KR20010109811A - Finger - Google Patents

Abstract

The present invention is rotatably fixed to the center of a pair of levers equipped with a holder for holding an article at one end, and the lever driving means reciprocating in the opposite direction to each lever end facing the holder to hold the article And by the termination, the holding position of the holder for holding the article and the elastic force of the elastic member to be compressed due to the holding of the article of the holder is in equilibrium with each other to hold the items having the same thickness with the same holding force, held in the holder At the same time as the thickness of the article suddenly reduced, the lever drive means relates to a finger that allows the holder to grip the reduced article at the same time by moving both lever ends outward, the finger comprises a housing; A pair of levers whose center is approximately rotatably fixed within the housing and whose one end protrudes out of the housing; Lever driving means installed between the levers so that two sets of rollers reciprocating in accordance with the driving of the driving device are in rolling contact with each end of the lever located inside the housing to reciprocate the lever ends in opposite directions; And a pair of holders detachably fixed to an end of each lever protruding out of the housing to hold and release an article when the lever is reciprocated according to the operation of the lever driving means.

Description

Finger {Finger}

The present invention relates to a finger which is fixed to various industrial robots to hold and release an article, and in particular, a pair of levers having a holder mounted at one end thereof to be rotatably fixed, and the other end of each lever having a lever driving means. The holder grips and releases the article by reciprocating in the opposite direction, so that the holding position of the holder holding the article and the elastic force of the elastic member compressed to the article holding of the holder are in equilibrium with each other. In addition, when the thickness of the gripped article is suddenly reduced, the lever following the article can be rotated at the same time by the elastic force to firmly grip the article.

Fingers are mainly installed on manufacturing robots on the layout of an automated factory to grasp and move items under the control of a control to process, heat, weld, etc. the items.

Conventionally, such a finger for holding the article is manufactured and used in various forms, the conventional structure is equipped with a holder for holding the article at the end of a pair of driving devices (mainly cylinders), and operate according to the command of the control The holders are reciprocated in opposite directions by the rods of the driving device, thereby holding and releasing the article.

However, in the conventional finger configured as described above, the moving stroke of the driving device rod is designated to hold and release the article within the stroke range, which is set in the range of the moving stroke, and also the control command time and the rod driven thereto. Although there is a very short time between the driving time, there are many problems in grasping the parts due to a time gap.

In more detail, this drive device has a stroke range that varies according to the degree of pressure strength of the working fluid because the rod moves through a working fluid such as air pressure or hydraulic pressure. When holding the items, the holding force of each item is not constant. Therefore, the item held by the weak gripping force has a disadvantage in that it is shaken in the gripped state can not be accurate in the subsequent process.

In addition, the conventional finger is a gripping structure using a pair of drive devices because the structure is complex and bulky structure is difficult to apply to a small device, there is a complex disadvantage in the installation and operation because of the complex structure.

In fact, when the conventional finger configured as described above is applied to the deflection coil winding machine to describe the problem caused when the terminal fusion bonding the lead portion of the deflection coil as follows.

In the conventional finger applied to the winding machine, the holders mounted on both driving rods are held in close contact with both sides of the terminal where the holders are joined by wrapping the deflection coil leads by the driving of the rods. In this state, the terminals are melted by melting the coating layer of the lead portions. When melt-bonded to the coil core, the coating layer melts instantaneously and becomes thinner at the same time, and at the same time, the terminals must be adhered to both sides and bonded to the coil core.

However, since the terminal is fused in a state in which the molten fusion layer solidifies to some extent due to the slow reaction speed (following speed) of the driving device that closely adheres the terminal while the coating layer of the coil is melted, the joint state is not firm, and the drive unit is installed on both sides. And additional devices for driving the driving device are more complicated in structure and thus difficult to repair in case of failure.

Accordingly, the present invention is to solve the conventional problems as described above, the object is to rotatably fix the center of the pair of levers equipped with a holder for holding an article at one end and each lever end facing the holder The lever driving means reciprocates in opposite directions so that the holder grips and releases the article, so that the elastic force of the elastic member compressed by the grip position of the holder and the grip of the article of the holder is in equilibrium with each other. It is to provide a finger that can be used in a process that requires precision by allowing them to be gripped with the same gripping force.

Another object of the present invention is that when the thickness of the article held in the holder suddenly decreases at the same time the lever drive means to move both lever ends to the outside, so that the holder can hold the article with reduced thickness at the same time to hold the article stably To provide a finger to

Such fingers include a housing; A pair of levers whose center is rotatably fixed to the housing and one end of which protrudes out of the housing; Lever driving means provided between the levers and having two sets of rollers reciprocating according to the driving of the driving device in rolling contact with each end of the lever to reciprocate the lever ends in opposite directions; And a pair of holders detachably fixed to an end of each lever protruding out of the housing to hold and release the article when the lever is reciprocated.

Here, the lever driving means is a drive device which is installed between the pair of levers and the driving unit linearly reciprocating in the longitudinal direction of the lever; A lower block fixed to an end of the drive unit; A pair of guide shafts fixed to both sides of the lower block in parallel with the driving unit; An upper block fixed to the guide shaft at an upper portion of the lower block; It is assembled to rotate with each other, and when the drive unit of the drive unit is pulled out / retracted, the holder can grip and release the article by reciprocating the lever both ends in opposite directions while rolling back and forth in contact with the lever both ends. Two sets of rollers to make it possible; Two rollers rotatably fixed to both sides of the body, the roller block being slidably assembled on the guide shaft such that the rollers are in rolling contact with both ends of the levers; A first elastic member interposed between the lower block and the roller block to closely contact the roller block in an upper block direction; When the rollers move from the ends of the levers to the driving part retracting direction by the retracting of the driving device, both ends are fixed to the respective levers so that the ends of the levers are pulled at the same time so as to be brought into contact with the rollers of the two sets. It includes a second elastic member.

The lever driving means further includes a tension adjusting bolt fastened to the roller block to adjust the elastic force of the first elastic member.

In addition, the lever driving means is further formed on the housing so as to support the both sides of the guide shafts reciprocating in accordance with the drive of the drive unit driving unit to prevent shaking. The support means includes an upper support block through which receiving holes are formed so that bearings for supporting the pair of guide shaft upper parts are inserted into both sides of the body, and fixed to the upper part of the housing; Receiving holes are provided through both sides of the body so that the bearing for supporting the lower portion of the guide shaft is inserted, and includes a lower support block fixed to the lower block.

1 is a front cross-sectional view of the present invention,

2 is a right side view of the present invention;

3 is a perspective view showing an assembled state of a lever and a holder according to the present invention;

4 is a schematic front view showing an assembled state of a lever and a holder according to the present invention;

5 is a schematic front view showing the assembled state of the lever driving means according to the present invention;

6 is an enlarged front view of the lever driving means according to the present invention;

7 is a cross-sectional view taken along the line A-A of FIG.

8 shows a state in which the holder of the present invention grips the article,

8A is a view of a state before holding an article,

8B is a view of a state in which an article is held.

Explanation of symbols on the main parts of the drawings

1 housing 4 lever

5 holder 6 lever driving means

10: roller 11: inclined portion

15: cylinder 17: lower block

18: guide shaft 19: upper block

20 roller block 21 first elastic member

22: second elastic member 23: tension adjusting bolt

30: upper support block 31: lower support block

36: lever operation pin

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. 1 to 2 is a front sectional view and a right side view of the present invention, Figures 3 to 4 is a perspective view and a schematic front view showing the assembled state of the lever and the holder according to the present invention, Figure 5 is a lever driving means according to the present invention It is a schematic front view which shows the assembling state of. 6 is an enlarged front view of the lever driving means according to the present invention, Figure 8 is a right side view showing a process of holding the article of the holder of the present invention.

In the finger of the present invention, as shown in FIGS. 1 and 2, the lever 4 is rotatably assembled to each of the pair of hinge shafts 3 fixed to both brackets 2 inside the housing 1, and the housing ( 1) A holder 5 for holding an article is detachably assembled at an end of both levers 4 protruding to the outside, and the levers 4 are reciprocated between the pair of levers 4 while being reciprocated according to the operation of the driving device. The lever driving means 6 is installed so that a pair of holders 5 fixed to the holder 5 can grip and release the article.

The housing 1 is a body having a certain length is assembled into a hexahedral shape and the lower part of the body is assembled to the lower cover 7, the lower cover 7 is the lower end of the lever 4 protruding out of the housing 1 The space for reciprocating motion is formed.

As shown in FIGS. 3 and 4, the lever 4 assembled to the hinge shaft 3 has two bodies divided into two sets, and the hinge shaft 3 can be fitted to the central portion of each divided body. An assembling hole 8 is opened, and a fastening hole 9 is apertured at one end to detachably fasten and assemble the holder 5, and the fastening hole 9 is such that the holder 5 does not flow. At least two or more are preferably formed.

In addition, the lever 4 is inclined at an angle so as to be in contact with the roller 10 which is lifted up and down by the lever driving means 6 at the other end facing the fastening hole 9 of each body ( 11) is formed. The inclined portion 11 is divided into an inner inclined surface 11a formed inside the body and an outer inclined surface 11b formed outside the body.

Accordingly, when the roller 10 is in contact with the inclined portion 11 of the lever 4 and reciprocates, the lever 4 has both ends reciprocally rotated in opposite directions with respect to the hinge shaft 3 to the end thereof. The holder 5 assembled therein makes it possible to grasp or detach the article.

As shown in FIG. 3, the holder 5 includes an accommodating part 12 so that the ends of the levers 4 are accommodated at both ends of the body, and the accommodating part is formed on an inner wall of the accommodating part 12. A screw hole 13 is formed to fasten and secure each of the levers 4 accommodated in the 12.

In addition, the holder 5 is formed on the inner wall facing each other grip portion 14 is formed so as to grip the article, the grip portion 14 is selectively formed according to the shape of the gripping article. The gripping portion 14 is preferably concave like the shape of the gripping article so as to closely grip the gripping article to the maximum area.

The lever driving means 6 rotates one end of each lever 4 accommodated in the housing 1 in opposite directions so that the holder 5 fixed to the other end can grasp and release the article.

Such a lever driving means 6 is provided with a driving device between the pair of levers 4 as shown in FIG. 5 so that the driving portion thereof has a linear reciprocating motion with a constant stroke in the lever longitudinal direction (lever upper direction in the drawing). do. The lower block 17 is fastened and fastened to the driving unit, and a pair of guide shafts 18 are installed on both sides of the lower block 17 in parallel with the rod 16 of the driving unit 15 so as to be spaced at a predetermined interval. The upper block 19 is fixed to each of the guide shafts 18 of the upper part spaced apart from the lower block 17 by a predetermined distance. Therefore, when the driving unit is moved up and down, the lower block 17, the guide shaft 18 and the upper block 19 is integrally reciprocated.

Here, the driving device is to reciprocate the unit which is fixed to the lower block 17 and moves integrally with the lower block 17, and an embodiment may use a cylinder 15 which is generally used. The drive of the drive would thus be the cylinder rod 16.

Another embodiment of the drive device may use a ball screw (not shown) or may use a linear motor (not shown) in which the armature moves linearly. These ballscrews and linear motors also drive their units by reciprocating to drive the unit moving integrally with the lower block.

Since the cylinder, the ball screw and the linear motor are already widely used in each industrial field, detailed description thereof will be omitted.

In addition, the lever driving means (6) is a pair of rollers 10 are assembled so that a pair of interlocking with each other is rotatably installed on both sides of the roller block 20, the roller block 20 is the upper block Both ends of the body are assembled to the guide shaft 18 so as to reciprocate along the guide shaft 18 when the drive unit 16 moves up and down between the 19 and the lower block 17.

Here, the two sets of rollers 10 are in rolling contact with the inner inclined surface 11a of each end of the lever 4 when the roller block 20 moves up and down. Accordingly, the lever 4 has the inclined portion 11 about the hinge shaft 3 when the rollers 10 are raised and lowered, and the lower portion facing the inclined portion 11 is closer to the lower portion. Each holder 5 fixed to the gripper holds the article. On the contrary, when the rollers 10 are lowered, the inclined portions 11 of the levers 4 are close to each other and the lower ends are opened to open the respective holders 5. ) Will also be opened and the gripped item will be terminated.

In addition, the lever driving means 6 is interposed between the lower block 17 and the roller block 20, the first elastic member 21 is compressed when the drive unit driving unit is lifted to accumulate elasticity. The first elastic member 21 has accumulated elastic force closely contacting the roller block 20 so that the rollers 10 mounted on the roller block 20 are in contact with the inclined portion 11 of the lever 4. To be possible. When the drive unit is lowered and returned to its original position, the lever 4 of each lever 4 may be provided to provide the elastic force in which the inner inclined surface 11a of each lever 4 comes into close contact with each roller 10 that is lowered at the same time. The second elastic member 22 is assembled at the predetermined position of the inclined portion 11.

The lever driving means 6 is a tension adjusting bolt 23 is fastened to the roller block 20 to adjust the tension of the first elastic member 21, the tension adjustment bolt 23 is properly rotated By adjusting the tension of the first elastic member 21.

The lower block 17 is fixed to an end of the driving unit 16 to support one end of the first elastic member 21 so that the first elastic member 21 can closely contact the roller block 20. The guide shafts 18 are fixed in parallel on both sides of the body. The lower block 17 has a screw hole 24 to which the drive unit 16 is fastened to the center of the body, and the first elastic member 21 may be seated at the periphery of the screw hole 24. The mounting portion 25 is recessed to a predetermined depth so that the holes 26 are provided at both sides of the screw hole 24 so that the pair of guide shafts 18 can be inserted and fixed.

The upper block 19 is fixed on the pair of guide shafts 18 fixed to the lower block 17 to fix the guide shafts 18 in parallel, and the first elastic member 21. The roller block 20 which is in close contact by the elastic force of the serves as a stopper function so as not to be separated. The upper block 19 has a passage 27 through which the tension adjusting bolt 23 can penetrate the center of the body, and the guide shafts 18 can be inserted and fixed at both sides of the passage 27. The holes 28 are through.

The guide shaft 18 fixed to the holes 26 and 28 of the lower block 17 and the upper block 19 is in contact with the lever 4 so that the rollers 10 reciprocating are not shaken. The roller 10 is to prevent the flow of the roller block 20 is mounted.

The guide shaft 18 is formed in a rod shape having a predetermined length, and inserted into the holes 26 and 28 of each of the lower block 17 and the upper block 19 to be fixed by a fixing pin 29. However, the length should be equal to or longer than the length between the upper support block 30 and the lower support block 31 of the support means to be described later. In other words, the length of the guide shaft 18 should be equal to or longer than the distance from the upper surface of the upper support block 30 to the lower surface of the lower support block 31.

The two sets of rollers 10 are assembled to be engaged with each other at each end of the two shafts 32 inserted into the roller block 20 to be in contact with the inner inclined surface 11a of each lever 4.

The roller block 20 to which the rollers 10 are mounted has a width through which a body can be inserted into the levers 4, as shown in FIG. 7, and both sides of the body slide on the guide shaft 18. Are assembled. The roller block 20 is through the receiving hole 34 is inserted into the bearing 33 for supporting the guide shaft 18 on both sides, the tension adjusting bolt 23 between the receiving hole (34) The screw hole 35 is through-hole so that it can be fastened.

And the roller block 20 is in close contact with each lever (4) outer inclined surface (11b) to hold the article when the drive device (16) rod 16 is lowered and returned to its original position at both ends of both sides of the body A lever operating pin 36 for disengaging the holder 5 from the article is fixed to protrude.

The second elastic member 22 is fixed at a predetermined position near the inclined portion 11 of each lever 4 so that the roller block 20 is lowered according to the operation of the drive block 16. The lever 10 is provided with an elastic force that pulls the inclined portions 11 of the levers 4 so that the inner slopes 11a of the levers 4 come into contact with the rollers 10.

Here, the first and second elastic members 21 and 22 are preferably applied to the coil spring having a predetermined elastic modulus.

And the drive means when the drive unit is moved up and down the support means for supporting to prevent the flow of the guide shaft 18 to be moved up and down, and the upper support block 30 is fixed to the housing (1) and It is composed of a lower support block 31 fixed to the lower block 17.

The upper support block 30 is provided with receiving holes 38 so that bearings 37 for supporting the upper portion of the pair of guide shafts 18 may be inserted into both sides of the body. Since the upper support block 30 is assembled on the housing 1, it also serves as a housing upper cover.

The lower support block 31 is provided with receiving holes 40 through which the bearings 39 supporting the lower portion of the pair of guide shafts 18 are inserted into both sides of the body, and between the receiving holes 40. That is, the through hole 41 is formed in the center of the body so that the driving unit 16 can pass therethrough.

Here, reference numeral 2 is a bracket to which the hinge shaft 3 is fixed.

Next, a process of holding the article by the finger of the present invention configured as described above will be described with reference to FIG.

In the state of FIG. 8A, the cylinder rod 16, which is a driving device, is lowered so that the rollers 10 are positioned below the inner inclined surface 11a of the lever 4 so that the levers 4 are close to the upper part and the lower part is opened. The holder 5 fixed to the lower part of the lever 4 is spaced apart before holding the article.

Here, in addition to the cylinder, the driving device may use a ball screw or a linear motor linearly moving.

In this state, when the cylinder rod 16 is raised by the command of the control, the lower block 17, the upper lock 19 and the guide shaft 18 are simultaneously raised. At this time, the rising cylinder rod 16 is raised in a state in which the stroke of the first elastic member 21 is compressed, so that the lower block 17 raised by the first elastic member 21 Will be compressed.

In this process, the rollers 10 mounted on the roller block 20 are raised while rolling in contact with the inner inclined surface 11a at the end of the lever 2 to rotate the lever 2. As the lever 2 rotates as described above, the lever inclined portion 11 is opened and the holders 5 opposed thereto are close to each other to press and grip the article as shown in FIG. 8B.

At this time, the point at which the moving roller 10 stops is a time point at which the holder 2 grips the article.

As such, the inclined portion 11 of the lever 2 is stopped from rotating due to the thickness of the article, and the lever 2 stopped as described above resembles the elastic force of the first elastic member 21 compressed by the thickness of the article. They are held in equilibrium with each other to grasp the article.

Therefore, when the thickness of the gripped articles is constant, it is possible to always grip (clamp) the article with a constant force.

At this time, when changing the gripping force of the first elastic member 21 according to the thickness of the article can be adjusted by appropriately rotating the tension adjusting bolt (23).

When the gripped article is made of a soft material or the thickness of the article is reduced by the gripping force of the holder 5, the roller 10 and the lever that rise by the elastic force of the first elastic member 21 at the same time. The lever 2 rotates to grasp the article by contacting the inner inclined surface 11a of (2).

At this time, the stationary lever 2 is held in balance with the elastic force of the first elastic member 21 compressed by the thickness of the article to hold the article.

Next, when the article is released, the rod 16 of the cylinder 15, which is the driving device, is lowered and returned to its original position according to the command of the control, and at the same time, the lower block 17, the upper block 19 and the guide shaft ( 18) also goes down. Accordingly, the descending upper block 19 forcibly moves the roller block 20 downward, and at the same time, the expanded second elastic member 22 is restored to a compressed state, so that each of the levers 4 The upper ends are brought into close contact with each other. In this process, the rollers 10 mounted on the roller block 20 are moved from the top to the bottom while being in contact with the inclined surface 11a of the lever 4.

Accordingly, the inclined portions 11 of the upper portions of the levers 4 are close to each other, and the lower portions thereof are far from each other so that the holders 5 fixed to the lower portions of the levers 4 release the holding state of the article. Become together.

According to the present invention configured as described above, both ends of the lever are rotated according to the reciprocating motion of the cylinder rod, and the holder grips the article by the lever driving device when both the rollers are stopped in contact with the lever inner inclined surface. Since it is possible to simplify the configuration and has the advantage of holding the article firmly.

Not only this, but more importantly, since the holder rotates the balance between the lever rotation position which is stopped in the state of holding the article and the compressive force of the first elastic member compressed by the thickness of the held article, the holder holds the article. When the thickness of the article is constant, the holder always has the advantage of clamping the article with a constant gripping force.

Accordingly, the clamp of the present invention can be used in a wide range of industrial sites where precision is required, such as robot fingers or pressure control, because the lever can grip the standardized article at the same pressing force.

In addition, even if the gripped article of the present invention is a soft material, even if the gripped article is suddenly reduced in thickness, the holder simultaneously follows the article by the elastic force of the first elastic member and grips the article simultaneously. It can have the advantage of holding the goods safely regardless of the material.

Claims (7)

A housing; A pair of levers whose center is approximately rotatably fixed within the housing and whose one end protrudes out of the housing; Lever driving means installed between the levers so that two sets of rollers reciprocating in accordance with the driving of the driving device are in rolling contact with each end of the lever located inside the housing to reciprocate the lever ends in opposite directions; And a pair of holders detachably fixed to an end portion of each lever protruding out of the housing to hold and release an article when the lever reciprocates according to the operation of the lever driving means. According to claim 1, wherein said lever driving means is a drive device which is installed between the pair of levers and the drive unit reciprocating linearly in the longitudinal direction of the lever; A lower block fixed to an end of the drive unit; A pair of guide shafts fixed to both sides of the lower block in parallel with the driving unit; An upper block fixed to the guide shaft at an upper portion of the lower block; It is assembled to rotate with each other, and when the drive unit of the drive unit is pulled out / retracted, the holder reciprocates in the opposite direction to each other while the two ends of the lever reciprocating in rolling contact with both ends of the lever located inside the housing Two sets of rollers for gripping and releasing; Two rollers rotatably fixed to both sides of the body, the roller block being slidably assembled on the guide shaft such that the rollers are in rolling contact with both ends of the levers; A first elastic member interposed between the lower block and the roller block to closely contact the roller block in an upper block direction; Both ends are fixed to each lever so that the rollers are pulled from the ends of the levers to the driving part retracting direction by the retracting of the driving device, and at the same time, the ends of the levers are pulled to make a rolling contact with the two sets of rollers. A finger comprising a second elastic member. The finger of claim 2, wherein the lever driving means further comprises a tension adjusting bolt fastened and fixed to the roller block to adjust the elastic force of the first elastic member. The inner and outer inclined surfaces of claim 2, wherein the levers have an inner inclined surface and an outer inclined surface so that the other ends protruding to the housing ends rotate in opposite directions when the rollers are rolled in contact with one end of the rollers in rolling contact. Fingers characterized in that the inclined portion is configured to be inclined a predetermined angle inward. The guide shaft of claim 2, wherein the pair of guide shafts are moved in contact with the respective lever outer inclined surfaces while moving with the driver driving unit when the rollers move by the inlet of the driving unit. A finger, characterized in that the lever operating pin is further protruded in the position. The finger as claimed in claim 2, wherein support means is further formed at a suitable position of the housing so as to support both sides of the guide shafts reciprocating according to the driving of the driving unit to prevent shaking. According to claim 6, The support means is the upper support block is fixed to the housing through the receiving holes through the insertion hole so that the bearing for supporting the upper portion of the pair of guide shafts; Fingers, characterized in that it comprises a lower support block through the receiving holes through the hole so that the bearing for supporting the lower portion of the pair of guide shaft can be inserted into both sides of the body.