KR20220061412A - Articulated parallel actuator gripper - Google Patents

Abstract

The present invention relates to an articulated parallel actuator gripper which can be applied and used in almost all industrial fields, such as a semiconductor manufacturing facility, an assembly process for automobile parts and the like, and a machine tool. The articulated parallel actuator gripper can improve gripping stability and operational precision while providing uniform gripping force over the entire range and can prevent finger shaking. The articulated parallel actuator gripper of the present invention comprises: a gripper body; a screw shaft coupled to a bearing installed on the bottom of a nut member installation space formed to be recessed into the gripper body; a driving motor installed on the gripper body to rotate the screw shaft forward and backward; an elevating nut member screwed to the screw shaft so as to be located in the nut member installation space; a guide rail installed on the gripper body so as to be parallel to the outside of the elevating nut member; slide blocks installed on left and right sides of the elevating nut member to slide along the guide rail; cover members covered on upper portions of the guide rail and the slide blocks and equipped with a bearing coupled to an upper end of the elevating nut member; an operating link having both ends coupled to the elevating nut member and the slide blocks to be rotatable using a fixing pin, and moving the slide blocks along the guide rail when the elevating nut member moves up and down; a connection link having one end coupled to the fixing pin which couples the slide blocks and the operating link; and a finger assembly formed by combining first and second link members having lower ends coupled to a bracket formed on the cover member and the connection link, and finger members coupled to upper ends of the first and second link members.

Description

Articulated parallel actuator gripper

The present invention relates to an articulated parallel actuator gripper that can be applied to and used in almost all industrial fields such as semiconductor manufacturing facilities, assembly processes of automobile parts, and machine tools, and more specifically, gripping force while providing uniform gripping force over all sections. An object of the present invention is to provide an articulated parallel actuator gripper that improves stability and operation precision and provides a uniform gripping force that can prevent finger wobbling.

The use of robots for handling materials, processed products, finished products, etc. is becoming common in almost all industrial fields, such as semiconductor manufacturing facilities, assembly processes of automobile parts, and machine tools. And with the development of vision technology, industrial robots are being applied to more precise work areas.

On the other hand, in the field of human robots, various types that operate similar to human hand motions are being tried in relation to a gripper that provides a function of gripping a target product in a robot, but the gripper proposed in the field of human robots is Since it is difficult to apply to the industrial robot field in which the convenience and manufacturing cost of manufacturing and use must be considered, the reality is that a gripper capable of implementing such a function is not provided in the industrial robot.

Recently, various technologies have been provided to improve the function of the gripper, and a representative example is to arrange the finger units formed of a pivoting link symmetrically with each other, and these finger units are linked to each other by a cylinder operated by a fluid. An industrial gripper for multi-functional handling of Korean Patent Registration No. (B1)10-1139411 (2012.04.27.) configured to be moved has been proposed.

And a body part, a driving part disposed on the body part, a pair of gripping parts spaced apart from each other with the driving part therebetween, an operation link connecting the gripping part and the driving part, and rotating the gripping part according to the operation of the driving part Including, each of the pair of gripping parts, a first gripping link connected to the body portion and a first hinge shaft, and connected to the body portion and a second hinge shaft by a second hinge shaft, with the first gripping link interposed therebetween. a second gripping link spaced apart from the driving part, and a gripping finger connected to the first gripping link and the second gripping link, wherein one end of the driving link is connected to the driving part and the other end is connected to the second gripping link A gripping device of Korean Patent Registration No. (B1) 10-1834459 (2018.03.06.) having one configuration has been proposed.

In addition, a body part, a driving part disposed on the body part. a pair of gripping parts spaced apart from each other with the central axis of the driving part interposed therebetween; and a driving link part connecting the gripping part and the driving part, and rotating the gripping part according to the operation of the driving part, and the pair of gripping parts Each of the first gripping links connected to the body portion and the first hinge shaft, the body portion and the second hinge shaft connected to the second gripping portion spaced apart from the central axis of the driving unit with the first gripping link interposed therebetween. a link, and a gripping finger connected to the first gripping link and the second gripping link, wherein the driving unit includes: a cylinder having a first port and a second port for fluid entry and exit; a piston inserted into the cylinder; a piston rod connecting a piston and the driving link part, wherein the driving link part connects a first driving link disposed at an end of the piston rod, and the first driving link and the second gripping link, the driving part A gripping device of Korean Patent Registration No. (B1)10-1826633 (2018.03.22.) having a configuration including a second driving link for rotating the gripping part by

do.

However, in the prior art described above, since the finger assembly is formed by a combination of a plurality of links, operation precision and gripping force are lowered, and there is a difficulty in providing a uniform gripping force between the fingers as well as shaking of the fingers. However, there is a demand for improvement of these problems in the industry.

KR 101139411 B1 2012.04.27. KR 101834459 B1 2018.03.06. KR 101826633 B1 2018.03.22.

Accordingly, the present inventors have researched and developed the present invention so as to provide a uniform gripping force between all sections, improve gripping safety and operational precision, and prevent finger shaking.

That is, in the present invention, the restoration spring is disposed below the lifting nut member that ascends and descends along the screw shaft, and the operating link connecting the lifting nut member and the slide block is connected to the lower end of the second link member constituting the finger assembly. Invented to provide an articulated parallel actuator gripper that enables the gripping force of the finger assembly to be uniformly provided throughout the entire section through the interconnecting configuration, improves gripping safety and operation precision, and prevents finger wobbling The present invention has been completed with the technical problem of

In the present invention as a means to solve the problem, the first gripper body; a screw shaft coupled to a bearing installed at the bottom of the nut member installation space formed to be recessed in the gripper body; a driving motor installed on the gripper body to rotate the screw shaft forward and reverse; a lifting nut member screwed to the screw shaft so as to be positioned in the nut member installation space; a guide rail installed on the gripper body so as to be parallel to the outside of the lifting nut member; Slide blocks installed on the left and right of the lifting nut member to slide along the guide rail; a cover member overlying the guide rail and the slide block and having a bearing coupled to the upper end of the lifting nut member; an operation link which rotates both ends of the lifting nut member and the slide block with fixing pins to move the slide block along the guide rail when the lifting nut member is raised and lowered; a connection link having one end coupled to a fixing pin for coupling the slide block and the operation link; and a finger assembly in which first and second link members each having lower ends coupled to a bracket formed on the cover member and a connecting link, and a finger member coupled to upper ends of the first and second link members are combined.

Second, the guide rail, the slide block moving along the guide rail, and the cover member coupled to the gripper body are characterized in that they are configured in either two terrain types in which the finger assembly is installed at 180 degrees or three terrain types in which the finger assemblies are installed at 120 degrees.

Third, the finger assembly includes: a finger member having a coupling piece inclined downwardly outward; a first link member coupled to the inside of the coupling piece of the finger member so that the upper end thereof is rotated by a first pin, and coupled to the bracket protruding from the cover member to be rotated by a second pin toward the screw shaft; The upper end is coupled to the outside of the coupling piece of the finger member so that the upper end is rotated, and the lower end is rotated by the connecting link and the fifth pin in a state in which the upper end is rotated by the fourth pin to the bracket protruding from the bracket by the fourth pin away from the screw shaft. It is characterized in that it is formed by a second link member coupled as much as possible.

Fourth, it is interposed between the lifting nut member screw-coupled to the bottom of the nut member installation space and the screw shaft, characterized in that it comprises a restoration spring for pressing the lifting nut member upward.

Fifth, the restoration spring has a large intermediate diameter and gradually decreases in diameter toward the upper and lower sides to minimize the height during compression.

When the articulated parallel actuator provided in the present invention is used, the following effects are obtained.

- Since the lifting nut member is supported by the restoring spring, and the operating link coupled to the lifting nut member is mutually coupled with the first link member constituting the finger assembly by a connecting link, the lifting nut member cannot be lifted. When the expansion force of the restoration spring is applied and the lifting nut member is lowered, the operation link and the connecting link function to push the second link member like a lever, so that it is possible to always provide a uniform pressure to the finger member.

-In the case of the restoration spring, the middle diameter is large and the diameter gradually decreases toward the upper and lower sides. The height of the restoration spring can be minimized during compression, so it can be installed in a narrow nut member installation space.

- Since it provides a configuration in which a connection link whose one end is fixed to a fixing pin to which the slide block and the operation link are connected is combined with the lower end of the second link member located outside the finger assembly, the operation of the finger assembly with a four-section link structure is provided. In addition to safety, it is possible to expect the effect of improving the operation precision and gripping force by minimizing the shaking of the finger member.

1 is an external perspective view showing a first preferred embodiment of the present invention articulated parallel actuator gripper;
2 is an exploded perspective view of a first embodiment of the present invention;
3 is a front cross-sectional view of the invention articulated parallel actuator gripper, in which the fingers are operated outward;
4 is a front cross-sectional view of the articulated parallel actuator gripper of the present invention, in which the fingers are operated inward;
5 is an enlarged front view of the finger assembly applied to the present invention;
6 is a cross-sectional view taken from the restoration spring applied to the present invention;
7 is an external perspective view showing an example in which the present invention articulated parallel actuator gripper is configured in a three-terrain configuration;

Hereinafter, a preferred embodiment of the present invention articulated parallel actuator gripper will be described with reference to the accompanying drawings.

1 is an external perspective view showing a first preferred embodiment of the articulated parallel actuator gripper of the present invention, FIG. 2 is an exploded perspective view of the first embodiment of the present invention, and FIGS. 3 and 4 are the invention articulated parallel actuator. As a front cross-sectional view of the gripper, a state diagram in which the fingers are operated outwardly and a state diagram in which the fingers are operated inward, FIG. 5 is an enlarged front view of the finger assembly applied to the present invention, respectively.

The articulated parallel actuator gripper 1 in the present invention is horizontal, such as a scara type, for handling materials, processed products, finished products, etc. in almost all industrial fields such as semiconductor manufacturing facilities, assembly processes of automobile parts, etc., and machine tools. It is configured to be applied to industrial robots provided in various configurations such as articulated robots, vertical articulated robots, and orthogonal robots.

The present invention articulated parallel actuator gripper (1) has a gripper body (2), a driving motor (3) built into the gripper body (2), a screw shaft (4), and a screw shaft (4) for elevating and lowering along the screw shaft (4). The lifting nut member (5) and the restoring spring (6) elastically supporting the lifting nut member (5), the guide rail (7) installed on the upper part of the gripper body (2), and the slide installed on the guide rail (7) An operation link 9 that moves the slide block 8 according to the elevation of the elevation nut member 5 by coupling both ends to the block 8 and the elevation nut member 5 and the slide block 8, and a guide rail ( 7) and a cover member 10 for sealing the slide block 8, and a finger assembly coupled to the cover member 10 and the slide block 8 to provide a gripping force according to the elevation of the elevation nut member 5 ( 12), and these configurations will be described in more detail below.

In the gripper body 2, a rail installation part 2a on which the guide rail 7 is installed is formed long in the left and right direction, and a nut member installation space 2b is formed in the middle lower side of the rail installation part 2a. , a driving motor 3 providing rotational force in forward rotation and reverse rotation is installed in a space partitioned by one side of the nut member installation space 2b.

A bearing 11 is coupled to the bottom of the nut member installation space 2b, and a screw shaft 4 is installed on the bearing 11 to rotate, and the screw shaft is lowered to the bottom of the nut member installation space 2b. The lower end of (4) is drawn out to install the pulley, and the pulley installed on the shaft of the driving motor 3 is coupled with a driving means 13 such as a belt to drive the screw shaft 4 with the driving force of the driving motor 3 Make sure to rotate forward or reverse.

The pulley and driving means 13 installed on the screw shaft 4 and the shaft of the driving motor 3 are covered by the lower cover 14 coupled to the lower portion of the gripper body 2, and toward the lower cover 14 supply power.

The lifting nut member 5 is inserted into the nut member installation space 2b, and a restoration spring 6 is interposed between the lower surface of the lifting nut member 5 and the bottom of the nut member installation space 2b. (5) to be elastically supported upwards.

A guide rail 7 arranged symmetrically left and right is installed on the rail installation part 2a formed to be symmetrical with respect to the screw shaft 4 on the upper side of the gripper body 2, and the guide rail 7 is moved upward. Places a slide block (8) that slides along the guide rail (7).

The slide block (8) slides along the guide rail (7) according to the elevation of the elevation nut member (5) coupled to the screw shaft (4). (5a) and both ends of the lifting nut member (5) are coupled to each other by a fixing pin (15) and interconnected by a rotating operation link (9) to enable an interlocking operation.

At this time, the fixing pin 15 coupled to the lifting nut member 5 is located on the screw shaft 4 side, and forms a link inlet groove 8a into which the operating link 9 is inserted in the slide block 8, and this In a state in which the operation link 9 is inserted into the link insertion groove 8a, the upper end of the operation link 9 is coupled to the slide block 8 with a fixing pin 15 to be configured.

The slide block 8 sliding along the guide rail 7 is covered by a cover member 10, and the cover member 10 is the edge of the rail installation part 2a on which the guide rail 7 is installed. coupled to the side At this time, a bearing 11 coupled to the upper end of the screw shaft 4 is installed at the center of the cover member 10 , and a finger assembly operation hole 10a is formed above the slide block 8 . In addition, brackets 10b are formed on the left and right sides of the finger assembly operation hole 10a, and holes for fixing pins are formed on the inner and outer sides of these brackets 10b, respectively. That is, the hole is formed in the side closer to the screw shaft 4 and the far side, respectively.

And the finger assembly 12 coupled to the cover member 10 and the slide block 8 to provide a gripping force according to the elevation of the elevation nut member 5 is a finger member 12a as shown in FIGS. 1 to 5 . ) and the first and second link members 12b and 12c are combined.

The finger member 12a is configured such that a coupling piece 12a-1 inclined downwardly outward is formed. In the coupling piece 12a-1 of the finger member 12a, holes are formed on the inner side and the outer side, respectively, for assembling the pins.

In the hole formed inside the coupling piece 12a-1 of the finger member 12a, the upper end of the first link member 12b is coupled to be rotated by the first pin 16, and the lower end of the first link member 12b is rotated. is coupled to the inner hole of the bracket 10b formed on the cover member 10 and the second pin 17 to rotate.

And the upper end of the second link member 12c is coupled to the hole formed outside the coupling piece 12a-1 of the finger member 12a so as to be rotated by the third pin 18. Meanwhile, the lower end of the second link member 12c has a configuration coupled to the bracket 10b formed on the cover member 10 and the operation link 9 coupled to the slide block 8 in two stages. That is, the bracket ( 10b) and the fourth pin (19) are coupled.

6 is a cross-sectional view showing a restoration spring applied to the present invention.

The restoration spring 6 provided in the present invention is a component that elastically supports the lifting nut member 5 that ascends and descends along the screw shaft 4 as mentioned above, and when the lifting nut member 5 descends It is compressed and expanded when the lifting nut member 5 rises.

In the case of the restoration spring 6, it must be installed in the nut member installation space 2b, and it is necessary to minimize the height during compression to prevent the external shape of the gripper body 2 from becoming large. ) has a large middle diameter and gradually decreases in diameter as it goes up and down, so that the height during compression can be minimized.

7 is an external perspective view illustrating an example in which the articulated parallel actuator provided in the present invention is configured in a three-terrain configuration.

The articulated parallel actuator gripper 1 provided in the present invention is provided in two terrain as shown in FIGS. ), it is natural that it can be composed of a multi-topography such as

When the articulated parallel actuator gripper 1 of the present invention configured as described above is used, the gripping force is uniformly provided throughout the entire section, while gripping stability and operation precision are improved, and the shaking phenomenon of the finger assembly 12 can be prevented. As such, the operating principle of the present invention will be described below.

First, the operation of moving the finger assembly 12 outward is described. When the lifting nut member 5 coupled to the screw shaft 4 is lowered by the power of the driving motor 3, the finger member of the finger assembly 12 is lowered. (12a) is shifted outward. At this time, the restoration spring (6) is pressed by the lifting nut member (5), and the slide block (8) connected to the lifting nut member (5) and the operation link (9) moves inwardly toward the screw shaft (4). will lose

As described above, when the slide block 8 moves inward, it constitutes the finger assembly 12 coupled to the bracket 10b of the cover member 10 by the second pin 17 and the fourth pin 19. In the case of the first and second link members 12b and 12c, they are rotated outward to be in an unclamping state. That is, when the slide block 8 is moved inwardly, it is moved together to the connecting link 21 having one end connected to the operating link 9 and the fixing pin 15. At this time, the connecting link 21 is the second link member 12c ), when the lower end is pulled toward the screw shaft 4, the first and second link members 12b and 12c are coupled to the bracket 10b of the cover member 10 with the second pin 17 and the fourth pin 19. ) will be rotated outward.

Next, the operation of moving the finger assembly 12 inward is described. When the lifting nut member 5 coupled to the screw shaft 4 is raised by the power of the driving motor 3, the finger of the finger assembly 12 is raised. The member 12a is moved inward. At this time, the restoration spring (6) acts to push the lifting nut member (5) upward, and the slide block (8) connected to the lifting nut member (5) and the operation link (9) is a screw shaft (4). and outward movement in the opposite direction.

As described above, when the slide block 8 moves inward, it constitutes the finger assembly 12 coupled to the bracket 10b of the cover member 10 by the second pin 17 and the fourth pin 19. In the case of the first and second link members 12b and 12c, they are rotated inward to be in an unclamping state. That is, when the slide block 8 is moved outwardly, it is moved together to the connecting link 21 having one end connected to the operating link 9 and the fixing pin 15, in which case the connecting link 21 is the second link member 12c. ) of the first and second link members (12b) coupled to the bracket (10b) of the cover member (10) with the second pin (17) and the fourth pin (19) when the lower end of the lower end is pushed to the opposite side of the screw shaft (4) (12c) will be rotated inwardly.

Therefore, when the lifting nut member 5 rises, the expansion force of the restoring spring 6 acts, and when the lifting nut member 5 descends, the operating link 9 and the connecting link 21 work like a lever. (12c) has a function to push the finger member (12a) can always provide a uniform pressure to provide a uniform gripping force, the slide block (8) and the operation link (9) is coupled to the fixed pin Since it provides a configuration in which the connecting link 21 having one end fixed to (15) is combined with the lower end of the second link member 12c located on the outside of the finger assembly 12, the finger assembly 12 having a four-section link structure. It is possible to provide operational precision and gripping force by minimizing the shaking of the finger member 12a side with the operational safety of the .

In the detailed description of the present invention, although specific embodiments are described, various modifications are possible without departing from the scope of the present invention. Therefore, the protection scope of the present invention should not be limited to the described embodiments, and should be defined by the following claims as well as equivalents.

1: Articulated parallel actuator gripper
2: Gripper body 2a: Rail installation part
2b: Nut member installation space 3: Drive motor
4: Screw shaft 5: Lifting nut member
5a: protrusion 6: restoration spring
7: guide rail 8: slide block
8a: Link inside home 9: Working link
10: cover member 10a: finger assembly operation hole
10b: Bracket 11: Bearing
12: finger assembly 12a: finger member
12a-1: coupling piece 12b: first link member
12c: second link member 13: driving means
14: lower cover 15: fixing pin
16: first pin 17: second pin
18: 3rd pin 19: 4th pin
20: 5th pin

Claims (5)

a gripper body (2);
a screw shaft (4) coupled to a bearing (11) installed at the bottom of a nut member installation space (2b) formed to be recessed in the gripper body (2);
a driving motor 3 installed on the gripper body 2 to rotate the screw shaft 4 forward and reverse;
a lifting nut member 5 screwed to the screw shaft 4 so as to be located in the nut member installation space 2b;
a guide rail (7) installed on the gripper body (2) so as to be parallel to the outside of the lifting nut member (5);
Slide blocks (8) installed on the left and right of the lifting nut member (5) to slide along the guide rail (7);
a cover member (10) covering the upper portions of the guide rail (7) and the slide block (8) and having a bearing (11) coupled to the upper end of the lifting nut member (5);
Both ends of the lifting nut member 5 and the slide block 8 are rotatably coupled with a fixing pin 15 to move the slide block 8 along the guide rail 7 when the lifting nut member 5 is raised and lowered. and an actuating link (9);
a connection link 21 having one end coupled to a fixing pin 15 for coupling the slide block 8 and the operation link 9;
First and second link members 12b and 12c and first and second link members 12b and 12c each of which lower ends are coupled to the bracket 10b and the connecting link 21 formed on the cover member 10, respectively. Articulated parallel actuator gripper, characterized in that it comprises a plurality of finger assemblies (12) combining a finger member (12a) coupled to the upper end of the.
The method of claim 1 ;
The guide rail 7 and the slide block 8 moving along the guide rail 7 and the cover member 10 coupled to the gripper body 2 are two-terrain or 120 in which the finger assembly 12 is installed at 180 degrees. An articulated parallel actuator gripper, characterized in that it is composed of any one of the three terrains installed on the road.
The method of claim 1 ;
The finger assembly 12 includes: a finger member 12a having a coupling piece 12a-1 inclined downward outward; The upper end is coupled to rotate with the first pin 16 inside the coupling piece 12a-1 of the finger member 12a, and the bracket 10b protrudes from the cover member 10 toward the screw shaft 4 and closer. a first link member (12b) coupled to be rotated by a second pin (17); The upper end is coupled to the outside of the coupling piece 12a-1 of the finger member 12a so that the upper end is rotated by the third pin 18, and the screw shaft 4 is farther from the bracket 10b protruding from the bracket 10b. Articulated parallel actuator, characterized in that it is formed by a second link member (12c) coupled to rotate with a connecting link (21) and a fifth pin (20) at the lower end in a state in which they are rotatably coupled by the fourth pin (19) gripper.
The method of claim 1 ;
It is interposed between the lifting nut member 5 screwed to the bottom of the nut member installation space 2b and the screw shaft 4 to include a restoration spring 6 for pressing the lifting nut member 5 upward. Articulated parallel actuator gripper.
5. The method of claim 4;
The restoration spring (6) has a large intermediate diameter and gradually decreases in diameter as it goes up and down, so that the height during compression can be minimized.

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