KR20040046005A - Robot gripper based on the cable mechanism - Google Patents

Abstract

PURPOSE: A robot gripper is provided to stably grip various objects in shape by using cable mechanism for connecting active fingers to passive fingers. CONSTITUTION: A robot gripper(100) using cable mechanism is composed of a motor(120), a power transmission unit(130) for transmitting the driving power of the motor to fingers, a pair of active fingers(140) coupled to the power transmission unit and receiving the driving power, a pair of passive fingers(150) rotatably coupled to the active fingers respectively, and an indirect power transmission cable. The indirect power transmission cable connects the active fingers to the passive fingers so that the passive fingers are operated passively when the active fingers are operated.

Description

Robot gripper based on the cable mechanism

The present invention relates to a robot gripper, and more particularly, to a robot gripper using a cable mechanism to pick up a transfer object.

In general, robots are designed to perform tasks in dangerous working environments, simple repetitive tasks, or tasks that require great force on behalf of humans.In addition to industrial sites, robots have recently been used in medical, military, space, agricultural or seabed exploration. It is applied to the field.

Industrial robots are widely used in welding, assembly, painting, inspection, machining and transportation. In addition, in the case of the transfer robot, a robot gripper considering the working environment, the size and the weight of the transfer object, etc. has been devised and used to easily pick up and transfer the transfer object.

As a technique related to such a robot gripper or a robot hand device, Korean Unexamined Utility Model Publication Nos. 1986-7498 and 1988-2133, Korean Unexamined Patent Publication Nos. 1988-12139, 1992-7759, 1992-17776 , 1998-70949, 1999-54090, 2000-26826, 2000-54961 and 2001-88718.

These techniques describe the general gripper shape of a robot or the design of a gripper for a special purpose. That is, the robot gripper described in the above technique is composed of two flat fingers, and the gripper is horizontally closed, or is configured to operate the vertex as an axis such as scissors. Here, the gripper acting like a scissors operates in an active 1 degree of freedom in which only one finger provided with the driving force of the motor operates.

By the way, the horizontally closed gripper can catch an object only when the size of the object is larger than the object, and the gripper, which works like scissors, can only catch a very thin object or only a special type of object according to its shape. In addition, the internal mechanism for operation is configured to drive the finger using the form of a worm gear or a cam.

However, the gripper of the prior art has a disadvantage in that the finger is formed in one flat plate, closed horizontally, or operated in the form of scissors, so that the range of catching an object is narrow.

In addition, the gripper of the prior art has a disadvantage that the internal mechanism for operation is composed of a worm gear or a cam, the configuration is complicated.

In addition, the gripper of the prior art has a disadvantage that it is difficult to control the movement of the non-active finger for holding and holding the object.

Accordingly, the present invention has been made to solve the problems of the prior art as described above, by configuring a passive finger to hold the object to the active finger operating in accordance with the driving force of the motor to apply by applying a cable mechanism, to a small size Another object of the present invention is to provide a robot gripper using a cable mechanism capable of stably holding various types of objects.

1 is a perspective view showing the configuration of the robot gripper using a cable mechanism according to an embodiment of the present invention,

2 is a perspective view showing the configuration of the power transmission device of the robot gripper shown in FIG.

3 and 4 are perspective views showing the overall configuration of the fingers of the robot gripper shown in Figure 1, respectively,

5 is a detailed view showing in detail the coupling relationship of the fingers shown in Figures 3 and 4,

6 is a schematic diagram schematically showing a cable connection relationship between the fingers shown in FIG.

7 and 8 are schematic diagrams illustrating the behavior of the robot gripper shown in FIG. 1, respectively.

♠ Explanation of symbols on the main parts of the drawing ♠

100: robot gripper 110: case

120: motor 130: power train

131: rotating shaft pulley 133: guide pulley

134: power transmission cable 135, 136: active shaft

137: power transmission pulley 140: active finger

141: active finger plate 142: first pulley

150: manual finger 151: manual shaft

152: manual finger plate 153: second pulley

160: power indirect transmission cable 161: guide shaft

The robot gripper of the present invention for achieving the above object is a motor for providing a driving force, a power transmission device for transmitting the driving force of the motor to a finger holding a transfer object, and one side is coupled to the power transmission device for the power transmission. A pair of active fingers that operate to be folded or unfolded in accordance with the driving force received from the device, a pair of passive fingers each rotatably coupled to the other side of the active finger, and the pair of passive fingers And a power indirect transmission cable connecting the active finger and the passive finger to each other so as to operate while being folded or unfolded with each other when the active finger is operated.

In the following, with reference to the accompanying drawings, a preferred embodiment of a robot gripper using a cable mechanism according to the present invention will be described in detail.

1 is a perspective view showing the configuration of the robot gripper using a cable mechanism according to an embodiment of the present invention.

As shown in FIG. 1, the robot gripper 100 of the present invention includes a case 110, a motor 120 positioned within the case 110 to provide power, and a finger of the power of the motor 120. A power transmission device 130 for transmitting to the active finger 140 which is actively operated according to the power transmitted through the power transmission device 130, and a passive finger coupled to one side of the active finger 140 ( 150 and a power indirect transmission cable 160 that connects the active finger 140 and the passive finger 150 to each other so that the passive finger 150 is passively operated when the active finger 140 is operated.

In the following, the specific configuration and coupling relationship of the components will be described in detail.

FIG. 2 is a perspective view illustrating a configuration relationship of a power transmission device of the robot gripper illustrated in FIG. 1. As shown in FIG. 2, the motor 120 is fixed to the case 110 by a motor support 121 supporting the motor. The rotating shaft pulley 131 having the groove 132 through which the cable is fixed is coupled to the rotating shaft of the fixed motor 120.

In addition, three guide pulleys 133 are provided at one side of the case 110 in proximity to the rotation shaft pulley 131. The guide pulley 133 is fixed to one side of the rotation shaft pulley 131 serves to guide the power transmission cable 134 for transmitting power.

In addition, one side of the case 110 is provided so that the pair of active shafts 135 and 136 are rotated at predetermined intervals from side to side. These active shafts 135 and 136 are for the operation of the fingers, which will be described later, and are the same except that some components (power transmission pulleys) are not installed on the other active shaft 136. Each component will be described in relation to the active axis 135.

3 and 4 are perspective views showing the overall configuration of the fingers of the robot gripper shown in Figure 1, respectively, Figure 5 is a detailed view showing the coupling relationship of the fingers shown in Figures 3 and 4 specifically.

2 to 5, a power transmission pulley 137 is installed at the top of the active shaft 135. At this time, the power transmission pulley 137 is not directly fixed to the active shaft 135, it is provided with a bearing therebetween is installed so as to rotate freely regardless of the active shaft 135. In addition, a power transmission cable 134 guided by the guide pulley 133 is wound around the power transmission pulley 137. The power transmission cable 134 is bidirectionally divided by the power transmission pulley 137 and connected to the rotation shaft pulley 131 along the guide pulley 133, respectively, so that forward rotation and reverse rotation are possible. Accordingly, the driving force of the motor 120 is transmitted to the power transmission pulley 137 via the rotation shaft pulley 131 and the guide pulley 133 through the power transmission cable 134.

The lower end of the power transmission pulley 137 is provided with gears 138 coupled to each other to work integrally with the power transmission pulley 137. Here, the gear 138 is engaged with the gear (not shown) installed on the other active shaft 136 to use the driving force transmitted to the power transmission pulley 137 together.

The lower portion of the gear 138 is provided with an active finger plate 141 constituting the active finger 140. At this time, the active finger plate 141 is coupled to each other to work integrally with the power transmission pulley 137 and the gear 138. That is, the power transmission pulley 137, the gear 138 and the active finger plate 141 is installed on the active shaft 135, but are coupled to each other by a connecting bolt or the like to operate simultaneously freely regardless of the active shaft 135. .

The active finger plate 141 is composed of a web (141a) and the flange (141b) having a certain length while having a cross-section "c" shaped, one side is to be coupled to only one place with the active shaft 135 1 Only the flange 141b of the place protrudes, and the two sides of the flange 141b protrude so that the other side is coupled to the other member. Accordingly, a space formed by the web 141a and the flange 141b is formed in the active finger plate 141.

In addition, two first pulleys 142 are fixed to the active shaft 135 at regular intervals. That is, the first pulley 142 is firmly fixed to the active shaft 135 to operate simultaneously with the active shaft 135. The first pulley 142 is fixed to the active shaft 135 to be located at the side of the space formed by the web 141a and the flange 141b of the active finger plate 141.

The passive shaft 151 is rotatably coupled to the other side of the active finger plate 141. At this time, the passive finger plate constituting the passive finger 150 may form the flange 141b of the active finger plate 141. One side of the 152 is wrapped around the passive shaft 151 is coupled. In addition, the second pulley 153 corresponding to the first pulley 142 fixed to the active shaft 135 is fixed to the passive shaft 151, respectively. That is, the second pulley 153 is fixed to the passive shaft 151 to be located at the side of the space formed by the web 141a and the flange 141b of the active finger plate 141. At this time, the manual finger plate 152 and the second pulley 153 is fixedly coupled to the manual shaft 151. Thus, only the active finger plate 141 is free to move relative to the passive shaft 151. The manual finger plate 152 serves to pick up the transfer object, and a portion in contact with the transfer object is formed as a flat plate.

6 is a schematic diagram schematically showing a cable connection relationship between the fingers shown in FIG.

As shown in FIG. 6, the first and second pulleys 142 and 153 fixed to the active shaft 135 and the passive shaft 151 are respectively connected by the power indirect transmission cable 160. In the flange 141b of the active finger plate 141, two guide shafts 161 respectively parallel to the active shaft 135 and the passive shaft 151 are formed at predetermined intervals across the web 141a. It is. The guide shaft 161 serves to guide the power indirect transmission cable 160, and may be fixed wherever the power indirect transmission cable 160 can be smoothly guided. Accordingly, the power indirect transmission cable 160 is positioned in the space formed by the web 141a and the flange 141b of the active finger plate 141 while being guided by the two guide shafts 161.

As described above, since the first pulley 142 of the active shaft 135 and the second pulley 153 of the passive shaft 151 are connected to the power indirect transmission cable 160, the driving force is transmitted to the active finger plate 141. ) Rotates, the second pulley 153 fixed to the manual shaft 151 is relatively moved as the passive shaft 151 rotates, so that the first pulley 153 and the active shaft 135 Will rotate together. In addition, as the manual shaft 151 rotates and moves, the manual finger plate 152 integrally operating with the manual shaft 151 also moves while rotating.

7 and 8 are schematic diagrams illustrating the behavior of the robot gripper shown in FIG. 1, respectively. When the ratio of the radii of the first pulley 142 and the second pulley 153 as shown in FIG. 6 is the same, the gripper 100 of the present invention shows the same operation as in FIG. 7, but the ratio of the radius is different. If you do, you will see a different form of movement. That is, when the size of the radius of the second pulley 153 is smaller than that of the first pulley 142, the gripper 100 of the present invention exhibits the operation as shown in FIG. Therefore, in the present invention, the desired operation can be obtained by adjusting the ratio of the radius of the first pulley 142 and the second pulley 153 to a desired degree.

As described above, the robot gripper 100 of the present invention receives the driving force of the motor 120 directly, and the active finger plate 141 actively moves the freedom of movement and the driving force of the motor 120 through a cable mechanism. Received indirectly, the manual finger plate 152 has a passive 1 degree of freedom to move manually.

In the following, the operation relationship of the robot gripper using the cable mechanism of the present invention configured as described above will be described in detail.

2 to 6, when the motor 120 is operated, the driving force is transmitted to the rotary shaft pulley 131, the guide pulley 133, and the power transmission pulley 137 through the power transmission cable 134. do.

Then, the components located on each of the active shafts 135 and 136 by the gear 138 operating integrally with the power transmission pulley 137 operate correspondingly to each other. That is, the active finger 140 and the passive finger 150 are operated to be narrowed to hold the transfer object or to be unfolded to place the transfer object.

That is, the passive shaft 151 coupled to the active finger plate 141, which is integrally operated with the gear 138, pivots around the active shaft 135, and the active finger plate 141 can rotate freely. In response to the turning angle of the active finger plate 141, it moves while rotating. As the manual shaft 151 rotates as described above, the manual finger plate 152 and the second pulley 153 firmly fixed to the manual shaft 151 are relatively moved. In addition, the first pulley 142 connected to the second pulley 153 by the power indirect transmission cable 154 rotates together with the active shaft 135.

As described above, the robot gripper 100 of the present invention is configured such that the driving force of the motor 120 is expanded to set the active object 140 and the passive finger 150 to be narrowed or catch the transfer object to hold the transfer object. The 150 or the active finger 140 and the passive finger 150 may be used at the same time to catch the abnormal object.

At this time, when the ratio of the radii of the first pulley 142 and the second pulley 153 is the same, the manual finger plate 152 operates in parallel with each other as shown in FIG. However, when the size of the radius of the second pulley 153 is smaller than that of the first pulley 142, as shown in FIG. 8, the passive finger plates 152 are in parallel with each other and gradually narrow inwardly. Works.

As described in detail above, the robot gripper using the cable mechanism of the present invention is configured to operate a passive finger that catches an object on an active finger that operates according to the driving force of the motor by applying a cable mechanism, thereby making it possible to produce various types of objects even with a small size. You can hold it stably while wrapping it in the shape of a finger.

In addition, the present invention can adjust the shape of catching by adjusting the ratio of the radius of the pulley for transmitting power, it can be widely applied to a robot system or industrial robot system.

The technical details of the robot gripper using the cable mechanism of the present invention have been described above with the accompanying drawings, but the exemplary embodiments of the present invention have been described by way of example and are not intended to limit the present invention.

In addition, it is obvious that any person skilled in the art can make various modifications and imitations within the scope of the appended claims without departing from the scope of the technical idea of the present invention.

Claims (8)

In the robot gripper to pick up to move the object, A motor providing a driving force, a power transmission device for transmitting the driving force of the motor to a finger holding a transfer object, and one side is coupled to the power transmission device to be folded or unfolded with each other according to the driving force received from the power transmission device. One pair of active fingers to operate, one pair of passive fingers each rotatably coupled to the other side of the active finger, and the pair of passive fingers are folded or unfolded with each other during operation of the active finger. And a power indirect transmission cable connecting the active finger and the passive finger to each other to operate. The power transmission apparatus of claim 1, wherein the power transmission device includes a rotating shaft pulley coupled to the rotating shaft of the motor, a plurality of guide pulleys installed in close proximity to the rotating shaft pulley, and rotatably installed to support and rotate the active finger. A pair of active shafts, a power transmission pulley rotatably installed on either one of the pair of active shafts, and each of the pairs of active shafts installed on the pair of active shafts are engaged with each other. And a pair of gears coupled to each other, a power transmission cable connecting the rotary shaft pulley, the plurality of guide pulleys, and the power transmission pulley to transfer driving force. The cable mechanism of claim 2, wherein the active finger comprises an active finger plate rotatably coupled to one side of the active shaft, and a plurality of pulleys fixedly coupled to the active shaft at a predetermined distance. Robot gripper used. According to claim 3, The passive finger is a passive shaft rotatably coupled to the other side of the active finger plate, the passive finger plate fixedly coupled to the passive shaft, and the plurality of pulleys fixedly coupled to the active shaft, respectively Robot gripper using a cable mechanism, characterized in that it comprises a plurality of pulleys fixedly coupled to each of the passive shaft to correspond to. The robot gripper according to claim 4, wherein the pulleys respectively provided on the active shaft and the passive shaft have the same radius. The robot gripper according to claim 4, wherein a radius of the pulley provided on the active shaft is larger than a radius of the pulley provided on the passive shaft. The robot gripper according to any one of claims 4 to 6, wherein the power indirect transmission cable connects a plurality of pulleys respectively provided on the active shaft and the passive shaft to each other. 8. The robot gripper according to claim 7, wherein a plurality of guide shafts for guiding the power indirect transmission cable are provided between the active shaft and the passive shaft.