KR20020069640A - Gripper - Google Patents

Gripper Download PDF

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Publication number
KR20020069640A
KR20020069640A KR1020010009931A KR20010009931A KR20020069640A KR 20020069640 A KR20020069640 A KR 20020069640A KR 1020010009931 A KR1020010009931 A KR 1020010009931A KR 20010009931 A KR20010009931 A KR 20010009931A KR 20020069640 A KR20020069640 A KR 20020069640A
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KR
South Korea
Prior art keywords
gripper
arm
coupled
nipple
rod
Prior art date
Application number
KR1020010009931A
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Korean (ko)
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KR100391957B1 (en
Inventor
정용의
Original Assignee
주식회사 케이.에이.티
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Priority to KR10-2001-0009931A priority Critical patent/KR100391957B1/en
Publication of KR20020069640A publication Critical patent/KR20020069640A/en
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Publication of KR100391957B1 publication Critical patent/KR100391957B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0406—Drive mechanisms for pick-and-place heads, e.g. details relating to power transmission, motors or vibration damping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A gripper is provided to easily get and mount medium and small parts, and to make the gripper small and light to reduce tack time. CONSTITUTION: A one touch nipple(10) comprises a nipple body, a ball(13) installed to the nipple body, and an elastic rubber enclosing the ball. A protruded part(21) is formed at an upper coupling part(22) for coupling the one touch nipple. An upper body(20) is equipped with a positioning pin(24) of the one touch nipple, and has a built-in piston(30). A lower body(26) is coupled with the upper body. A rod(31) is connected with the piston. An arm(36) is coupled with the lower body and a hinge(9). The upper end of the arm has sliding contact with the rod. A compression spring(34) and chucks(40) are coupled to the lower part of the arm. The gripper is made small through the simplified structure and the simplification of the system design is possible, and space is saved. Productive efficiency is improved through the production line and system.

Description

그립퍼{GRIPPER}Gripper {GRIPPER}

본 발명은 그립퍼(Gripper)에 관한 것으로서, 보다 상세히는 자동화 라인 및 공정, 부품 표면실장장치 등에 다용도로 사용되는 중,소형 부품의 획득 및 장착을 위한 그립퍼에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripper, and more particularly, to a gripper for acquiring and mounting small and medium parts, which are used in a variety of applications such as automation lines and processes, and part surface mounting apparatus.

통상적으로, 기존의 그립퍼는 공압을 사용하는 공압식 실린더 그립퍼, 전동식 그립퍼, 기구식 그립퍼 등이 있다.Conventionally, conventional grippers include pneumatic cylinder grippers, pneumatic grippers, mechanical grippers and the like that use pneumatics.

본 발명의 목적은 경박 단소해지는 부품의 획득과 장착을 용이하게 하고, 생산속도가 급격 생산 Tack Time을 줄이기 위해 소형, 경량의 그립퍼(Gripper)를 제공하는데 있다.SUMMARY OF THE INVENTION An object of the present invention is to provide a small size and light weight gripper for facilitating the acquisition and mounting of components that are light and simple, and to reduce the production time of the production rapidly.

도 1은 본 발명의 바람직한 제 1실시예에 따른 원터치형 그립퍼의 중앙단면도.1 is a center cross-sectional view of a one-touch gripper according to a first preferred embodiment of the present invention.

도 2는 본 발명에 따른 원터치형 그립퍼의 측면도.Figure 2 is a side view of the one-touch gripper according to the present invention.

도 3은 본 발명에 따른 그립퍼의 동작 상태를 도시한 작동상태도.3 is an operating state diagram showing an operating state of the gripper according to the present invention.

도 4는 본 발명의 제 2실시예에 따른 너트 체결형 그립퍼의 중앙단면도.Figure 4 is a central cross-sectional view of a nut-type gripper according to a second embodiment of the present invention.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

10: 원터치 니플12: 니플몸체10: one-touch nipple 12: nipple body

13: 볼14: 탄성고무13: ball 14: elastic rubber

20: 상부몸체22: 결합부20: upper body 22: coupling portion

23: 나사부24: 위치지정핀23: thread part 24: positioning pin

26: 하부몸체28: 실린더 블록26: lower body 28: cylinder block

30: 피스톤31: 로더30: piston 31: loader

32: 롤러34: 압축스프링32: roller 34: compression spring

36: 암40: 척36: arm 40: chuck

50: 미끄럼 방지포50: anti-slip cloth

이하 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명한다. 우선, 본 발명을 설명함에 있어서, 관련된 공지기능 혹은 구성에 대한 구체적인 설명이 본 발명의 요지를 흐트릴 수 있는 경우 그 상세한 설명을 생략한다. 그리고, 본 실시예에서 제1 실시예의 구성과 동일한 부분에 대해서는 동일한 도면참조번호 및 명칭을 사용하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in describing the present invention, detailed descriptions of related well-known functions or configurations will be omitted if they may obscure the gist of the present invention. In the present embodiment, the same reference numerals and names are used for the same parts as those in the first embodiment.

상기와 같은 목적을 달성하기 위한 본 발명의 그립퍼(Gripper)의 구성은 취부형식에 따라 다음과 같이 구성된다. 도 1은 본 발명의 바람직한 제 1실시예에 따른 원터치형 그립퍼의 중앙단면도이고, 도 2는 본 발명에 따른 원터치형 그립퍼의 측면도이다. 도 1과 도 2를 참조하면, 본 발명에 따른 원터치형 그립퍼는 원터치 니플(10)과, 상부에 결합부(22)가 돌출 형성되고, 외주면에 돌출턱(21)이 형성되어져 상기 원터치 니플(10)이 결합되고, 중앙부에 공압이 통과되는 구멍이 형성된 상부몸체(20)와, 상기 상부몸체(20)는 하부가 요입되고 내주면에 나사부가 형성되어져 중공형 하부몸체(26)의 상부와 결합된다. 또한, 상기 상부몸체(20)에 내장된 실린더 블록(28)과, 상기 실린더 블록(28)은 하부가 막히고, 내장된 피스톤(30)의 하단의 연장부와 결합된 콘(Cone)형상의 로드(31)와, 상기 하부몸체(26)와 결합되는 암(36)과, 상기 암(36)의 하단부에 결합되어져 대상물(도면에 미표기)을 잡는 척(40)과, 상기 암(36)의 상단부에 축 결합되어져 상기 로드(31)의 경사면을 따라 이동하는 롤러(32)와, 상기 암(36)의 하부에 형성된 홈에 삽입되는 양측부가 압축스프링(34)과, 상기 원터치 니플(10)의 위치를 지정하는 위치지정핀(24)으로 구성된다.The gripper of the present invention for achieving the above object is configured as follows according to the mounting type. 1 is a central cross-sectional view of a one-touch gripper according to a first preferred embodiment of the present invention, Figure 2 is a side view of a one-touch gripper according to the present invention. 1 and 2, the one-touch gripper according to the present invention has a one-touch nipple 10 and an engaging portion 22 protruded from an upper portion thereof, and a protruding jaw 21 is formed on an outer circumferential surface thereof. 10) is coupled, the upper body 20 is formed with a hole through which the pneumatic pressure passes, the upper body 20 is coupled to the upper portion of the hollow lower body 26, the lower body is recessed and a screw portion is formed on the inner peripheral surface do. In addition, the cylinder block 28 embedded in the upper body 20, and the cylinder block 28, the lower portion is blocked, a cone-shaped rod coupled with the extension of the lower end of the built-in piston 30 31, an arm 36 coupled to the lower body 26, a chuck 40 coupled to a lower end of the arm 36 to catch an object (not shown), and the arm 36 A roller 32 that is axially coupled to the upper end and moves along the inclined surface of the rod 31, and both side portions inserted into a groove formed in the lower portion of the arm 36, a compression spring 34, and the one-touch nipple 10. It consists of a positioning pin 24 to specify the position of.

상기 하부몸체(26)의 하부 양측에는 절개홈(27)이 형성되고, 하단부는 평면을 이루는 지지부(42)가 형성된다. 상기 지지부(42)에는 상기 절개홈(27)과 연결되는 구멍(44)이 형성되고, 상기 구멍(44)의 내측부에는 상기 로드(31)의 양측으로 대칭되는 암(36)의 중간부가 힌지 결합된다. 상기 피스톤(30)의 외주면에는 홈이 형성되어 피스톤링(46)이 결합되어 상기 실린더 블록(28)의 내주면과 씰링이 이루어지며 슬라이딩된다. 상기 척(40)은 대상물의 형태에 따라 다양한 형태로 이루어지고, 바람직하게는 양측으로 절곡되어 확장 형성되고, 중간부에 홈이 형성되어져 상기 암(36)과 탈부착된다. 상기 척(40)의 하부 내면에 바람직하게는 대상물과 접하는 내면에 미끄럼 방지포(50)가 부착된다.Cutting grooves 27 are formed at both lower sides of the lower body 26, and a lower end portion is formed with a support 42 forming a plane. The support portion 42 is formed with a hole 44 which is connected to the cutting groove 27, the inner portion of the hole 44, the intermediate portion of the arm 36 symmetrical to both sides of the rod 31 is hinged do. A groove is formed in the outer circumferential surface of the piston 30 so that the piston ring 46 is coupled to the inner circumferential surface of the cylinder block 28 to make a sealing and slide. The chuck 40 is formed in various forms according to the shape of the object, preferably bent to both sides is formed to expand, the groove is formed in the middle portion is detached from the arm 36. An anti-slip cloth 50 is attached to the lower inner surface of the chuck 40, preferably on the inner surface in contact with the object.

상기 상부몸체(20)와 결합되어 공압이 유입 및 유출되는 원터치 니플(10)은 중공의 니플몸체(11)와, 상기 니플몸체(11)의 하부에 구비된 볼(13)과, 상기 볼(13)을 둘러싼 탄성고무(14)로 구성되어져 상기 원터치형 그립퍼의 상부에 형성된 결합부(22)와 결합되어져 상기 원터치형 그립퍼의 자세를 고정한다.The one-touch nipple 10 is coupled to the upper body 20 and the pneumatic inflow and outflow is a hollow nipple body 11, the ball 13 provided in the lower portion of the nipple body 11, the ball ( It is composed of an elastic rubber 14 surrounding the 13) is coupled to the engaging portion 22 formed on the upper portion of the one-touch gripper to fix the posture of the one-touch gripper.

상기와 같은 구성에 의해서 본 발명에 따른 그립퍼는 다음과 같이 작동된다. 도 3은 본 발명에 따른 그립퍼의 동작 상태를 도시한 작동상태도이다. 도 3을 참조하면, 상기 그립퍼의 상부로 공압이 인입되면 상부몸체(20)의 내부에 압입되어 있는 피스톤(30)이 전진된다. 이때, 전진하는 피스톤(30)의 하부에 결합된 로드(31)가 암(36)의 상단에 결합되어 있는 양측의 롤러(32)를 밀게 되며, 상기 롤러(32)가 피스톤(30)의 로드(31)의 경사부를 타고 슬라이딩되며 오르면서 상기 암(36)은 힌지(38)를 기준으로 구간 회전한다. 상기 암(36)이 구간회전할 때 암(36)의 끝단에 조립되어 있는 척(40)이 내측으로 밀려들어오면서 대상물을 잡게 된다.With the above configuration, the gripper according to the present invention operates as follows. 3 is an operating state diagram showing an operating state of the gripper according to the present invention. Referring to FIG. 3, when pneumatic air is introduced into the upper portion of the gripper, the piston 30 press-fitted into the upper body 20 is advanced. At this time, the rod 31 coupled to the lower portion of the piston 30 to advance to push the roller 32 on both sides coupled to the upper end of the arm 36, the roller 32 is the rod of the piston 30 The arm 36 rotates about the hinge 38 while sliding and climbing along the inclined portion of the 31. When the arm 36 rotates in intervals, the chuck 40, which is assembled at the end of the arm 36, is pushed inward to catch an object.

역으로, 다시 작업부품을 놓기 위해서는 공압이 차단되고, 공압이 차단되면 상기 피스톤(30)은 내부의 로드(31) 하부의 공압이 해소되고, 상기 피스톤(30) 내부의 상부 압축스프링(34)에 의해 실린더(28)는 복귀된다. 상기 피스톤(30)의 로드(31)가 복귀할 때 상기 로드(31)의 경사면에 접촉하여 있던 암(36)의 롤러(32)가 경사면을 따라 슬라이딩되며 내려오게 되므로 암(36)은 힌지(38)를 중심으로 다시 회전 복귀한다. 이때, 상기 암(36)의 외측에 삽입되어 있는 압축스프링(34)의 복귀력이 암(36)을 밀어내므로 척(40)은 다시 열리게 된다.On the contrary, in order to place the work parts again, the pneumatic pressure is cut off, and when the pneumatic pressure is blocked, the pneumatic pressure of the lower part of the rod 31 is released, and the upper compression spring 34 inside the piston 30 is released. By this, the cylinder 28 is returned. When the rod 31 of the piston 30 returns, the roller 32 of the arm 36, which was in contact with the inclined surface of the rod 31, slides down along the inclined surface, and the arm 36 is hinged ( 38) It returns to rotation about the center again. At this time, since the return force of the compression spring 34 inserted into the outer side of the arm 36 pushes the arm 36, the chuck 40 is opened again.

도 4는 본 발명의 제 2실시예에 따른 너트 체결형 그립퍼의 중앙단면도이다. 본 발명에 따른 또 다른 형태의 너트 체결형 그립퍼는 상기 원터치형 그립퍼와 동일한 형태로 구성되어져 동일하게 동작되며, 다만, 도 4에서와 같이, 상기 상부몸체(20)의 상부 형성된 결합부(22)의 외주면에는 나사부(23)로 형성된다. 상기 나사부(23)에는 너트체결 방식으로 공압관(도면에 미도시)이 견고하게 연결되어져 공압이 공급된다. 이와 같이 상기의 상부몸체(20)만을 교체 사용하므로써 다양한 연결구와 결합이 가능하고, 다양한 형태의 장치에 적용 가능하다.Figure 4 is a central cross-sectional view of a nut-fastened gripper according to a second embodiment of the present invention. Nut fastening gripper of another form according to the present invention is configured in the same form as the one-touch gripper is operated in the same manner, as shown in Figure 4, the upper coupling portion 22 of the upper body 20 The outer circumferential surface of the screw portion 23 is formed. Pneumatic pipe (not shown in the drawing) is firmly connected to the screw portion 23 by a nut fastening method, and pneumatic pressure is supplied thereto. By using only the upper body 20 as described above, it is possible to combine with various connectors, and can be applied to various types of devices.

본 발명은 부품공급장치의 중형, 소형, 이형 부품의 획득이나 흡착, 장착 등에 사용할 수 있으며, 나아가 공장자동화 라인 및 공정에서 소형, 경량의 그립퍼가 요청되는 곳에 사용될 수 있다. 또한 대상물의 이송 시 그립퍼의 경량화로 인해서 라인의 고속화를 실현할 수 있다.The present invention can be used for acquiring, adsorption, mounting, etc. of a medium, small, and release component of a component supply device, and can be used where a small and light gripper is required in a factory automation line and process. In addition, the high speed of the line can be realized due to the weight reduction of the gripper during the transport of the object.

이상으로 살펴본 바와 같이, 본 발명에 따른 그립퍼는 간단한 구조로 소형화가 가능하여 시스템 설계의 단순화가 가능함은 물론, 공간이 절약되는 효과가 있다. 또한, 생산라인 및 시스템의 고속화로 생산효율이 증가되고, 시스템의 컴팩트화를 가져올 수 있다.As described above, the gripper according to the present invention has a simple structure and can be downsized, thereby simplifying the system design and saving space. In addition, the production line and the high speed of the system increases the production efficiency, it can bring a compact system.

그리고, 본 발명은 진공회로를 사용하지 않으므로 보다 단순한 공압회로를 구성할 수 있다.In addition, since the present invention does not use a vacuum circuit, a simpler pneumatic circuit can be configured.

또한, 본 발명은 상부몸체 만을 교체 사용하므로써 다양한 연결부재와 연결 가능한 이점이 있다.In addition, the present invention has the advantage that can be connected to a variety of connecting members by using only the upper body replacement.

이상에서 설명한 것은 본 발명에 따른 그립퍼를 실시하기 위한 하나의 실시예에 불과한 것으로서, 본 발명은 상기한 실시예에 한정되지 않고, 이하의 특허등록청구범위에서 청구하는 바와 같이 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변경실시가 가능한 범위까지 본 발명의 기술적 정신이 있다고 할 것이다.What has been described above is just one embodiment for carrying out the gripper according to the present invention, and the present invention is not limited to the above-described embodiment, and the present invention deviates from the gist of the present invention as claimed in the following claims. Without this, anyone skilled in the art to which the present invention pertains will have the technical spirit of the present invention to the extent that various modifications can be made.

Claims (4)

니플몸체(11)와, 상기 니플몸체(11)에 구비된 볼(13)과, 상기 볼(13)을 둘러싼 탄성고무(14)로 구성된 원터치 니플(10)과,One-touch nipple 10 composed of a nipple body 11, a ball 13 provided on the nipple body 11, an elastic rubber 14 surrounding the ball 13, 상기 원터치 니플(10)이 결합되는 상부 결합부(22)에 돌출턱(21)이 형성되고, 상기 원터치 니플(10)의 위치지정핀(24)이 구비되고, 피스톤(30)이 내장된 상부몸체(20)와,The protrusion jaw 21 is formed on the upper coupling portion 22 to which the one-touch nipple 10 is coupled, and the positioning pin 24 of the one-touch nipple 10 is provided, and the piston 30 is embedded therein. Body 20, 상기 상부몸체(20)와 결합되는 하부몸체(26)와, 상기 피스톤(30)과 연결된 로드(31)와, 상기 하부몸체(26)와 힌지(9) 결합된 암(36)과, 상기 암(36)은 상단부가 상기 로드(31)와 슬라이딩 접촉되고, 하부에는 압축스프링(34)과, 척(40)이 결합되어져 구성됨을 특징으로 하는 그립퍼.A lower body 26 coupled to the upper body 20, a rod 31 connected to the piston 30, an arm 36 coupled to the lower body 26 and a hinge 9, and the arm (36) is a gripper, characterized in that the upper end is in sliding contact with the rod (31), the compression spring (34), the chuck (40) is coupled to the lower portion. 상부 결합부(22)에 나사부(23)가 형성되고, 피스톤(30)이 내장된 상부몸체(20)와, 상기 상부몸체(20)와 결합되는 하부몸체(26)와, 상기 피스톤(30)과 연결된 로드(31)와, 상기 하부몸체(26)와 힌지(9) 결합된 암(36)과, 상기 암(36)은 상단부가 상기 로드(31)와 슬라이딩 접촉되고, 하부에는 압축스프링(34)과, 척(40)이 결합되어져 구성됨을 특징으로 하는 그립퍼.The threaded portion 23 is formed on the upper coupling portion 22, the upper body 20 having the piston 30 embedded therein, the lower body 26 coupled to the upper body 20, and the piston 30. A rod 31 connected to the rod 31, an arm 36 coupled to the lower body 26 and a hinge 9, and the arm 36 is in sliding contact with the rod 31 at an upper end thereof, and a compression spring at a lower portion thereof. 34), the gripper characterized in that the chuck (40) is configured to be combined. 제 1항 또는 제 2항에 있어서,The method according to claim 1 or 2, 상기 로드(31)는 콘(Cone)형상임을 특징으로 하는 그립퍼.The rod 31 is a gripper, characterized in that the cone (Cone) shape. 제 3항에 있어서,The method of claim 3, wherein 상기 척(40)은 대상물의 형태에 따라 상기 암(36)과 착탈 및 교환이 가능하고, 상기 대상물과 접하는 내면에 미끄럼 방지포(50)가 부착됨을 특징으로 하는 그립퍼.The gripper is characterized in that the chuck (40) is removable and exchangeable with the arm (36) according to the shape of the object, the anti-slip cloth (50) is attached to the inner surface in contact with the object.
KR10-2001-0009931A 2001-02-27 2001-02-27 Gripper KR100391957B1 (en)

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CN111285083A (en) * 2020-03-15 2020-06-16 河北源泷科技有限公司 Finished product collection device in mill

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KR101582966B1 (en) * 2009-11-27 2016-01-07 김종국 Apparatus and Method for attching sponge tape
KR101002013B1 (en) 2010-06-03 2010-12-16 데코론(주) Clamp assembly for fixing plate
KR102161788B1 (en) * 2018-12-21 2020-10-05 한영린 Gripper for Part Feeding Device
US11571818B2 (en) * 2019-08-09 2023-02-07 Fanuc Corporation Machine tool hand

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111285083A (en) * 2020-03-15 2020-06-16 河北源泷科技有限公司 Finished product collection device in mill

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