KR20110053100A - Gripper of section steel for robot cutting apparatus - Google Patents

Gripper of section steel for robot cutting apparatus Download PDF

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Publication number
KR20110053100A
KR20110053100A KR1020090109921A KR20090109921A KR20110053100A KR 20110053100 A KR20110053100 A KR 20110053100A KR 1020090109921 A KR1020090109921 A KR 1020090109921A KR 20090109921 A KR20090109921 A KR 20090109921A KR 20110053100 A KR20110053100 A KR 20110053100A
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South Korea
Prior art keywords
shaped steel
gripper
contact
cutting device
steel member
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KR1020090109921A
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Korean (ko)
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KR101110730B1 (en
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주성호
안정기
김대경
이동훈
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삼성중공업 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A shape steel gripper of an automatic cutting robot is provided to completely grip a shape steel in any situation by making surface contact even with the under side of the shape steel. CONSTITUTION: A shape steel gripper of an automatic cutting robot comprises an upper jaw(60) and a lower jaw(70). When gripping a shape steel, a pressing unit of the upper jaw comes in contact with both sides of a knurling part and a surface-contact link of the lower jaw is rotated in order to increase the area of contact with the shape steel.

Description

자동 로봇 절단 장치의 형강부재 그립퍼{GRIPPER OF SECTION STEEL FOR ROBOT CUTTING APPARATUS}GRIPPER OF SECTION STEEL FOR ROBOT CUTTING APPARATUS}

본 발명은 그립퍼의 상부 및 하부 턱(jaw)이 형강부재와 면접촉하여 최대한 많은 접촉 면적을 가지도록 구성함으로써 형강부재에 대한 그립핑력을 향상한 자동 로봇 절단 장치의 형강부재 그립퍼에 관한 것이다.The present invention relates to a steel member gripper of an automatic robot cutting device that improves the gripping force on the steel member by configuring the upper and lower jaws of the gripper to have a maximum contact area in surface contact with the steel member.

일반적으로 자동 로봇 절단 시스템에 있어서, 절단할 부재, 즉 형강부재를 정확한 절단 치수만큼 이동하는 것이 매우 중요하다. 절단된 형강부재의 길이가 짧을 경우는 불량품으로 분류되어 폐기하여야 하며, 길이가 긴 경우에는 치수 맞춤을 위해 재작업을 해야 하는 불편이 있어서 절단 공정에 많은 작업상의 혼선을 야기하게 된다.In general, in an automatic robot cutting system, it is very important to move the member to be cut, that is, the steel member, by the correct cutting dimension. If the length of the cut section member is short, it is classified as a defective product and should be discarded. If the length is long, it is inconvenient to rework for dimensioning, which causes a lot of work confusion in the cutting process.

현재 절단부재의 정밀 절단이송은 측정 로봇 시스템(Measuring Robot System)을 이용하고 있는데 이 장치의 구성은 도 1 및 도 2에 도시된 바와 같다.Currently, the cutting cutting precision of the cutting member uses a measuring robot system, which is configured as shown in FIGS. 1 and 2.

사각 파이프의 형상으로 LM 레일(2)을 설치하고, 베어링을 조립한 캐리지(6: Carriage)에 서보모터(3)를 부착하여 랙과 피니언기어로 전후진, 즉 X축 방향으로 이송하는 데 이송중에 형강부재(4)를 그립(Grip)하는 그립퍼(5)가 캐리지(6)에 부 착된다.The LM rail (2) is installed in the shape of a square pipe, and the servo motor (3) is attached to a carriage (Carriage), in which bearings are assembled, and transported forward and backward, ie in the X-axis direction, with a rack and pinion gear. A gripper 5 that grips the shaped steel member 4 is attached to the carriage 6.

상기한 그립퍼(5)는 형강부재(4)가 이송 중에 밀리거나 빠지지 않도록 확실히 잡아주는 것으로서 이러한 종래의 그립퍼(5)는 핑거 그립(finger grip) 방식으로 선형접촉 방식을 가지고 있어 형강부재의 밀림이나 빠짐 현상이 나타난다. The gripper 5 is to securely hold the shape member 4 so as not to be pushed or pulled out during transportation. The conventional gripper 5 has a linear contact method by a finger grip method, and thus, The phenomenon is missing.

이러한 핑거 그립(finger grip) 방식은 형강부재의 크기에 따라 그립하는 높이 차이가 있어 그 높낮이를 Z축 캐리어 플레이트의 서보모터(6a)로 미세하게 조절하여 맞춰주지 않으면 형강부재(4)와 그립퍼(5)의 접촉부분이 선형 접촉하고 있어, 즉 접촉면적이 작아 이송 중에 발생하는 외부의 작은 충격에도 형강부재가 밀리거나 빠지는 현상이 발생하여 절단 불량을 유발하는 원인이 되고 있다.The finger grip method has a difference in the height of grip according to the size of the steel member, and if the height is not finely adjusted by the servo motor 6a of the Z-axis carrier plate, the steel member 4 and the gripper ( Since the contact portion of 5) is in linear contact, that is, the contact area is small, a phenomenon that the shape steel member is pushed out or pulled out even in the case of external small impact generated during transportation is a cause of cutting failure.

도 3에 도시된 바와 같이, 그립퍼(5)는 그 상부 및 하부 턱(5a, 5b: jaw) 사이로 형강부재(4)를 조여 그립하게 되는데, 이 상부 및 하부 턱(5a, 5b)의 외주면에 널링(knurling) 처리, 즉 주로 원통형상의 공작물 외면에 미끄럼을 방지하기 위하여 경사형 톱니 형상과 같은 깔죽 깔죽한 모양을 형성하고 열처리되어 있기 때문에 강력하게 그립하는 것은 가능하나 선형 접촉하기 때문에 접촉 면적이 좁아 이송 중 외부 충격에 의해 형강부재를 견고하기 그립하지 못하는 문제점이 있는 것이다. As shown in FIG. 3, the gripper 5 grips the steel member 4 between the upper and lower jaws 5a and 5b (jaw), and grips the outer peripheral surfaces of the upper and lower jaws 5a and 5b. It is possible to grip strongly because it is formed by knurling treatment, that is, a rough shape such as an inclined serration to prevent slipping on the outer surface of a cylindrical workpiece, and is heat treated, but the contact area is narrow because of linear contact. There is a problem in that the grip member is not firmly gripped by external impact during transportation.

그리고, 도 4a와 같이, L형 형강부재(10)의 단면 형상에 맞게 로봇암(11)이 회전하여 최소한의 그립 물림간격, 즉 형강부재의 두께를 유지할 수 있으나 초기 그립시 상부 및 하부 턱(5a, 5b)의 널링에 의한 끼임 현상으로 도 4b와 같이 회전하지 못하여 정확한 그립을 할 수 없는 문제점도 있다.And, as shown in Figure 4a, the robot arm 11 is rotated in accordance with the cross-sectional shape of the L-shaped steel member 10 to maintain a minimum grip bleed interval, that is, the thickness of the steel member, but the upper and lower jaw (when the initial grip ( Due to the pinching phenomenon of 5a and 5b), there is a problem in that the grip cannot be rotated exactly as shown in FIG. 4b.

따라서, 본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 안출된 것으로서, 그립퍼의 상부 및 하부 턱(jaw)이 형강부재와 면접촉하여 최대한 많은 접촉 면적을 가지도록 구성함으로써 형강부재에 대한 그립핑력을 향상한 자동 로봇 절단 장치의 형강부재 그립퍼를 제공하는 데 그 목적이 있다. Accordingly, the present invention has been made in order to solve the above problems, the upper and lower jaws of the gripper is configured to have a maximum contact area in surface contact with the steel member as much as possible the gripping force on the steel member An object of the present invention is to provide an improved gripper member gripper for an automatic robot cutting device.

본 발명의 실시예에 따른 자동 로봇 절단 장치의 형강부재 그립퍼는, 형강부재의 그립 시, 널링부위의 양측에 면접촉하여 상기 형강부재와의 접촉면적을 증가하도록 밀착수단을 가지는 상부 턱과; 상기 형강부재와의 접촉면적을 증가하도록 회동가능한 면접촉 링크를 가지는 하부 턱으로 이루어진다.The steel member gripper of the automatic robot cutting device according to the embodiment of the present invention, when the grip of the member, the upper jaw having a close contact means to increase the contact area with the steel member by the surface contact to both sides of the knurled portion; And a lower jaw having a rotatable surface contact link to increase the contact area with the shaped steel member.

상부 턱의 밀착수단은 하단 외주면에 널링이 구비되어 상기 절단 장치의 로봇암에 좌우 피봇팅하도록 연결되는 연결부재와; 상기 연결부재의 하단 중심에 삽입된 회전축과; 상기 연결부재의 널링 양측에 위치하도록 상기 회전축에 각각 삽입된 한 쌍의 베어링과; 상기 베어링의 각각의 외주면에 설치되어 상기 베어링과 함께 회전하면서 형강부재에 대해 압축가능한 쿠션을 가진 우레탄 롤러와; 외경이 상기 베어링의 외경보다 작게 형성하되, 상기 양측 우레탄 롤러의 부하를 분배하여 과도한 푸싱을 방지하도록 상기 회전축의 양단에 설치되는 쿠션링을 포함하며, 하부 턱의 면 접촉 링크는 디귿자형 지지대에 힌지 결합되는 봉상부재로서, 상부 턱의 형강부재와의 그립 시, 회동되어 상기 형강부재와 면접촉된다. The contact means of the upper jaw is provided with a knurling on the lower outer peripheral surface is connected to the left and right pivoting robot arm of the cutting device; A rotating shaft inserted into a lower center of the connection member; A pair of bearings respectively inserted into the rotation shaft so as to be located at both sides of the knurling member of the connection member; A urethane roller installed on each outer circumferential surface of the bearing and having a cushion compressible to the shaped steel member while rotating together with the bearing; The outer diameter is smaller than the outer diameter of the bearing, and includes a cushioning is installed on both ends of the rotating shaft to distribute the load of the urethane rollers on both sides to prevent excessive pushing, the surface contact link of the lower jaw is hinged to the depression support As the rod-shaped member to be coupled, the upper jaw is rotated when the upper jaw is gripped with the shaped steel member to be in surface contact with the shaped steel member.

본 발명에 있어서, 하부 턱의 면 접촉 링크는 상부 외주면에 널링면이 형성되고, 선단부에 면취가공부가 형성되는 것이 바람직하다.In the present invention, it is preferable that the surface contact link of the lower jaw is formed with a knurled surface on the upper outer circumferential surface, and a chamfering portion is formed at the distal end portion.

본 발명은 그립퍼의 상부 턱이 하강하여 우레탄 롤러가 형강부재의 상면에 접촉되고, 상기 우레탄 롤러가 접촉하면서 베어링의 회전에 따라 자동으로 균형을 맞추게 되고, 우레탄 롤러를 압축하여 티자형 연결부재의 널링면과 함께 면접촉되도록 구성함으로써 접촉면적을 최대화되게 하고, 하부 턱을 회동가능하도록 구성함으로서 형강부재의 하부에서도 면접촉하여 마찰력이 커짐에 따라 어떠한 상황에서도 확실한 그립(Grip)이 이루어질 수 있도록 하는 효과를 가진다.According to the present invention, the upper jaw of the gripper is lowered and the urethane roller is in contact with the upper surface of the steel member, and the urethane roller is in contact with the balance of the bearing automatically, and the urethane roller is compressed to compress the board of the tee-shaped connecting member. By making the surface contact with the ring surface to maximize the contact area, and by configuring the lower jaw to be rotatable, the surface contact in the lower part of the section member to ensure a good grip in any situation as the friction force increases Has

이하, 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명하기로 한다. 아울러 본 발명을 설명함에 있어서, 관련된 공지 구성 또는 기능에 대한 구체적인 설명이 본 발명의 요지를 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

도 5는 본 발명의 자동 로봇 절단 장치의 형강부재 그립퍼의 작동 상태를 순차적으로 도시한 측면도이고, 도 6은 본 발명의 자동 로봇 절단 장치의 형강부재 그립퍼의 상부 턱을 도시한 단면도이고, 도 7은 본 발명에 따른 자동 로봇 절단 장치의 형강부재 그립퍼의 하부 턱을 도시한 사시도이다.5 is a side view sequentially showing an operation state of the steel member gripper of the automatic robot cutting device of the present invention, Figure 6 is a cross-sectional view showing the upper jaw of the steel member gripper of the automatic robot cutting device of the present invention, Figure 7 Is a perspective view showing the lower jaw of the section steel member gripper of the automatic robot cutting device according to the present invention.

상기한 도면에 도시된 바와 같이, 본 발명의 실시예에 의한 자동 로봇 절단 장치의 형강부재 그립퍼(50)는, 형강부재(4)의 그립 시, 널링부위의 양측에 면접촉하여 형강부재(4)와의 접촉면적을 증가시키는 밀착수단을 가지는 상부 턱(60)과, 형강부재(4)와의 접촉면적을 증가하도록 회동가능한 면 접촉 링크(72)를 가지는 하부 턱(70)으로 이루어진다. As shown in the drawings, the steel member gripper 50 of the automatic robot cutting device according to an embodiment of the present invention, when the grip of the steel member 4, in contact with both sides of the knurled portion, the steel member 4 The upper jaw (60) having the contact means for increasing the contact area with a) and the lower jaw (70) having the surface contact link (72) which is rotatable to increase the contact area with the shaped steel member (4).

상부 턱(60)의 밀착수단은 도 6에 상세히 도시된 바와 같이, 자동 로봇 절단 장치의 로봇암에 연결되는 연결부재(61)와, 상기 연결부재(61)의 하단 중심에 삽입된 회전축(62)과, 상기 회전축(62)의 외주면이면서 티자형 연결부재(61)의 양측에 각각 삽입된 베어링(63)과, 상기 두 베어링(63)의 외주면에 설치되어 베어링(63)과 함께 회전하면서 형강부재에 대해 압축가능한 쿠션을 가진 우레탄 롤러(64)와, 상기 회전축(62)의 양단 외주면에 설치되고, 그 외경이 상기 베어링(63)의 외경보다 작게 형성되어 상기 양측 우레탄 롤러(64)의 부하를 분배하여 과도한 푸싱을 방지하도록 하는 쿠션링(65)으로 이루어지며, 연결부재(61)는 좌우로 피봇팅할 수 있도록 T자형으로 형성된다. As shown in detail in FIG. 6, the contact means of the upper jaw 60 includes a connection member 61 connected to the robot arm of the automatic robot cutting device, and a rotation shaft 62 inserted into the lower center of the connection member 61. ), A bearing 63 inserted into both sides of the tee-shaped connecting member 61 and an outer circumferential surface of the rotary shaft 62, and installed on the outer circumferential surfaces of the two bearings 63 to rotate together with the bearing 63. Urethane roller 64 having a cushion compressible to the member, and is provided on the outer peripheral surface of both ends of the rotary shaft 62, the outer diameter is formed smaller than the outer diameter of the bearing 63, the load of the urethane roller 64 on both sides It is made of a cushioning ring 65 to prevent excessive pushing to distribute the, the connecting member 61 is formed in a T-shape to pivot left and right.

하부 턱(70)의 면 접촉 링크(72)는 봉상부재로서, 디귿(ㄷ)자형 지지대(71)에 형강부재(4)와 면 접촉하도록 회전하는 면 접촉 링크(72)가 힌지(73) 결합되어 있다. 면 접촉 링크(72)에는 상부 외주면과 선단부에는 널링(72a)면과 면취가공부(72b)가 각각 형성되어 형강부재(4)와의 면 접촉시 마찰력과 접착면을 증가한다.The surface contact link 72 of the lower jaw 70 is a rod-shaped member, and the surface contact link 72 that rotates to face-contact with the shaped steel member 4 is engaged with the hinge 73 on the Di-shaped support (71). It is. In the surface contact link 72, the upper outer peripheral surface and the front end portion are provided with a knurling 72a surface and a chamfering processing portion 72b, respectively, to increase the frictional force and the adhesive surface upon the surface contact with the shaped steel member 4.

다음에, 도 5를 참조하여 밀착수단을 가지는 상부 턱(60)의 작동에 대하여 설명하면, 먼저 도 5a에 도시된 바와 같이 형강부재(4)가 진입하고, 이어서 도 5b 에 도시된 바와 같이 상기 상부 턱(60)이 하강하여 그 우레탄 롤러(64)가 형강부재(4)의 상면에 접촉되고, 다음으로 도 5c에 도시된 바와 같이 상기 우레탄 롤러(64)가 접촉하면서 베어링(63)의 회전에 따라 자동으로 균형을 맞추게 되고, 마지막으로 도 5d에 도시된 바와 같이 우레탄 롤러(64)를 압축하여 티자형 연결부재(61)의 널링(61a)면과 함께 형강부재에 대해 면접촉된다. Next, referring to FIG. 5, the operation of the upper jaw 60 having the contact means will be described. First, as shown in FIG. 5A, the shaped steel member 4 enters, and then, as shown in FIG. 5B. The upper jaw 60 is lowered so that the urethane roller 64 is in contact with the upper surface of the shaped steel member 4, and then the urethane roller 64 is in contact with each other as shown in FIG. 5C to rotate the bearing 63. The balance is automatically balanced, and finally, as shown in FIG. 5D, the urethane roller 64 is compressed to be in surface contact with the steel member with the knurled 61a surface of the T-shaped connecting member 61.

이와 같이 본 발명의 상부 턱(60)은 우선 형강부재와 면접촉하도록 하여 형강부재에 대한 그립핑력을 개선한 것으로, 종래 상부 및 하부 턱의 널링면에 형강부재가 끼임으로 인해 회전하지 않던 문제를 본 발명의 상부 턱(60)에 베어링(63)과 함께 우레탄 롤러(64)를 설치하여 회전시킴으로서 접촉 면적이 크게 되도록 하였으며, 상기 상부 턱(60)의 우레탄 롤러(64)의 압축에 의해 형강부재(4)와 밀착되어 면접촉됨에 따라 하부 턱(70)의 면 접촉 링크(72)가 형강부재(4)의 단면 형상에 맞게 자연스럽게 회전할 수 있는 구조를 갖게 되는 것이다. In this way, the upper jaw 60 of the present invention is to improve the gripping force on the steel member by making a surface contact with the steel member first, the problem that the conventional steel member does not rotate due to the clamping member on the knurled surface of the upper and lower jaws The urging roller 64 was installed together with the bearing 63 in the upper jaw 60 of the present invention to rotate the contact member so as to increase the contact area, and the member steel member was compressed by the urethane roller 64 of the upper jaw 60. As the surface contact link 72 of the lower jaw 70 as the surface contact in close contact with the (4) will have a structure that can naturally rotate to match the cross-sectional shape of the steel member (4).

또한, 형강부재와 마찰력을 높이기 위해 롤러(64)를 우레탄 재질로 하여 일정 이상 그립퍼가 강력한 힘으로 압축하면 우레탄 롤러(64)는 쿠션에 의해 눌려지면서 티자형 연결부재(61)의 하부 외면에 형성된 널링(61a)면이 형강부재(4)와 밀착되는 구조로 되어 있는 것이다. In addition, the urethane roller 64 is formed on the lower outer surface of the T-shaped connecting member 61 while being pressed by the cushion when the gripper is compressed with a strong force by using the roller 64 as a urethane material to increase friction with the shape steel member. The knurling 61a surface is in close contact with the shaped steel member 4.

이와 같이 우레탄 재질은 쿠션이 많음과 동시에 마찰력이 높아 이것 자체만으로도 형강부재를 강력하게 그립하는 것이다.In this way, the urethane material has a lot of cushions and a high frictional force, so that the urethane material is strongly gripped by itself.

그리고, 그립시 1개의 우레탄 롤러(64)의 찌그러짐으로 널링(61a)면에 선접촉되는 것을 방지하기 위하여 상기 회전축(62)의 양단에 이를 지지하는 쿠션링(65) 을 설치하여 우레탄 롤러(64)의 눌려지는 양을 조절할 수 있도록 하였다. In addition, in order to prevent line contact with the surface of the knurling 61a by crushing of the urethane roller 64, the urethane roller 64 is provided with cushioning 65 supporting both ends of the rotating shaft 62. ) To control the amount of pressing.

이와 같이 상부 및 하부 턱(60, 70)이 형강부재(4)의 단면 형상과 크기에 구애받지 않고 항상 형상부재의 상하부에서 면접촉함과 동시에 접촉 면적을 최대화하였으며, 추가적으로 우레탄 롤러(64)를 설치하여 마찰력을 크게 하여 어떠한 상황에서도 확실한 그립(Grip)이 이루어질 수 있도록 하였다. In this way, the upper and lower jaws 60, 70 are always in contact with the upper and lower portions of the shape member regardless of the cross-sectional shape and size of the steel member 4, and at the same time maximized the contact area, additionally the urethane roller 64 The installation increases the friction force so that a certain grip can be achieved in any situation.

이상에서와 같이, 본 발명의 상세한 설명에서 구체적인 실시예에 관해 설명하였으나, 본 발명의 기술이 당업자에 의하여 용이하게 변형 실시될 가능성이 자명하며, 이러한 변형된 실시예들은 본 발명의 특허청구범위에 기재된 기술사상에 포함된다 할 것이다.As described above, specific embodiments have been described in the detailed description of the present invention, but it is obvious that the technology of the present invention can be easily modified by those skilled in the art, and such modified embodiments are defined in the claims of the present invention. It will be included in the technical idea described.

도 1은 종래에 의한 로봇 절단 장치를 도시한 사시도이고,1 is a perspective view showing a conventional robot cutting device,

도 2는 종래에 의한 로봇 절단 장치의 형강부재 그립퍼를 도시한 사시도이고, Figure 2 is a perspective view showing a gripper member gripper of the conventional robot cutting device,

도 3은 종래에 의한 로봇 절단 장치의 그립퍼의 선형 접촉 현상을 도시한 단면도이고,3 is a cross-sectional view showing a linear contact phenomenon of the gripper of the conventional robot cutting device,

도 4a 및 도 4b는 종래에 의한 그립퍼와 형강부재와의 단면 대응 상태를 도시한 단면도이고, 4A and 4B are sectional views showing a cross-sectional correspondence state between a gripper and a shaped steel member according to the related art;

도 5는 본 발명의 자동 로봇 절단 장치의 형강부재 그립퍼의 작동 상태를 순차적으로 도시한 측면도이고, 5 is a side view sequentially showing an operating state of the section steel member gripper of the automatic robot cutting device of the present invention,

도 6은 본 발명의 자동 로봇 절단 장치의 형강부재 그립퍼의 상부 턱을 도시한 단면도이고, Figure 6 is a cross-sectional view showing the upper jaw of the section steel member gripper of the automatic robot cutting device of the present invention,

도 7은 본 발명에 따른 자동 로봇 절단 장치의 형강부재 그립퍼의 하부 턱을 도시한 사시도이다.Figure 7 is a perspective view showing the lower jaw of the section steel member gripper of the automatic robot cutting device according to the present invention.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>

4 : 형강부재 50 : 그립퍼4: shaped steel member 50: gripper

60 : 상부 턱 61 : 연결부재60: upper jaw 61: connecting member

61a : 널링(Knurling) 62 : 회전축61a: Knurling 62: rotating shaft

63 : 베어링 64 : 우레탄 롤러63: bearing 64: urethane roller

65 : 쿠션링 70 : 하부 턱65: cushioning 70: lower jaw

71 : 디귿자형 지지대 72 : 면 접촉 링크 71: Diagonal support 72: Surface contact link

73 : 힌지73: hinge

Claims (5)

자동 로봇 절단 장치의 형강부재 그립퍼로서,As the steel member gripper of the automatic robot cutting device, 상기 형강부재의 그립 시, 널링부위의 양측에 면접촉하여 상기 형강부재와의 접촉면적을 증가하도록 밀착수단을 가지는 상부 턱과;An upper jaw having a close contact means for surface contact with both sides of the knurled portion to increase the contact area with the shaped steel member during grip of the shaped steel member; 상기 형강부재와의 접촉면적을 증가하도록 회동가능한 면접촉 링크를 가지는 하부 턱으로 이루어진A lower jaw having a rotatable surface contact link to increase the contact area with the shaped steel member 자동 로봇 절단 장치의 형강부재 그립퍼.Shaped steel gripper for automatic robot cutting device. 제 1 항에 있어서, The method of claim 1, 상기 상부 턱의 밀착수단은The contact means of the upper jaw 하단 외주면에 널링이 구비되어 상기 절단 장치의 로봇암에 좌우 피봇팅되도록 연결되는 연결부재와;A connection member provided at a lower outer circumferential surface thereof and connected to be pivoted left and right with the robot arm of the cutting device; 상기 연결부재의 하단 중심에 삽입된 회전축과;A rotating shaft inserted into a lower center of the connection member; 상기 연결부재의 널링 양측에 위치하도록 상기 회전축에 각각 삽입된 한 쌍의 베어링과;A pair of bearings respectively inserted into the rotation shaft so as to be located at both sides of the knurling member of the connection member; 상기 베어링의 각각의 외주면에 설치되어 상기 베어링과 함께 회전하면서 형강부재에 대해 압축가능한 쿠션을 가진 우레탄 롤러와;A urethane roller installed on each outer circumferential surface of the bearing and having a cushion compressible to the shaped steel member while rotating together with the bearing; 외경이 상기 베어링의 외경보다 작게 형성하되, 상기 양측 우레탄 롤러의 부 하를 분배하여 과도한 푸싱을 방지하도록 상기 회전축의 양단에 설치되는 쿠션링을 포함하는The outer diameter is smaller than the outer diameter of the bearing, including the cushioning ring is provided at both ends of the rotating shaft to distribute the load of the urethane rollers on both sides to prevent excessive pushing 자동 로봇 절단 장치의 형강부재 그립퍼.Shaped steel gripper for automatic robot cutting device. 제 1 항에 있어서,The method of claim 1, 상기 하부 턱의 면 접촉 링크는The face contact link of the lower jaw 디귿자형 지지대에 힌지 결합되는 봉형부재로서, 상기 상부 턱의 형강부재와의 그립 시, 회동되어 상기 형강부재와 면접촉하는  A rod-shaped member hinged to a recessed support, which is rotated when the upper jaw is gripped with the shaped steel member to be in surface contact with the shaped steel member. 자동 로봇 절단 장치의 형강부재 그립퍼.Shaped steel gripper for automatic robot cutting device. 제 3 항에 있어서,The method of claim 3, wherein 상기 면 접촉 링크는 상부 외주면에 널링면이 형성되는The surface contact link is formed with a knurled surface on the upper outer peripheral surface 자동 로봇 절단 장치의 형강부재 그립퍼.Shaped steel gripper for automatic robot cutting device. 제 3 항에 있어서,The method of claim 3, wherein 상기 면 접촉 링크는 선단부에 면취가공부가 형성되는The face contact link is formed in the chamfering end portion 자동 로봇 절단 장치의 형강부재 그립퍼.Shaped steel gripper for automatic robot cutting device.
KR1020090109921A 2009-11-13 2009-11-13 Gripper of section steel for robot cutting apparatus KR101110730B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106695376A (en) * 2016-11-30 2017-05-24 无锡特恒科技有限公司 Self-adaptive pressing head mechanism
CN107520617A (en) * 2017-09-22 2017-12-29 佛山市顺德区三持数控精机制造有限公司 A kind of bathroom aluminum profile extrusion device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5171281B2 (en) * 2008-01-18 2013-03-27 株式会社アマダ Cutting piece unloading method and apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106695376A (en) * 2016-11-30 2017-05-24 无锡特恒科技有限公司 Self-adaptive pressing head mechanism
CN107520617A (en) * 2017-09-22 2017-12-29 佛山市顺德区三持数控精机制造有限公司 A kind of bathroom aluminum profile extrusion device

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