR101866349B1 true KR101866349B1 (en) 2018-06-11

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Application Number Title Priority Date Filing Date
KR1020170011667A KR101866349B1 (en) 2017-01-25 2017-01-25 Holding system of object

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531562A (en) * 2018-12-10 2019-03-29 浙江树人学院 A kind of multi-joint mechanical arm and its control method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100996440B1 (en) * 2010-09-09 2010-11-24 한국뉴매틱(주) Pin-type of gripper device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100996440B1 (en) * 2010-09-09 2010-11-24 한국뉴매틱(주) Pin-type of gripper device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109531562A (en) * 2018-12-10 2019-03-29 浙江树人学院 A kind of multi-joint mechanical arm and its control method

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