KR20230100194A - Clamping apparatus - Google Patents

Abstract

The clamping device may include a pair of clampers, a clamping block, a ball screw, a motor and an elastic unit. The clampers can grip the material to be transported. The clamping block may be connected to at least one of the clampers. The ball screw may be screwed with the clamping block. The motor may rotate the ball screw. The elastic unit may apply restoring force to the ball screw in a direction in which the clampers grip the conveyed object. Therefore, when power is not supplied to the motor, the spring rotates the ball screw in the direction in which the clampers grip the material to be transferred, so that the clampers can firmly grip the material to be transferred.

Description

Clamping device {CLAMPING APPARATUS}

The present invention relates to a clamping device. More specifically, the present invention relates to a clamping device that is disposed on a robot that transports an object to be transported and grips an object to be transported.

In general, the transported object may be transported by a robot. The robot may include a pair of clampers gripping an object to be transported. Clampers can be operated by motors and ball screws.

According to related technologies, when the power supplied to the motor is stopped, the positions of the clampers may also be stopped. However, if the clampers do not firmly grip the material to be transported, the material to be transferred may fall.

The present invention provides a clamping device capable of firmly gripping an object to be transported even in a state in which power is not supplied.

A clamping device according to one aspect of the present invention may include a pair of clampers, a clamping block, a ball screw, a motor, and an elastic unit. The clampers can grip the material to be transported. The clamping block may be connected to at least one of the clampers. The ball screw may be screwed with the clamping block. The motor may rotate the ball screw. The elastic unit may apply restoring force to the ball screw in a direction in which the clampers grip the conveyed object.

In example embodiments, the elastic unit may include a spring having a first end connected to the ball screw, and a bracket to which a second end of the spring opposite to the first end is fixed.

In example embodiments, the spring may include a leaf spring having a helical structure.

In example embodiments, the bracket may have a receiving hole rotatably accommodating the ball screw. A second end of the spring may be fixed to an inner surface of the receiving hole.

In example embodiments, the motor may be connected to the first end of the ball screw. The spring may be connected to a second end of the ball screw opposite to the first end.

In example embodiments, the clamping device may further include a first pulley connected to the motor, a second pulley connected to the ball screw, and a belt connecting the first pulley and the second pulley.

In example embodiments, the clamping device may further include at least one bearing block supporting rotation of the ball screw.

In example embodiments, the clamping device may further include a fixing block in which the clampers, the clamping block, the ball screw, the motor, and the elastic unit are disposed.

A clamping device according to another aspect of the present invention may include a fixed block, a pair of clampers, a clamping block, a ball screw, a motor, a first pulley, a second pulley, a belt, at least one bearing block, a spring and a bracket. there is. The clampers may be movably connected to the first side surface of the fixing block in a horizontal direction to grip an object to be transported. The clamping block may be disposed adjacent to a second side surface of the fixing block opposite to the first side surface and connected to at least one of the clampers. The ball screw may be screwed with the clamping block. The motor may apply rotational force to the ball screw. The first pulley may be connected to the motor. The second pulley may be connected to the ball screw. The belt may connect the first pulley and the second pulley. The bearing block may be installed on a second side surface of the fixing block to support rotation of the ball screw. The spring may be connected to a second end of the ball screw, which is opposite to the first end, to impart a restoring force to the ball screw in a direction in which the clampers grip the conveyed object. The bracket may be installed on the second side of the fixing block. The spring may be fixed to the bracket.

According to the present invention, when power is not supplied to the motor, the spring rotates the ball screw in the direction in which the clampers grip the conveyed object, so that the clampers can firmly grip the conveyed object. Therefore, it is possible to prevent an accident in which an object to be transferred falls in a power stop state.

However, the effects of the present invention are not limited to the above-mentioned effects, and may be variously extended without departing from the spirit and scope of the present invention.

1 is a perspective view showing the appearance of a clamping device according to an embodiment of the present invention.
Figure 2 is a perspective view showing the inside of the clamping device shown in Figure 1;
3 is a perspective view showing an enlarged portion A of FIG. 2 .

Since the present invention can be applied with various changes and can have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numbers have been used for like elements in describing each figure. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another. Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "comprise" or "consisting of" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and redundant descriptions of the same components are omitted.

1 is a perspective view showing the appearance of a clamping device according to an embodiment of the present invention, FIG. 2 is a perspective view showing the inside of the clamping device shown in FIG. 1, and FIG. 3 is a perspective view showing an enlarged portion A of FIG. 2 .

Referring to FIGS. 1 to 3 , the clamping device according to the present embodiment may be installed on a robot that transfers an object to be transferred and clamps the object to be transferred. The clamping device includes a fixing block 110, a pair of clampers, a motor 130, a first pulley 132, a second pulley 134, a belt ) 136, a ball screw 140, a first clamping block 150, a second clamping block 152, a first bearing block 160, a second bearing A block 162 and a resilient unit 170 may be included.

The fixing block 110 may have a substantially rectangular parallelepiped shape. Specifically, the fixing block 110 may have a rectangular parallelepiped shape having a height greater than a width. Accordingly, the fixing block 110 may have a first side and a second side. The first side may be an opposite side to the second side.

The pair of clampers may include a first clamper 120 and a second clamper 122 disposed on a first side surface of the fixing block 110 to hold a material to be transported. The first clamper 120 may be fixed to the first side of the fixing block 110. The second clamper 122 may be movably connected to the first side of the fixing block 110 in a horizontal direction.

The motor 130 may be disposed on an upper surface of the fixing block 110 . The motor 130 may have a structure capable of forward rotation and reverse rotation. When power is not supplied to the motor 130, a brake function for immediately cutting off rotational force of the motor 130 may be provided to the motor 130. A shaft of the motor 130 may be connected to the first pulley 132 .

The ball screw 140 may be disposed adjacent to the second side surface of the fixing block 110 along the horizontal direction. A first end of the ball screw 140 may be connected to the second pulley 134 . The belt 136 may connect the first pulley 132 and the second pulley 134 . Accordingly, forward or reverse rotational force of the motor 130 may be transmitted to the ball screw 140 through the first pulley 132 , the belt 136 , and the second pulley 134 . As another embodiment, the motor 130 may be directly connected to the ball screw 140.

The first clamping block 150 and the second clamping block 152 may be movably connected to the second side surface of the fixing block 110 in a horizontal direction. In addition, the first clamping block 150 and the second clamping block 152 may be screwed with the ball screw 140 . Accordingly, the first clamping block 150 and the second clamping block 152 can be moved along the horizontal direction by the rotation of the ball screw 140 . That is, according to the rotation direction of the ball screw 140, the first clamping block 150 and the second clamping block 152 may move forward or backward along the horizontal direction. As another embodiment, the clamping device may comprise only one clamping block.

The first clamping block 150 and the second clamping block 152 may be connected to the second clamper 122 . Accordingly, the second clamper 122 may move toward the first clamper 120 or in the opposite direction by the horizontal movement of the first and second clamping blocks 150 and 152 .

The first bearing block 160 and the second bearing block 162 may be installed on the second side of the fixing block 110 . The first bearing block 160 and the second bearing block 162 may support rotational motion of the ball screw 140 .

As described above, if power is not supplied to the motor 130, the rotational force of the motor 130 may not be immediately transferred to the ball screw 140 by the brake function. In this case, if the first and second clampers 120 and 122 do not firmly grip the material to be transported, an accident in which the material to be transferred may fall may occur.

To prevent this, the elastic unit 170 may apply restoring force to the ball screw 140 . That is, the elastic unit 170 may apply rotational force to the ball screw 140 in a direction in which the first and second clampers 120 and 122 grip the conveyed material.

The elastic unit 170 may include a bracket 172 and a spring 178. The bracket 172 may be installed on the second side of the fixing block 110 so as to be adjacent to the second end opposite to the first end of the ball screw 140 . A pair of fastening holes 176 may be formed in the bracket 172 . The bracket 172 may have a receiving hole 174 rotatably accommodating the second end of the ball screw 140 .

The spring 178 may include a first end connected to the second end of the ball screw 140 and a second end opposite the first end. The second end may be fixed to the inner surface of the receiving hole 174 of the bracket 172. The spring 178 may apply rotational force to the ball screw 140 in a direction in which the first and second clampers 120 and 122 grip the conveyed material.

In this embodiment, the spring 178 may include a leaf spring having a helical structure. However, the shape of the spring 178 is not limited thereto and may have other various structures and shapes.

According to this embodiment, when power is not supplied to the motor, the ball screw can be stopped without further rotation in that position. However, the spring may rotate the ball screw in a direction in which the first and second clampers grip the conveyed material. Therefore, the first and second clampers can firmly hold the object to be transported, and an accidental fall of the object to be transported can be prevented when power is cut off.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

110; fixed block 120 ; 1st clamper
122; 1st clamper 130; motor
132; First pulley 134 ; 2nd pulley
136; Belt 140; ball screw
150; 1st clamping block 152; 2nd clamping block
160; First bearing block 162; 2nd bearing block
170; elastic unit 172; bracket
174; Receiving hole 176; Fastener
178; spring

Claims (10)

A pair of clampers holding the conveyed material;
a clamping block connected to at least one of the clampers;
a ball screw to which the clamping block is screwed;
a motor rotating the ball screw; and
A clamping device comprising an elastic unit for applying a restoring force to the ball screw in a direction in which the clampers grip the conveyed material. The method of claim 1, wherein the elastic unit
a spring having a first end coupled to the ball screw; and
A clamping device comprising a bracket to which a second end of the spring opposite to the first end is fixed. The clamping device according to claim 2, wherein the spring comprises a leaf spring having a helical structure. The clamping device according to claim 2, wherein the bracket has an accommodating hole rotatably accommodating the ball screw, and the second end of the spring is fixed to an inner surface of the accommodating hole. 3. The clamping device according to claim 2, wherein the motor is connected to a first end of the ball screw, and the spring is connected to a second end of the ball screw opposite the first end. According to claim 1,
a first pulley connected to the motor;
a second pulley connected to the ball screw; and
The clamping device further comprises a belt connecting the first pulley and the second pulley. The clamping device according to claim 1, further comprising at least one bearing block supporting rotation of the ball screw. The clamping device of claim 1, further comprising a fixing block in which the clampers, the clamping block, the ball screw, the motor, and the elastic unit are disposed. fixed block;
a pair of clampers movably connected to the first side of the fixing block in a horizontal direction and gripping an object to be transported;
a clamping block disposed adjacent to a second side of the fixing block opposite to the first side and connected to at least one of the clampers;
a ball screw to which the clamping block is screwed;
a motor for imparting rotational force to the ball screw;
a first pulley connected to the motor;
a second pulley connected to the ball screw;
a belt connecting the first pulley and the second pulley;
at least one bearing block installed on a second side surface of the fixing block to support rotation of the ball screw;
a spring connected to a second end of the ball screw opposite to the first end and imparting a restoring force to the ball screw in a direction in which the clampers grip the conveyed material; and
A clamping device comprising a bracket installed on a second side of the fixing block and having the spring fixed thereto. 10. The clamping device according to claim 9, wherein the spring comprises a leaf spring having a helical structure.

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