KR19990045914A - Robot hand - Google Patents

Abstract

(1) Field of Invention

The present invention relates to a hand of an industrial robot used in various industrial machines.

(2) Purpose of the invention

The present invention can be used in parallel use of the horizontal opening and closing and rotation opening and closing of the finger constituting the robot hand to provide a wide range of use of the jig attached to provide convenience of use and maximization of work efficiency.

(3) Composition of invention

A cylinder housing in which a central rod cover 20, an upper piston 30, a lower piston 40, and an upper rod cover 50 for sealing the cylinder chamber 11 are assembled. 10) and,

The chuck body 60, the guide plunger 70, the plurality of crank levers 80 and 80, and the plurality of guides disposed on the chuck body 60 are assembled to the upper portion of the cylinder housing 10. Blocks 90 and 90, and the vertical actuating plunger 100 is provided so as to be elevated in the center, a plurality of fingers (110, 110), a plurality of guide plates (120, 120) and the body cover 130 is composed of a combined configuration.

(4) effects of the invention

The present invention can be used in parallel with the horizontal opening and closing of the finger can be used to use a wide range of jig to be attached to provide the effect of maximizing the convenience of use and work efficiency, and use as a general purpose as a device It is possible to minimize the cost of the equipment, and the overall configuration is made of a single unit is easy to repair and repair after installation and use, there is an effect that can significantly reduce the production cost as a simple structure.

Description

Robot hand}

The present invention relates to a hand of an industrial robot used in various industrial machines, and more particularly, the horizontal opening and closing of the finger can be used in parallel and the use of the jig to be attached can be widely used. It relates to a robot hand that can maximize work efficiency.

In recent years, with the rapid development of factory automation, industrial robots and manipulators are rapidly expanding in domestic and foreign automation assembly lines.

In such industrial robots or manipulators, robot hands must be used to carry and assemble the workpiece by gripping (clamping) the workpiece.

That is, such a robot hand is installed on an arm or a manipulator of an industrial robot to be used for carrying and assembling work by holding a workpiece, and is used by attaching a jig necessary for a hanger according to the shape and purpose of the workpiece.

However, such a conventional robot hand has a disadvantage in that the use of the finger is limited only by the horizontal width expansion or the rotation level within the same width range, and thus the range of use is very limited. There was a problem of excessive use of equipment cost and cumbersome use of replacing a robot hand having a size that can be applied to the scope of work according to its shape and purpose of use.

In addition, such a conventional robot hand has a disadvantage in that the repair and replacement are very complicated and the reliability is low due to being manufactured as a series of equipment in an industrial robot or a manipulator, and the manufacturing cost is excessively complicated due to the complicated structure.

The present invention has been researched and developed to effectively solve the disadvantages of the prior art as described above,

An object of the present invention is to provide a robot hand that can maximize the convenience and work efficiency of the use of the jig attached to the horizontal opening and closing of the finger can be used in parallel to use widely.

An object of the present invention is to provide a robot hand that can be used in parallel with the horizontal opening and closing of the finger to provide a universal use as one device to minimize the equipment cost.

An object of the present invention is to provide a robot hand that can be greatly reduced in manufacturing cost as a simple structure, the repair, maintenance, and simple structure after installation and use as a whole unit consists of a single unit.

1 is a longitudinal sectional view showing a configuration of the present invention;

Figure 2 is an expanded state of the finger in the present invention,

Figure 3 is a rotation development state of the finger in the present invention,

4 is a side cross-sectional view of FIG.

5 is a cross-sectional view taken along the line F-F of FIG.

6 is a cross-sectional view taken along the line G-G of FIG.

<Description of Symbols for Main Parts of Drawings>

10 cylinder housing 11 cylinder chamber 12 upper port

13 lower port 14, 103 orifice 20 center rod cover

30: upper piston 40: lower piston 50: upper rod cover

60: chuck body 70: guide plunger 80: crank lever

90: guide block 95: compression spring 100: vertical operation plunger

110: finger 120: guide plate 130: body cover

Hereinafter, the configuration and operation of the present invention will be described in detail with reference to the accompanying drawings.

That is, the present invention, as shown in Figures 1 to 6, the central rod cover 20 and the upper piston 30 and the lower piston 40, the cylinder chamber 11 is installed in the inner cylinder chamber 11 Cylinder housing 10 is assembled with an upper rod cover 50 to seal the),

The chuck body 60, the guide plunger 70, the plurality of crank levers 80 and 80, and the plurality of guides disposed on the chuck body 60 are assembled to the upper portion of the cylinder housing 10. Blocks 90 and 90, and the vertical actuating plunger 100 is provided so as to be elevated in the center, a plurality of fingers (110, 110), a plurality of guide plates (120, 120) and the body cover 130 is composed of a combined configuration.

The cylinder housing 10 has an orifice through which the upper port 12 and the lower port 13 communicated with the cylinder chamber 11 therein and communicate with the upper and lower portions of the cylinder chamber 11 on opposite sides thereof. 14) is made through.

At this time, the central rod cover 20 is assembled to the central portion of the cylinder chamber 11 and partitioned into an upper chamber P1 and a lower chamber P2, and the elevating from the upper chamber P1 and the lower chamber P2. The upper piston 30 and the lower piston 40 are installed at the outer periphery of the upper piston 30, and the upper rod cover 50 is inserted into the fitted state while being assembled to seal the cylinder chamber 11. do.

In addition, the positions of the upper port 12 and the lower port 13 are located on the lower surfaces of the upper rod cover 50 and the center rod cover 20, respectively, so that the upper piston 30 and the lower piston 40 are located. Even if this rises and the upper surface is in contact with each of the rod covers 50 and 20, the respective pistons 30 and 40 are lowered by the introduction of air.

The orifice 14 which communicates the upper chamber P1 and the lower chamber P2 is located at the upper surface of the lower position of the upper piston 30 and the lower outlet is located at the lower piston 40. Is located on the lower surface of the

The chuck body 60 assembled to the upper portion of the cylinder housing 10 has an internal long hole 61 penetrated therein and is inserted into the inner long hole 61 so that the guide plunger is disposed on the upper piston 30. 70) is assembled.

At this time, the guide plunger (70) is located on the upper side of the guide plunger (70) by supporting protrusions (71, 71) upward on both left and right sides and in the internal hole (61) of the chuck body (60). The side ends 81 and 81 of the left and right crank levers 80 and 80 which are axially coupled to the axial hole 62 penetrated in the lateral direction are axially coupled to each other.

The guide blocks 90 and 90 provided opposite to the left and right sides are roll guide grooves 92 and 92 outside the front and rear guide walls 91 and 91 as shown in FIGS. 4 to 6. The main body of the present invention is opposed to the inner side of the shock absorber (93, 93) is assembled on the upper side, and the spring guide (94, 94) coupled to the compression spring (95, 95) in the lower portion is connected to each other, the intervening compression The guide blocks 90 and 90 are elastically installed to receive elasticity in both the left and right sides by the springs 95 and 95, and the crank levers 82 and 82 in the engaging grooves 99 formed on the bottom thereof. The other end (82, 82) of the () is coupled to keep the elastic force of the compression spring (95, 95) is kept blocked, and the buffer dampers (97, 97) on the inner central wall (96, 96) Stopper screws 98 and 98 are screwed in opposite directions and are installed on the upper surface of the chuck body 60.

The vertical actuating plunger 100 has a guide piece 101 through which roll guide holes 102 and 102 are integrally formed on both upper parts of the chuck body 60, the guide plunger 70, the upper piston 30, and the center. Through each central hole of the rod cover 20 is assembled and fixed to the central hole of the lower piston 40, the orifice 103 for communicating the partitioned upper chamber (P1) and lower chamber (P2) through It was allowed to go up and down.

In this case, the orifice 103 is positioned so as to communicate with the upper chamber P1 and the lower chamber P2 in a state where the lower piston 40 is lowest.

Fingers 110 and 110 installed opposite to the left and right sides of the guide block 90 and 90 may be formed in a state in which jig coupling screw grooves 116 and 116 are formed to attach and use a separate jig as necessary. Before the axial hole (91a) that is rolled on the guide wall (91,91) rotatably coupled to the shaft pin 111, the slope roll ball (113, 113) through the guide piece 101 of the up and down operation plunger (100), A plurality of sliding rolls (114, 114) are connected to the slope rolling hole (113) and the roll guide hole (102) of the guide piece (101) with the shaft pin (115) in the state where both slide pivot pieces (112, 112) are fitted. .

The front and rear guide plates 120 and 120 are opposed to the roll guide grooves 92 formed on the outside of the front and rear guide walls 91 and 91 of the guide blocks 90 and 90 to provide a roll guide groove 121. The upper surface of the chuck body (60, 60) and the screw assembly is fixed to the state through the cross-roll 122, the body cover in a state of wrapping the outside of the guide plate 120 and the chuck body (60) 130) is made by screw assembly

In the figure, reference numeral A denotes a stop screw for preventing the cross-roll 122 from being separated, B denotes a fixing bolt, C denotes an O-ring, D denotes a rod packing, E denotes a piston packing, and H denotes a snap ring. It is shown.

Based on the configuration of the present invention will be described with respect to the operation of the present invention.

That is, the present invention is carried by holding the workpiece through the jig (not shown) assembled in the jig assembly screw groove (115, 115) by the operation of the finger (110,110) in the state assembled in the industrial robot or manipulator or in the assembly line The gripping of the parts takes place.

In the present invention, the operation of the fingers (110, 110) is made by the supply or discharge of the working fluid through the upper, lower ports (12, 13) of the cylinder housing 10, this linkage operation will be described. .

First, in the usual state as shown in FIG. 1, the fingers 110 and 110 are in a state in which they are shortened to the shortest distance.

In this state, when the working fluid is supplied through the upper port 12 of the cylinder housing 10, the upper piston 30 that has been raised by the pressure of the working fluid is lowered in the upper chamber (P1) and the The working fluid filled in the upper chamber P1 is discharged to the lower chamber P2 through the orifice 113 of the vertical operation plunger 100.

In connection with this operation, the guide plunger 70 coupled to the upper piston 30 is lowered, and the crank levers being supported by the support protrusions 71 and 71 protruding from both sides of the guide plunger 70. The support state of one side end (81,81) of the 80,80 is released, and at the same time the guide block (90,90) that was supported as the engaging groove (99,99) by the other end (82,82) The elasticity suppression state of the compression springs 95 and 95 interposed between the front and rear guide walls 91 and 91 is released, so that the guide blocks 90 and 90 are moved to the front and rear guide walls 91 and 91. It is smoothly supported by the plurality of cross rolls 122 and 122 in a state supported by the guide plates 120 and 120 formed with the roll guide grooves 121 and 121 facing the roll guide grooves 92 and 92, which are formed on the outside of the roll guide grooves 92 and 92. Sliding expands.

Therefore, each of the fingers 110 and 110, which are in axial engagement with the shaft pins 111 in the shaft holes 91a of the guide blocks 90 and 90, is also extended at the same time, so that the guide pieces 101 of the central puller 100 are extended. Along the left and right of the roll guide hole 102, 102, the sliding rolls 114, 114 are also extended to both left and right positions.

At this time, the width adjustment of the fingers (110, 100) can be adjusted by the advancing adjustment of the stopper screws (98, 98) screwed to the center wall (96, 96) of the guide block (90, 90) device operation Convenience is secured (see Fig. 2).

This operation is made in simultaneous continuity, and when the working fluid is continuously supplied through the upper port 12, the working fluid is supplied to the lower chamber (P2) through the orifice 14 on the opposite side, while the lower piston 40 is raised, the working fluid that is filled in the lower chamber (P2) is discharged through the lower port 13 and the vertical operation plunger 100 is raised as the lower piston (40).

Therefore, the sliding guides (114, 114) interposed in the state connected to the pinker (110, 110) in the roll guide hole (102, 102) formed in the guide piece 101 is pushed up and the fingers (110,110) are centered around the shaft pins (111, 111) By rotating, the fingers 110 and 110 are expanded (see FIG. 3).

This state can be adjusted according to the stability, certainty, and size of the gripping of the workpiece by the operation of rotating the fingers 110 and 110 back and narrowing the width again for the gripping of the workpiece, thereby providing convenience. Let's look at the following.

That is, when the working fluid is supplied through the lower port 13 of the cylinder housing 10 in a state in which the fingers 110 and 110 are enlarged as shown in FIG. 3, the lower piston 40 is lowered and the lower chamber ( The working fluid filled in P2) is discharged back to the upper chamber P1 through the orifice 14, and at the same time descends to the vertical operation plunger 100 to be in a state as shown in FIG.

In this state, when the working fluid is continuously supplied through the lower port 13, the orifice 103 of the vertical operation plunger 100 is supplied to the upper chamber P1, and thus the upper piston 30 is pushed upward. The working fluid filled in the upper chamber P1 is discharged through the upper port 12, and at the same time, raises the guide plunger 70 assembled to the upper piston 30.

Therefore, the one end (81, 81) of the crank lever (80, 80) that is supported in contact with the support protrusions (71, 71) of the guide plunger (70) is pushed and raised, the crank lever (80, 80 is rotated by the shaft pin 83, the other end (82, 82) is guided by the guide block (90, 90) inwardly through the engaging groove (99, 99), so that the fingers (110, 110) is also shown. An inwardly narrowing operation is provided as shown in 1 to ensure that the workpiece is held firmly and securely.

As described in detail above, the present invention can be used in parallel use of the horizontal opening and closing of the finger can be used in a wide range of use of the jig attached is provided with the effect of maximizing the convenience of use and work efficiency,

In addition, it is possible to use the general purpose as one device has the effect of minimizing the equipment cost,

In addition, the entire configuration is made of a single unit, easy to repair and repair after installation and use, and a simple structure can greatly reduce the production cost is realized to maximize the reliability of the product.

Claims (2)

Cylinder housing 10 through which the upper port 12 and the lower port 13 communicating with the cylinder chamber 11 penetrate, and through the orifice 14 communicating the upper and lower portions of the cylinder chamber 11 on the opposite side thereof. )and, The upper part is assembled to the central portion of the cylinder chamber 10, the upper rod (P1) and the lower portion of the lower chamber (P2) to the central rod cover 20, the upper chamber P1 and the lower chamber (P2) is coupled to the liftable An upper rod cover 50 for sealing an upper portion of the piston 30 and the lower piston 40 and the cylinder chamber 11; And the chuck body 60 is assembled to the upper portion of the cylinder housing 10, A guide plunger 70 assembled to an upper portion of the upper piston 30 and protruding support protrusions 71 and 71 on both left and right sides thereof while being inserted into the internal long hole 61 of the chuck body 60; Left and right cranks are axially coupled by the shaft pin 83 in the transverse direction 61 of the chuck body 60 and one side ends 81 and 81 are supported by the support protrusions 71 and 71. Levers 80 and 80, Compression springs (95,95) are provided on the bottom surface and are opposed to left and right sides with the other ends (82,82) of the crank levers (80,80) inserted therebetween. The guide block (90, 90) of both the left and right is installed elastically by the upper surface of the chuck body (60), The guide pieces 101 through which the roll guide holes 102 and 102 pass through are integrally formed on both upper parts of the chuck body 60, the guide plunger 70, the upper piston 300, and the center of each of the center rod cover 20. A vertical operation plunger 100 which is assembled to a central hole of the lower piston 40 and penetrates an orifice 103 communicating with the upper chamber P1 and the lower chamber P2 so as to be lifted and lowered; , A plurality of sliding rolls on the roll guide hole 102 and the slope roll hole 113 formed in the state in which both slide pivoting pieces 112 and 112 are inserted into the guide piece 101 of the vertical operation plunger 100 before and after. 114 and 114 are connected to the shaft pins 115 and assembled, and the left and right fingers 110 and 110 are pivotally coupled to the guide blocks 90 and 90 by the shaft pins 111. Opposed to the roll guide grooves (92,92) formed on the outer side of the front, rear of the guide block (90, 90) to assemble the roll guide grooves 121, 121 in a state interposed between a plurality of cross rolls (122, 122), respectively Both before and after guide plates 120 and 120, Robot hand, characterized in that consisting of the body cover 130 is assembled to the outside of the guide plate (120, 120) and the chuck body (60, 60). The method of claim 1, wherein the guide block (90, 90) is roll guide grooves (92, 92) in the outer side of the guide wall (91, 91) of the front, rear, and the damping damper (top) in the upper side facing the inner side 93, 93 are assembled, and mutually connected with the spring guides 94,94 coupled to the compression springs 95, 95 at the bottom, the guide block 90, by the intervening compression springs (95, 95) 90 is elastically installed so as to receive the elastic force in both the left and right, the other end (82, 82) of the crank lever (82, 82) is coupled to the engaging groove (99) formed on the bottom compression The elasticity of the springs 95 and 95 is maintained and the stopper screws 98 and 98 having buffer dampers 97 and 97 on the inner central walls 96 and 96 are screwed in opposite directions. Robot hand, characterized in that.