KR102253730B1 - Rotating device for gripper in multi-axis robot - Google Patents

Abstract

The present invention relates to a multi-axis robot gripper rotating apparatus and, more specifically, to a multi-axis robot gripper rotating apparatus capable of forming an air connection passage in an internal space of a rotor and a stator such that an air flow passage is not blocked or cut off during the rotation of the rotor in a gripper for picking an object up in a vacuum. According to the present invention, an air flow is made to a rotor, which is combined with the bottom of a stator connected with a robot arm to be relatively rotated, through an internal space, and an air hose connected with the stator is led to be fixed to one spot in spite of the rotation of the rotor, thereby preventing the air hose from being tangled or bent, and preventing a part connected with the air hose from being damaged by abrasion.

Description

Rotating device of multi-axis robot gripper{ROTATING DEVICE FOR GRIPPER IN MULTI-AXIS ROBOT}

The present invention relates to a rotating device of a multi-axis robot gripper, and more particularly, in a gripper that picks up an object by using a vacuum, the movement path of air is not blocked or cut off during the rotation of the rotor. It relates to a rotating device of a multi-axis robot gripper to form an air connection passage.

A delta robot having a plurality of link arms has a very large advantage in terms of the speed of movement compared to an articulated robot that operates by converting the rotation of a motor into a linear motion in the related art. However, in the delta robot having a plurality of link arms, there is a problem in that the accuracy of the movement and operation is deteriorated due to vibration caused by backlash generated in the reducer during the transfer operation.

In addition, in addition to such a plurality of link arms, a delta robot further provided with a fourth axis that enables more free movement by being able to rotate in the center has been disclosed, but in this case, the vibration caused by the backlash as described above is greatly improved. I couldn't.

1 is a perspective view of a link arm robot equipped with a vibration reduction device according to the prior art.

In addition, there is a method of using an expensive precision reducer to suppress vibration and improve precision, but this not only increases the cost of the robot, but also has a problem that is difficult to apply to fields requiring high-speed operation while maintaining precision.

In addition, when the robot product is supplied, the air hose rotates as the 4 axes rotate together, making it difficult to process the wiring of the air hose due to inertia and fluctuations, and the air hose causes friction in the guide, etc., and the air hose is worn out when used for a long time. There was a problem such as wear on the shaft.

KR 10-2016-0063826 A

The present invention for solving the above-described problem is to suppress the occurrence of inertia and fluctuation by rotating the air hose while rotating 4 axes in a vacuum grip robot, so that there is no wear of the air hose even when used for a long time, and the wear of the robot rotation shaft is prevented. An object of the present invention is to provide a rotating device for a multi-axis robot gripper that can be removed.

The present invention is a rotating device that prevents the movement path of air from being blocked or disconnected during the rotation of a multi-axis robot gripper that picks up an object by using a vacuum, comprising: a lower rotor 210; An upper stator 230; A sealing 220 interposed between the rotor 210 and the stator 230 to prevent air leakage; A vacuum cup 240 installed on the bottom of the rotor 210; It includes; a coupling bolt 250 for coupling the rotor 210 and the sealing 220.

The rotor 210 has a cylindrical shape and a rotor body 211 having a concave space formed on an upper surface thereof; A separating plate 212 formed to separate the upper and lower spaces in the center of the rotor body 211; A plurality of bolt holes 213 disposed along the circumference of the separation plate 212; And a plurality of air holes 214 disposed along the circumference outside the circumference in which the bolt hole 213 is disposed around the center of the separating plate 212.

The sealing 220 has a cylindrical shape and a sealing body 221 forming an edge; A first blocking plate (222a) formed flat in the center of the sealing body 221 and having an opening formed in a circular shape in the center; A second blocking plate (222b) formed flat at the lower end of the middle opening of the first blocking plate (222a); A plurality of bolt holes 223 disposed along the circumference of the second blocking plate 222b; A plurality of air holes 224 disposed along the circumference of the first blocking plate 222a, and the bolt hole 223 and the separation hole 225 formed in the second blocking plate 222b are It corresponds to the bolt hole 213 and the separation hole 215 formed in the former 210, and is characterized in that the position, size, shape, and function are the same.

The stator 230 includes a stator body 231 in which a hollow portion 234 opened in the middle is formed in a ring shape; An arm connector 232 formed to protrude upward on one side of the stator body 231; One to three protrusions 233 formed on the stator body 231 in a radial direction from the side; A vertical blocking wall 235 constituting an inner wall of the hollow portion 234; An air passage 236 formed in a cylindrical shape along the outer surface of the vertical blocking wall 235; And an opening 238 formed inside the protrusion and serving as a passage for air, wherein the opening 238 and the air passage 236 communicate with each other.

According to the present invention, it is coupled to the lower side of the stator connected to the robot arm to allow air to move through the internal space, and the air hose connected to the stator is fixed in one place despite the rotation of the rotor. It is possible to prevent twisting or bending of the air hose, and it is effective to prevent damage to the part to which the air hose is connected due to abrasion.

1 is a perspective view of a link arm robot having a vibration reduction device according to the prior art.
Figure 2 is a perspective view showing the structure of the rotating device of the present invention.
Figure 3 is an exploded perspective view showing the internal components of the rotating device.
4 is a view showing the structure of the rotor.
5 is a view showing the structure of the sealing.
6 is an internal cross-sectional view showing a state in which the rotor and the seal are combined.
7 is an internal cross-sectional view showing a state in which the bolt is inserted into the rotor and the seal.
8 is a perspective view showing the upper and lower structures of the stator, respectively.
9 is a plan view and an inner cross-sectional view of the stator.
10 is an internal cross-sectional view showing the overall structure of the rotating device.
11 is an internal cross-sectional view showing the flow of air from the vacuum cup to the vacuum connector.

Hereinafter, a "rotation device of a multi-axis robot gripper" (hereinafter referred to as a "rotation device") according to an embodiment of the present invention will be described with reference to the drawings.

Figure 2 is a perspective view showing the structure of the rotating device of the present invention, Figure 3 is an exploded perspective view showing the internal components of the rotating device, Figure 4 is a view showing the structure of the rotor, Figure 5 is a view showing the structure of the sealing, Figure 6 is an internal cross-sectional view showing a state in which the rotor and the seal are coupled, FIG. 7 is an internal cross-sectional view showing a state in which the bolt is inserted into the rotor and the seal, FIG. 8 is a perspective view showing the upper and lower structures of the stator, respectively, and FIG. 9 is a stator A plan view and an internal cross-sectional view of FIG. 10 is an internal cross-sectional view showing the overall structure of the rotating device, and FIG. 11 is an internal cross-sectional view showing the flow of air from the vacuum cup to the vacuum connector.

The rotating device 200 of the present invention is coupled to a multi-axis robot and is used as a device for holding an article with a vacuum suction force, and has a structure capable of rotating according to the motion of the multi-axis robot so that the position and direction of the article can be freely changed. It is composed. The rotating device 200 has a structure that enables a relative rotation between a portion for generating a vacuum state by sucking air from such a multi-axis robot and a portion for gripping an article.

To this end, the rotating device 200 is composed of a lower rotor 210 and an upper stator 230, and is interposed between the rotor 210 and the stator 230 to prevent air leakage. 220). In order to rotate the rotor 210, an upper rotating arm (not shown) passes through the stator 230 and the sealing 220 and is coupled to the rotor 210.

The stator 230 is coupled to the rotating arm of the multi-axis robot, and the rotating arm is connected to the rotor 210 through the center. The rotating arm rotates the lower rotor 210, and the position and direction of the stator 230 are fixed while being coupled to the rotating arm. A vacuum cup 240 is installed on the bottom of the rotor 210 and is compressed to the surface of the article by the suction force in the vacuum state.

The rotor 210 is generally made of a metal material, but may be made of a synthetic resin material in some cases.

The rotor 210 has a substantially flat cylindrical shape, and the upper surface has a concave space downward. Inside the concave space, the sealing 220 is coupled. A plurality of holes are formed in the bottom surface of the rotor 210.

A separation plate 212 for separating the upper and lower spaces is formed in the center of the cylindrical rotor body 211. The separating plate 212 is formed at a position lowered by a certain distance from the top of the rotor body 211, and the sealing 220 is inserted into the space between the upper surface of the rotor body 211 and the separating plate 212 do.

About 3-4 bolt holes 213 are formed along the circumference having a certain radius around the center of the separating plate 212. The coupling bolt 250 passes through the bolt hole 213, and the rotor 210 and the sealing 220 are coupled by the coupling bolt 250.

One or two air holes 214 are formed outside the circumference where the bolt hole 213 is located. Through the air hole 214, the air is sucked by the suction force of a vacuum pump (not shown), and the vacuum state is established. It is preferable that the air hole 214 is formed in about 2 to 4 so that air can be smoothly escaped.

A separation hole 215 is formed in the center of the separation plate 212. The separation hole 215 is a space into which a tool is inserted so that a bolt or the like can be removed to couple or separate the rotating device 200 to the multi-axis robot.

As shown in the cross section of FIG. 4, the air hole 214 is formed on one side of the separating plate 212, and the radius of the circumference in which the plurality of air holes 214 are arranged is arranged with a plurality of bolt holes 213 It is relatively larger than the radius of the circumference to be. In addition, the upper entrance of the air hole 214 communicates with the insertion space of the sealing 220 formed on the upper side of the rotor 210. And the lower inlet of the air hole 214 communicates with the bottom surface of the rotor 210. A vacuum cup 240 is coupled to the lower inlet of the air hole 214.

The bolt hole 213 also has an upper entrance communicating with the space above the rotor 210, and the lower entrance communicating with the lower surface. In addition, the lower entrance of the bolt hole 213 is formed to gradually or gradually decrease the radius as it enters from the bottom surface of the rotor 210. Therefore, the head of the bolt having a certain size is caught in the lower entrance of the bolt hole 213 so that the bolt cannot pass through the rotor 210 and escape.

The sealing 220 is inserted between the rotor 210 and the stator 230 to seal the suctioned air so that it does not leak to the outside or the outside air does not flow into the inside of the rotating device 200. For this purpose, the sealing 220 is preferably made of a synthetic resin material having some elasticity.

The sealing 220 is manufactured in a substantially flat cylindrical shape. The rim of the sealing 220 is made of a cylindrical sealing body 221, the first blocking plate 222a is formed flat in the center of the sealing body 221, and the center of the first blocking plate 222a is circular Is opened. The second blocking plate 222b is formed flat at the lower end of the circularly open area in the center of the first blocking plate 222a. That is, the second blocking plate 222b is formed in parallel under the first blocking plate 222a having a circular opening in the center, and the sidewall between the first blocking plate 222a and the second blocking plate 222b Are connected and sealed together.

A plurality of bolt holes 223 are disposed along the circumference of the second blocking plate 222b, and a separation hole 225 is formed in the center thereof. The bolt hole 223 and the separation hole 225 formed in the second blocking plate 222b correspond to the bolt hole 213 and the separation hole 215 formed in the rotor 210, and the position, size, shape, and function This is the same.

In addition, an air hole 224 is formed along the circumference of the first blocking plate 222a, which has the same position and shape as the air hole 214 formed in the rotor 210.

A concave space is formed on the upper surface of the sealing 220 by the sidewall of the sealing body 221, and the bottom of this space becomes the first blocking plate 222a. In addition, a concave space is formed in the center of the first blocking plate 222, and the bottom of this space becomes the second blocking plate 222b. The upper entrance of the above-described bolt hole 223 communicates with the second blocking plate 222b, and thus is connected to the space formed above the second blocking plate 222b. And since the upper entrance of the air hole 224 communicates with the first blocking plate 222a, it is connected to the space formed above the first blocking plate 222a.

The lower end of the sealing 220 is composed of a coupling jaw 226 in the same cylindrical shape as the sealing body 221. The coupling jaw 226 has a smaller diameter than the upper sealing body 221 and thus a stepped jaw is formed on the edge. The outer diameter of the sealing body 221 is the same as the inner diameter of the concave space formed on the upper surface of the rotor 210. Therefore, the coupling jaw 226 of the sealing 220 is inserted into the upper space of the rotor 210 and the rotor 210 and the sealing 220 are coupled.

As shown in Figure 6, in a state in which the rotor 210 and the sealing 220 are coupled, bolt holes 213 and 223, air holes 214 and 224, and separation holes 215 and 225 are connected to each other. . Due to this, the air sucked by the vacuum pump can move through the air holes 214 and 224 connected up and down, and the coupling bolt 250 penetrates through the bolt holes 213 and 223 and is coupled to the rotor 210 The sealing 220 is fixed.

As shown in FIG. 7, the coupling bolt 250 couples the rotor 210 and the sealing 220, and inserts a spring 270 in order to achieve close contact using elasticity. Cylindrical spring 270 is fitted to the bolt body 252, the position is fixed by the bolt head 251 facing downward. The coupling bolt 250 is inserted from the bottom to the top with the bolt head 251 facing downward. The bolt body 252 of the coupling bolt 250 passes through the bolt holes 213 and 223 formed in the rotor 210 and the sealing 220, respectively, so that the threaded portion 253 at the end is more than the upper surface of the sealing 220. It protrudes high. The protruding thread 253 is coupled to the arm of the multi-axis robot. The bolt head 251 is caught in the jaw formed at the entrance of the lower bolt hole 213 of the rotor 210 and does not rise any more. In addition, a spring 270 is inserted between the bolt head 251 and the bolt hole 213, and vibration generated during the operation of the multi-axis robot is removed by the elasticity of the spring 270.

The stator 230 is configured to couple the rotor 210 and the sealing 220 coupled to each other to the rotating arm of the multi-axis robot. In addition, the air is moved to the outside through the air hose 280 so that a suction force is generated between the rotor 210 and the sealing 220.

The stator 230 has a stator body 231 configured in a substantially ring shape, and an arm connector 232 protruding upward is provided on one side of the stator body 231. The center of the stator body 231 is an open hollow portion 234, through which the threaded portion 253 of the coupling bolt 250 is exposed. And the female connector 232 may be provided with a coupling hole or other fastening means for coupling to the multi-axis robot.

One to three protrusions 233 are formed on the stator body 231 in the lateral direction, and two protrusions 233 are formed in the radial direction of the stator body 231, preferably in a ring shape.

The inner wall of the hollow portion 234 of the stator body 231 forms a cylindrical vertical blocking wall 235. In addition, a cylindrical air passage 236 is formed along the outer surface of the vertical blocking wall 235. The radius of the circumference of the air passage 236 is the same as the radius of the circumference in which the air holes 214 and 224 formed in the rotor 210 and the sealing 220 are disposed.

A connector coupling hole 237 is formed in the protrusion 233. A vacuum connector 260 is coupled to the connector coupling hole 237, and an air hose 280 is coupled to the vacuum connector 260. An opening 238 serving as a passage for air is formed in the protrusion 233. One end of the opening 238 is connected to the connector coupling hole 237, and the other end is connected to the air passage 236. Accordingly, air introduced or discharged through the air hose 280 flows into or out of the opening 238 and the air passage 236.

Since one to three protrusions 233 are formed, one to three openings 238 may also be formed. The openings 238 are connected to the cylindrical air passages 236, respectively, and the pressure of the air in the inner space is kept the same.

The lower surface of the stator 230 is inserted into a concave space formed between the upper surface of the sealing 220 and the first blocking plate 222a. As a result, the lower portion of the air passage 236 is sealed, and the air passage 236 and the opening 238 are blocked from the outside. In addition, the contact surfaces of the stator 230 and the sealing 220 can be rotated freely while in close contact with each other.

As shown in FIG. 10, the rotor 210 and the sealing 220 are in close contact with the bottom of the stator 230 in a coupled state by the coupling bolt 250. In addition, the threaded portion 253 of the distal end of the coupling bolt 250 is exposed through the opening 238 to be coupled to the rotating arm. The rotary arm is composed of two axes and can be rotated, and the rotor 210 and the sealing 220 rotate together by the rotation of the rotary arm. The stator 230 is coupled to and fixed to the end of the multi-axis robot, and generates a suction force as air moving through the air hose 280 escapes. One end of the vacuum cup 240 is connected to the end of the air hole 214 of the rotor 210, and the other end is made of a soft material such as rubber or silicone, and is in close contact with the surface of the object to be gripped. The air hose 280 is connected to the vacuum connector 260, through which the connector coupling hole 237, the opening 238, and the air passage 236 communicate. In addition, the open bottom surface of the air passage 236 is connected to the air holes 214 and 224 of the rotor 210 and the sealing 220. And since these configurations are arranged along the circumference of the same radius, even if the rotor 210 and the sealing 220 rotate, their connection state is maintained.

Therefore, when the air is sucked to the outside through the air hose 280 and a negative pressure is generated, suction force is generated in the sealing 220, the rotor 210, and the vacuum cup 240, so that the article can be gripped.

The air hose 280 is made of a silicone or synthetic resin material and is connected to the upper side of the rotating device 200. Since the rotating device 200 is installed on a gripper that holds an article, the air hose 280 moves together according to the rotation or angle change of the rotating device 200. However, if the air hose 280 rotates or moves together while the rotating device 200 rotates the article about a vertical axis, damage may occur as the air hose 280 is twisted or causes friction.

In the present invention, the stator 230 to which the air hose 280 is connected is configured to rotate while the rotor 210 and the sealing 220 under the stator 230 are not rotated. As it is maintained as it is, since the suction power does not decrease, a smooth gripping operation can be achieved.

Although preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the technical configuration of the present invention described above is another specific form without changing the technical spirit or essential features of the present invention by those skilled in the art. It will be appreciated that it can be implemented with. Therefore, the above-described embodiments are to be understood as illustrative and non-limiting in all respects, and the scope of the present invention is indicated by the claims to be described later rather than the detailed description, and the meaning and scope of the claims and All changes or modified forms derived from the equivalent concept should be construed as being included in the scope of the present invention.

200: rotating device 210: rotor
211: rotor body 212: separation plate
213: bolt hole 214: air hole
215: separation hole 220: sealing
221: sealing body 222: blocking plate
223: bolt hole 224: air hole
225: separation hole 226: coupling jaw
230: stator 231: stator body
232: female connection 233: protrusion
234: hollow part 235: vertical blocking wall
236: air passage 237: connector coupling hole
238: opening 240: vacuum cup
250: coupling bolt 251: bolt head
252: bolt body 253: threaded portion
260: vacuum connector 270: spring
280: air hose

Claims (4)

As a rotating device that prevents the air passage from being blocked or broken during the rotation of the multi-axis robot gripper that picks up objects using vacuum,
A lower rotor 210;
An upper stator 230;
A sealing 220 interposed between the rotor 210 and the stator 230 to prevent air leakage;
A vacuum cup 240 installed on the bottom of the rotor 210;
Includes; a coupling bolt 250 for coupling the rotor 210 and the sealing 220,
The rotor 210 is
A rotor body 211 in which a concave space is formed on an upper surface as a cylindrical shape;
A separating plate 212 formed to separate the upper and lower spaces in the center of the rotor body 211;
A plurality of bolt holes 213 disposed along the circumference of the separation plate 212;
A plurality of air holes 214 disposed along the circumference outside the circumference in which the bolt hole 213 is disposed around the center of the separation plate 212; including, a rotating device for a multi-axis robot gripper. delete The method of claim 1,
The sealing 220 is
A sealing body 221 forming an edge as a cylindrical shape;
A first blocking plate (222a) formed flat in the center of the sealing body 221 and having an opening formed in a circular shape in the center;
A second blocking plate (222b) formed flat at the lower end of the middle opening of the first blocking plate (222a);
A plurality of bolt holes 223 disposed along the circumference of the second blocking plate 222b;
Includes; a plurality of air holes 224 disposed along the circumference of the first blocking plate (222a),
The bolt hole 223 and the separation hole 225 formed in the second blocking plate 222b correspond to the bolt hole 213 and the separation hole 215 formed in the rotor 210, and the position, size, and shape , The rotating device of the multi-axis robot gripper, characterized in that the function is configured identically. The method of claim 3,
The stator 230 is
A stator body 231 having a hollow portion 234 open in the middle as a ring shape;
An arm connector 232 formed to protrude upward on one side of the stator body 231;
One to three protrusions 233 formed on the stator body 231 in a radial direction from the side;
A vertical blocking wall 235 constituting an inner wall of the hollow portion 234;
An air passage 236 formed in a cylindrical shape along the outer surface of the vertical blocking wall 235;
Includes; an opening 238 formed inside the protrusion to become a passage for air,
The opening (238) and the air passage (236), characterized in that in communication with each other, the rotating device of the multi-axis robot gripper.

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