KR102442293B1 - Rotary multi-point gripper for material transfer - Google Patents

Abstract

The present invention relates to a rotary multi-point gripper for material transfer and, more specifically, to a rotary multi-point gripper for material transfer, which provides grip modules disposed on a robot arm for transfer to grip or release an object to be transferred, allows the grip modules to come in contact with the object to be transferred at a plurality of contact points to support the object to be transferred, thereby increasing transfer stability, and improves the structure of a movable means for operating the grip modules, thereby improving an operation reaction speed. To this end, the rotary multi-point gripper for material transfer comprises: a case having an arrangement space formed therein, wherein one side of the arrangement space is opened; a cover coupled thereto to close an opening of the case; a driving means operated by applied power and signals; a movable module disposed to be movable in a horizontal direction in the arrangement space, and including a driving bar coupled to the driving means and a drive gear that rotates in engagement with the driving bar; and grip modules coupled to the movable module to grip or release the object to be transferred.

Description

Rotary multi-point gripper for material transfer

The present invention relates to a rotary multi-point gripper for material transfer, and more particularly, to provide a grip module disposed on a transfer robot arm to grip or release a transfer object, wherein the grip module has a plurality of contact points on the transfer object The present invention relates to a rotary multi-point gripper for material transport, which improves transport stability by abutting and supporting an object to be transported, and improving the structure of a movable means for operating the grip module, thereby improving operation response speed.

There is a robot arm for transport that operates by applied power and signals as a representative of transport devices used in the movement, transfer, and rotation of materials in various manufacturing fields.

Such a transfer robot arm is coupled to move and rotate a plurality of joints to be able to move and rotate by gripping the transfer object, and a gripper capable of gripping the transfer object is disposed at the end of the joint to be able to move and rotate.

In a conventional transport robot arm, a movable part for adjusting the position of the gripper uses hydraulic or pneumatic pressure or a plurality of cylinders are connected to each gripper to control the position and operation of the gripper.

As a prior art of a transport device for pickup including the transport robot arm, there is Korean Patent Publication No. 10-2014-55277 (published on May 9, 2014), the prior art relates to a 'rack and pinion gripper driving means'. will be.

The prior art provides inexpensive and simple structural characteristics by driving the gripper operation in a rack-and-pinion method. A pinion gear that is geared to both sides of one rack gear and can rotate at a certain angle according to the vertical flow of the rack gear. It constitutes each of the left and right rotational actuators included.

When the pinion gear included in the left and right rotation actuators rotates when the rack gear is raised or descended, the distance between the left and right material gripper arms formed symmetrically with each other at the lower part of the left and right rotation actuators becomes narrower or farther away to transport the object. To grip or release to eject.

The prior art made as described above has the advantage of being able to manufacture at a low cost by improving the structure, as well as improving the convenience of maintenance. In particular, it is configured to transport only large and heavy objects to be transported, and on the contrary, there is a problem in that it is difficult to precisely and quickly transport objects that are small in volume and light in weight.

In addition, Korean Patent Registration No. 10-1162317 (June 27, 2012, registered) proposes a 'robot hand assembly having a three-point gripping structure'. In clamping multiple cutters and spacers with a robot hand for This is to prevent deformation.

However, the prior art has a problem of low utilization because the structure is complicated and the positions and angles at which a plurality of fingers are close to or spaced apart from each other are limited.

Republic of Korea Patent Publication No. 10-2014-55277 (2014.05.09., published) Republic of Korea Patent Registration No. 10-1162317 (2012.06.27., registered)

The present invention has been proposed to solve the above problems, and it is possible to grip or release an object to be transported, but to maintain transport stability by contacting a plurality of contacts to the object to be transported, and to improve the operation structure of the grip finger in contact with the object to be transported. An object of the present invention is to provide a rotary multi-point gripper for material transfer that can increase economic feasibility through low manufacturing cost and reduce maintenance costs.

In addition, the present invention improves the structure of the movable module for adjusting the position of the gripping finger to improve the reaction speed, thereby shortening the time required for the transfer process using the gripper, and can be used in various manufacturing processes, so that the utilization is wide. An object of the present invention is to provide a rotary multi-point gripper for material transfer.

In order to achieve the above object, the present invention includes: a case having an arrangement space formed therein and one side of the arrangement space being opened;

a cover coupled to close the opening portion of the case;

driving means operated by the applied power and signal;

a movable module disposed movably in the horizontal direction in the arrangement space and including a driving bar coupled to the driving means and a driving gear rotating in engagement with the driving bar;

and a grip module coupled to the movable module to grip or release an object to be transported.

In addition, the movable module includes a movable gear coupled to the driving gear and having a gear mountain for meshing on an outer circumferential surface, and a plurality of radially disposed based on the movable gear, each of which is engaged with the meshing gear mountain of the movable gear to be rotatable It is characterized in that it includes an arranged driven gear.

In this case, the grip module includes a coupler each coupled to the plurality of driven gears, a fixing bar formed in the form of a bar extending in the longitudinal direction, and gripping fingers disposed at one end of the fixing bar in the longitudinal direction to contact the object to be transported. characterized in that it contains

In addition, the driving means is characterized in that it consists of any one of a cylinder operated by hydraulic pressure or pneumatically or an electric motor using an electromagnetic solenoid or electricity or an electric motor.

In addition, the grip module is further provided with a non-slip coating layer in a portion in contact with the transfer object, wherein the non-slip coating layer is tyrene-butadiene (SBR) rubber or nitrile-butadiene (NBR) rubber 60 to 70 parts by weight, non-slip agent 5 to 10 parts by weight and other additives are mixed, and the non-slip agent is characterized by mixing silicon nitride (Si3N4) powder and silicon carbide (SiC) powder in a weight ratio of 6:4.

The present invention made as described above can reduce the time required for the transfer process by improving the movement stability of the object to be transferred and improving the reaction speed, and can be manufactured in various sizes, so that the utilization is wide.

In addition, the present invention improves the operation speed of the grip finger and improves the structure of the movable module to maintain the gripping state of the transfer object to increase the operation speed and operation stability, and to reduce the manufacturing cost and maintenance cost to improve economic efficiency. It works.

1 is an exemplary view showing a rotary multi-point gripper for material transfer according to the present invention.
2 is an exemplary view showing the operating state of the rotary multi-point gripper for material transfer according to the present invention.
3 is an exemplary view showing the rear surface of the rotary multi-point gripper for material transfer according to the present invention.
4 is an exemplary view showing the inside of the rotary multi-point gripper for material transfer according to the present invention.
5 is an exemplary view showing the inside of a rotating state of the grip finger in the rotary multi-point gripper for material transfer according to the present invention.
6 is an exemplary view illustrating a state in which gripping fingers are spaced apart from each other in the rotary multi-point gripper for material transfer according to the present invention.
7 is an exemplary view illustrating a state in which gripping fingers are close to each other in the rotary multi-point gripper for material transfer according to the present invention.

Hereinafter, in addition to the above object, other objects and features of the present invention will become apparent through the description of the embodiments with reference to the accompanying drawings.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, a preferred embodiment of the rotary multi-point gripper for material transfer according to the present invention will be described with reference to the accompanying drawings.

First, as shown in FIGS. 1 and 2, the rotary multi-point gripper 1 for material transfer according to the present invention has an arrangement space 11 formed therein and one side of the arrangement space 11 is opened. The case 10, the cover 20 coupled to close the opening portion of the case 10, the driving means 30 operated by the applied power and signal, and the arrangement space 11 in the horizontal The movable module 40 and the movable module ( 40) and includes a grip module 50 for gripping or releasing an object to be transported.

The case 10 is made in the form of an enclosure in which an arrangement space 11 is formed, one side of the arrangement space 11 is opened to communicate with the outside, and any one side wall of a plurality of side walls constituting the housing is described later. An inlet (not shown in the figure) into which a part of the driving means 30 is introduced is formed.

And in the arrangement space 11 of the case 10, a plurality of spacer blocks 12 for the operation stability of the movable module 40 arranged in the arrangement space are arranged.

On the other hand, the shape and size of the case 10 can be changed to various shapes and sizes depending on the position at which the rotary multi-point gripper 1 for material transfer according to the present invention is disposed and the robot arm for transfer coupled thereto. Of course, it is not limited to the illustrated shape and size.

That is, although the case 10 is illustrated as having a rectangular housing shape in the drawing, various modifications such as a circle or a triangle are possible.

Meanwhile, on the outer surface of the case 10, a coupling means (not shown in the drawing) for coupling with the robot arm for transport may be further disposed. It may be configured to be coupled to a corresponding socket provided on the arm, or configured to be coupled and detachable using magnetic force.

The cover 20 is coupled to the open side of the case 10 to close the opened portion, and the cover 20 is disposed after arranging the components in the arrangement space 11 of the case 10 . The space 11 is closed from the outside to block the inflow of foreign substances and moisture.

At this time, the cover 20 is formed with an operation hole 21 in which the coupling hole 51 constituting the grip module 50 to be described later is rotatably disposed, and at the portion where the cover 20 and the case 10 come into contact with each other. Sealing or packing for sealing may be arranged.

The driving means 30 is disposed outside the case 10 and operates the movable module 40 to be described later while operating by the applied power and signals.

This driving means 30 is for moving the driving bar 41 of the movable module 40 to be described later in the horizontal direction with reference to FIG. 3 , and is a cylinder operated by hydraulic or pneumatic operation by applied power and signals. or an electric solenoid or an electric motor cylinder using electricity or an electric motor.

The driving means 30 is disposed in the inlet formed in the case 10, and a sealing or packing for airtight maintenance is further disposed in the disposed portion.

The movable module 40 includes a driving bar 41 , which is arranged to be movable in the horizontal direction in the arrangement space 11 of the case 10 , and a driving gear 42 that rotates in engagement with the driving bar 41 . As a result, the movement direction of the driving bar 41 is a horizontal direction based on FIG. 3 , and may be a vertical direction or an oblique direction along the direction in which the case 10 is disposed.

More precisely, when the moving direction of the driving bar 41 is referred to as a rear end at a position coupled to the driving means 30, and a symmetrical direction is referred to as a front end, the direction connecting the rear end and the front end to be.

The driving bar 41 is formed in the form of a bar extending in the longitudinal direction, and a gear mountain is continuously formed on one surface along the longitudinal direction to engage the driving gear 42 .

The driving gear 42 is a circular pinion gear, which is rotatably disposed in the arrangement space 11 of the case 10 , and the driving bar 41 is engaged with a gear mount formed on an outer circumferential surface.

The movable module 40 configured as described above rotates the driving gear 42 while moving the driving bar 41 in the horizontal direction, and a grip module 50 to be described later coupled to the driving gear 42 is a driving gear. (42) grips or releases the object to be transported while being close to each other or spaced apart according to the direction of rotation.

Here, the movable module 40 has a gear mount coupled to the drive gear 42 to adjust the rotation speed and rotational force of the drive gear 42 and to increase the coupling convenience of the grip module 50, which will be described later, and to engage the outer peripheral surface. The formed movable gear 43 and a plurality of driven gears 44 arranged radially based on the movable gear 43 are each coupled to a gear mount for meshing of the movable gear 43 .

The movable gear 43 is coupled to a rotation shaft 421 that rotatably supports the drive gear 42 and rotates in association with the rotation of the drive gear 42 , and a gear mount for coupling is formed on an outer circumferential surface of the movable gear 43 .

The movable gear 43 is formed to have a relatively large diameter compared to the diameter of the driving gear 42, converts the rotational speed of the driving gear 42 into rotational force, and a plurality of driven gears 44 coupled to the outer circumferential surface. rotate the

That is, while minimizing the size of the case 10, the driving gear 42 rotates by receiving power from the driving means 30 and the driving gear 42 is coupled to the same rotating shaft 421 as the driving gear 42. During rotation, the movable gear 43 is rotated at the same time, while the rotational speed of the movable gear 43 is converted into rotational force.

Therefore, it is possible to obtain a strong rotational force even with a small force by converting the rotational speed of the driving gear 42 into the rotational force of the movable gear 43 without a separate reduction gear.

A plurality of the driven gears 44 are radially arranged around the rotation shaft 421 of the movable gear 43 , and each is engaged with the movable gear 43 and coupled thereto.

A grip module 50 , which will be described later, is disposed on each of the plurality of driven gears 44 so that each grip module 50 approaches or is spaced apart from each other according to the rotation of the driven gear 44 .

Here, the arrangement angle of the plurality of driven gears 44 is arranged so that the mutually spaced angle is 120°, so that the mutual rotation is not interfered with.

The movable module 40 made as described above rotates the engaged drive gear 42 while the drive bar 41 coupled to the drive means 30 moves in the horizontal direction, and the same rotation shaft 421 as the drive gear 42 . ) The movable gear 43 coupled by the interlocking rotation rotates, and the driven gear 44 arranged to engage a plurality of the movable gear 43 at positions spaced apart from each other rotates. The movable module 40 can form a strong rotational force while reducing the overall volume, thereby increasing the gripping force of the grip module 50 disposed on each of the plurality of driven gears 44 .

In addition, the movable module 40 can provide a strong gripping force even when the overall volume is reduced as described above, so that it can be utilized in a precision manufacturing process as well as gripping and releasing a heavy weight object to be transported.

The grip module 50 holds the transfer object while the position is displaced by the operation of the movable module 40 or discharges the gripped transfer object. For this purpose, the grip module 50 is coupled to the plurality of driven gears 44, respectively It includes a sphere 51 , a fixing bar 52 extending in the longitudinal direction, and a grip finger 53 disposed at one end of the fixing bar 52 in the longitudinal direction and in contact with the object to be transported.

Here, the grip module 50 has an angular interval of 120° and shows that three are disposed, but this is one embodiment and at least 3 to 5 may be disposed at positions spaced apart from each other at a predetermined angle. have.

At this time, the arrangement number and arrangement angle of the driven gear 44 constituting the movable module 40 may also be changed in correspondence to the arrangement number and arrangement angle of the grip module 50 .

The coupler 51 is coupled to the plurality of driven gears 44 , respectively, and protects the driven gear 44 from foreign substances or moisture while receiving rotational force from the driven gear 44 .

The coupler 51 is coupled to surround one surface of the driven gear 44 , and is rotatably disposed in the operation hole 21 formed in the cover 20 .

The fixing bar 52 is integrally fixed to each coupling hole 51 through a coupling bolt, and is formed in the form of a bar extending in the longitudinal direction.

Here, the fixing bars 52 are arranged to form an angle spaced apart from each other by 120°, and grip fingers 53 contacting the transfer object are arranged at one end of each longitudinal direction.

The grip fingers 53 are respectively disposed at one end in the longitudinal direction of the fixing bar 52 so that when the coupler 51 rotates in conjunction with the rotation of the driven gear 44, the gripping fingers 53 are close to each other or spaced apart to grip the object to be transported. release it

As shown in the drawing, the grip finger 53 has a cylindrical shape and one end is coupled to the fixing bar 52 . Preferably, the grip finger 53 is coupled to the fixing bar 52 so that it cannot be rotated so as to be transferred to the object. Prevents unnecessary rotation of the transfer object in the process of gripping or releasing it.

On the other hand, the grip finger 53 is further provided with a non-slip coating layer 54 for increasing transport stability by preventing the sliding of an object to be transported in contact. The non-slip coating layer 54 is formed by the operation of the movable module 40 In order to prevent a malfunction in which the gripping fingers 53 slip or deform when a pressure is applied to grip the transfer object by receiving rotational force, the gripping fingers 53 are formed on the surface, but are formed using a rubber composition.

Any rubber composition may be used as long as it has anti-slip properties.

In one embodiment, a rubber composition comprising 60 to 70 parts by weight of styrene-butadiene (SBR) rubber or nitrile-butadiene (NBR) rubber, 5 to 10 parts by weight of a non-slip agent, and other additives is used to form the surface of the grip finger 53 A coating layer was formed through dip coating to have an average thickness of 50 to 80 μm.

At this time, as the non-slip agent, silicon nitride (Si3N4) powder and silicon carbide (SiC) powder were mixed in a weight ratio of 6:4 and used. In this case, it was found that the anti-slip properties were improved by the addition of the non-slip agent and the durability of the coating layer was secured.

In particular, it was found that the heat resistance properties of 150 to 200° C. or the grip properties for the object in which moisture remained were improved.

In addition, as the additive, an appropriate amount of an additive used in a conventional rubber composition may be used, 2 to 5 parts by weight of silica as a filler, 2 to 5 parts by weight of sulfur as a crosslinking agent, and 1 to 2 parts by weight of tetramethyl thiuram disulfide as a crosslinking accelerator Can be used.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

1: Rotating multi-point gripper for material transfer
10: case
11: arrangement space 12: spacer block
20: cover
21 : movement ball
30: driving means
40: movable module
41: drive bar 42: drive gear
43: movable gear 44: driven gear
421: axis of rotation
50: grip module
51: coupler 52: fixed bar
53: grip finger 54: coating layer

Claims (5)

a case 10 having an arrangement space 11 formed therein and having one side of the arrangement space 11 opened;
a cover 20 coupled to close the opening portion of the case 10;
Driving means 30 operated by the applied power and signal;
A movable module including a driving bar 41 , which is arranged movably in the horizontal direction in the arrangement space 11 and is coupled to the driving means 30 , and a driving gear 42 that rotates in engagement with the driving bar 41 . (40);
A grip module 50 coupled to the movable module 40 to grip or release an object to be transported; including,
The movable module 40,
a movable gear 43 coupled to the drive gear 42 and having a gear mount for meshing on an outer circumferential surface thereof;
A plurality of driven gears 44 are radially arranged based on the movable gear 43, and each of the driven gears 44 are rotatably arranged in engagement with the meshing gear mount of the movable gear 43,
The grip module 50,
A coupler 51 coupled to the plurality of driven gears 44, respectively;
A fixed bar 52 formed in the form of a bar extending in the longitudinal direction, and
and grip fingers 53 disposed at one end in the longitudinal direction of the fixing bar 52 and in contact with the object to be transported,
In the grip module 50,
A non-slip coating layer 54 is further provided in the area in contact with the transfer object,
The non-slip coating layer 54 is formed by mixing 60 to 70 parts by weight of tyrene-butadiene (SBR) rubber or nitrile-butadiene (NBR) rubber, 5 to 10 parts by weight of a non-slip agent, and other additives,
The non-slip agent is a mixture of silicon nitride (Si3N4) powder and silicon carbide (SiC) powder in a weight ratio of 6:4,
A coating layer is formed on the surface of the grip finger 53 to a thickness of 50 to 80 μm through dip coating,
The coupling hole 51 is coupled to surround one surface of the driven gear 44 to protect the driven gear 44 from foreign substances or moisture, and is rotatably disposed in the operation hole 21 formed in the cover 20 . become,
The fixing bar (52) is a rotary multi-point gripper for material transfer, characterized in that it is integrally fixed to the coupling hole (51) through a coupling bolt. delete delete The method according to claim 1, The driving means (30),
A rotary type multi-point gripper for material transfer, characterized in that it consists of any one of a cylinder operated by hydraulic or pneumatic operation, an electric motor using an electromagnetic solenoid, or an electric motor.
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