KR20240039352A - Gripper device for special parts - Google Patents

Abstract

A gripper device for special parts is disclosed. The disclosed gripper device for special parts is a gripper device for gripping parts of a special shape with long pins protruding from the top of a cup-shaped member, and includes a gripper in the form of a tubular body, arranged vertically up and down, and having a drive motor at the upper end. body; At least three finger means configured radially at the lower part of the gripper body to grip the cup-shaped member; A rotating shaft portion accommodated inside the gripper body, the upper end of which is coupled to the motor shaft of the drive motor, and the lower end of which is connected to the finger means, narrows the finger means as it rotates to break the cup-shaped member, A pin receiving hole is formed at the center of the rotating shaft into which the pin is inserted and received when the gripper body is lowered.

Description

Gripper device for special parts}

The present invention relates to a gripper device for gripping and transporting parts, and more specifically, to a gripper device for special parts for gripping and transporting parts of a special shape with long pins protruding long from the top of a cup-shaped member. will be.

In general, gripper devices of various structures are installed and operated in automated industrial sites to transport various parts according to designated processes.

These gripper devices are being developed in various forms depending on the shape or transfer direction of the part.

Conventional gripper devices are disclosed in Patent Registration No. 10-1702857, Patent No. 10-1804866, Patent No. 10-1589254, and Patent No. 10-2161788.

These gripper devices include a type in which the fingers for gripping the part are arranged horizontally and grip the part from the side, as disclosed in Patent No. 10-1702857 and Patent No. 10-1804866, and Patent No. 10-1589254; As disclosed in Registered Patent No. 10-2161788, there is a type in which the fingers are arranged vertically to grip the part from the upper side.

Meanwhile, as a part for manufacturing BLDC motors for electric vehicles, etc., as shown in FIGS. 1 and 2, there is a part 10 in which a long-axis pin 12 protrudes long from the top of the cup-shaped member 11, These uniquely shaped parts 10 are provided to the manufacturing process while being loaded on a dedicated tray 20 or continuously mounted on a conveyor 30 during the motor manufacturing process.

However, there is a problem in that these parts 10 are difficult or impossible to transport using an existing gripper device.

In more detail, when transferring a part 10 with a long protruding pin 11 as shown in FIGS. 1 and 2 through a gripper device of a type in which the fingers 15 are horizontally arranged, the fingers 15 The part 10 must be transferred by holding it from the side, but at this time, when gripping from the side, there are many restrictions in handling due to interference from other parts arranged in a continuous manner close to the periphery.

In order to overcome the limitations of this side gripping method, even if gripping is attempted from the upper side of the part using an existing gripper device with vertical fingers, the gripper device is held by the pin 11 that protrudes long from the part 10. Not only can it not be positioned on the upper side of the part 10, but the fingers cannot descend to the gripping position of the part 10, so the existing gripper device of the finger vertical arrangement type cannot be used to grip and transport the part 10. It was impossible.

Registered Patent No. 10-1702857 Registered Patent No. 10-1804866 Registered Patent No. 10-1589254 Registered Patent No. 10-2161788

The present invention was created to solve the conventional problems as described above, and is a gripper for special parts that can easily grip and handle a part of a special shape with a long pin protruding from the top of a cup-shaped member by vertically lowering it. The purpose is to provide a device.

However, the purpose of the present invention is not limited to this, and of course, even if not explicitly mentioned, purposes or effects that can be understood from the means of solving the problem or the embodiment are also included.

The gripper device for special parts of the present invention for achieving the above object is a gripper device for gripping parts of a special shape with long pins protruding from the top of a cup-shaped member, and is made in the form of a tubular body and vertically vertically. A gripper body disposed with a drive motor at the upper end; At least three finger means configured radially at the lower part of the gripper body to grip the cup-shaped member; A rotating shaft portion accommodated inside the gripper body, the upper end of which is coupled to the motor shaft of the drive motor, and the lower end of which is connected to the finger means, narrows the finger means as it rotates to break the cup-shaped member, A pin receiving hole is formed at the center of the rotating shaft into which the pin is inserted and received when the gripper body is lowered.

The finger means includes at least three rotating arms configured to extend horizontally outward around the lower end of the rotating shaft and rotatable with respect to the rotating shaft; At least three finger bars are installed perpendicularly downward at the end of the rotary arm and arranged side by side and spaced apart around the rotary shaft, and the mutual spacing narrows or moves apart as the rotary arm rotates to grip the outer peripheral surface of the cup-shaped member. It may be configured to include ;.

An arm support portion that can be inserted into the cup-shaped member according to the height of the cup-shaped member and on which the rotary arm is hingedly installed can be formed at the lower end of the rotating shaft.

It may be configured to further include a rotation guide means configured to connect the rotary arm and the gripper body and guide the rotation of the rotary arm according to the rotation of the rotary shaft portion.

The rotation guide means is formed integrally with a guide roller rotatably installed in the middle of the length of the rotary arm and around the lower end of the gripper body. The guide roller is inserted and the guide roller moves as the rotation shaft part rotates. It may be composed of a guide disk formed with a rail portion that allows the rotary arm to rotate while moving.

The at least three finger bars may be narrowed while maintaining a vertical position as the rotary arm rotates, and may be configured to hold the outer surface of the cup-shaped member in close contact.

An inclined guide surface may be formed at the lower end of the pin receiving hole to guide the insertion of the pin.

It may be configured to further include a gripper lifting unit that lowers the gripper body toward the component.

According to the above, the gripper device of the present invention is capable of gripping and transporting a specially shaped part with a long-axis pin protruding from the top of a cup-shaped member, which the existing gripper device could not do, by approaching directly downward from the top. It works.

In particular, in the present invention, the finger bars do not grip the part in a pincer style, but operate to narrow the gap between them while maintaining the vertical state, so that the cup-shaped member of the part to be gripped can be gripped more stably and easily without damage. There is a possible effect.

In addition, the various and beneficial advantages and effects of the present invention are not limited to the above-described content, and may be more easily understood in the process of explaining specific embodiments of the present invention.

Figures 1 and 2 are drawings to explain a motor part used in the manufacture of BLDC motors for electric vehicles, etc., a part of a special shape in which a long-axis pin protrudes long from the top of a cup-shaped member;
Figure 3 is a perspective view showing a gripper device for special parts according to an embodiment of the present invention;
Figure 4 is an enlarged perspective view showing the gripper device of Figure 3,
Figure 5 is a cross-sectional perspective view showing a gripper device for special parts according to an embodiment of the present invention;
Figure 6 is a diagram showing the operating state of the finger means in the gripper device for special parts according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments related to the attached drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete and so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art.

In this specification, when an element is referred to as being on another element, it means that it may be formed directly on the other element or that a third element may be interposed between them. Additionally, in the drawings, the thickness of components is exaggerated for effective explanation of technical content.

Embodiments described in this specification will be explained with reference to cross-sectional views and/or plan views, which are ideal illustrations of the present invention. In the drawings, the thicknesses of films and regions are exaggerated for effective explanation of technical content. Therefore, the shape of the illustration may be changed depending on manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in form produced according to the manufacturing process. For example, an etch area shown at a right angle may be rounded or have a shape with a predetermined curvature. Accordingly, the regions illustrated in the drawings have properties, and the shapes of the regions illustrated in the drawings are intended to illustrate a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first and second are used to describe various components, but these components should not be limited by these terms. These terms are merely used to distinguish one component from another. Embodiments described and illustrated herein also include complementary embodiments thereof.

The terms used in this specification are for describing embodiments and are not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, 'comprises' and/or 'comprising' does not exclude the presence or addition of one or more other elements.

In describing specific embodiments below, various specific details have been written to explain the invention in more detail and to aid understanding. However, a reader skilled in the art to understand the present invention will recognize that it can be used without these specific details. In some cases, it is mentioned in advance that when describing the invention, parts that are commonly known but are not significantly related to the invention are not described in order to prevent confusion without any reason in explaining the invention.

Hereinafter, with reference to FIGS. 3 to 6, a gripper device 100 for special parts according to an embodiment of the present invention will be described.

The present invention is a gripper device 100 for gripping and transferring a special part 10 of a special shape with a long-axis pin 12 protruding long from the top of a cup-shaped member 11 by vertically descending from the top.

The gripper device 100 of the present invention is configured to include a gripper body 110, a rotating shaft 120, a finger means 130, a rotation guide means 140, and a gripper elevating part 150.

The gripper body 110 is made in the form of a circular tube vertically extending up and down, and a drive motor 115 is coupled to the top, and the motor shaft 116 of the drive motor 115 is located on the inner upper side of the gripper body 110. It is configured to protrude.

The gripper body 110 is configured with a gripper elevating part 150 on one side, and is driven to move up and down by driving the gripper elevating part 150.

The rotation shaft portion 120 is made in the shape of a circular bar and is inserted into the inside of the gripper body 110, and the upper end is coupled to the motor shaft 116 of the drive motor 115 and linked according to the rotation of the drive motor 115. It is configured to rotate forward or reverse.

At the center of the rotating shaft portion 120, a pin receiving hole 122 is formed that penetrates upward and downward into which the pin 12 of the component 10 is inserted and received when the gripper body 110 is lowered.

At the lower end of the rotating shaft 120, an arm support 125 is formed in a form whose diameter is expanded compared to the upper part to rotatably support the finger means 130, and this arm support 125 is connected to the gripper body 110. It protrudes to the lower part of and is configured to be inserted into the cup-shaped member 11 of the part 10 when the gripper body 150 is lowered.

The finger means 130 is configured at the lower part of the gripper body 110 and is configured to grab and grip the outer peripheral surface of the cup-shaped member 11 of the component 10.

The finger means 130 includes three rotary arms 132 radially configured horizontally outward at equal intervals along the upper circumference of the arm support portion 125, and an end (outer end) of each of the three rotary arms 132. ) is installed vertically downward to include three finger bars 134 that grip the outer peripheral surface of the cup-shaped member 11.

The inner end 132a of each rotary arm 132 is connected to the upper end of the arm support 125 by a hinge and is configured to rotate, so that the rotary arm 132 can be rotated with respect to the arm support 125. .

The three finger bars 134 are arranged vertically and spaced apart from each other on the lower end of the rotation shaft 120, that is, on the outer peripheral surface of the arm support 125. The three finger bars 134 are configured to narrow or move away from each other toward the center as the rotation shaft portion 120 rotates, and the lower ends of each of the three finger bars 134 are positioned at the lower ends of the arm support portion 125. It is configured to extend further downward to be located at a lower position. At the bottom of each of the three finger bars 134, a tight fixing ring 135 made of an elastic or soft synthetic resin material such as silicone or rubber is provided to adhere to the outer peripheral surface of the cup-shaped member 11 and hold the cup-shaped member 11. .

The rotation guide means 140 is configured to connect the rotary arm 132 and the gripper body 110 and guides the rotation of the rotary arm 132 according to the rotation of the rotary shaft portion 120, so that the three finger bars 134 are formed. This is a configuration that grips the outer peripheral surface of the cup-shaped member 11 while being squeezed together.

The rotation guide means 140 consists of a guide roller 142 rotatably installed upward in the middle of the length of each rotation arm 132 and a disk shape integrally formed around the lower end of the gripper body 110. , It is configured to include a guide disk 144 that is cut inward from the outer end and is formed with a rail portion 143 through which the guide roller 142 is inserted and the guide roller 142 moves. When the rotation shaft portion 120 rotates, the guide roller 142 moves along the rail portion 142 and the rotary arm 132 is configured to rotate with respect to the arm support portion 125.

In the present invention, the finger means 130 has been described as including three rotary arms 132 and three finger bars 134 composed of each of the three rotary arms 132, but the rotary arms and finger bars The number is not limited to 3 and may consist of 4 or more. In other words, if the finger means 130 can stably grip the outer peripheral surface of the cylindrical cup-shaped member 11, the number of fingers may be three or more and can be implemented in various ways. In addition, the number of rail portions 143 and guide rollers 143 of the rotation guide means should be designed in the same manner according to the number of finger bars 134 and rotary arms 132.

The gripper elevating part 150 is configured in parallel on the side of the gripper body 110, and is used to vertically lower the gripper body 110 toward the part 10 by elevating the gripper body 110 to enable access. It is a composition.

The gripper lifting part 150 includes a linear actuator 152, a lifting slider 154 that moves up and down according to the driving of the linear actuator 152, and a gripper body that protrudes outward from the lifting slider 154. It is configured to include a clamping means 156 coupled and fixed to (110).

Here, the linear actuator 152 may be made of a normal electric cylinder such as a ball-screw type or a recpinion type, and the lifting slider 154 may be configured to be coupled to the operating member of the linear actuator 152 and move up and down. there is.

The clamping means 156 is composed of a coupling hole 157 into which the gripper body 110 is inserted and coupled to surround and securely couple the circular gripper body 110, and on one side of this coupling hole 157 is a clamping means ( A cut part 158 is formed that cuts up to the side end of the clamping means 156, so that the distal part 156a of the clamping means 156 is separated into two parts, and the distal part 156a separated from the two parts is connected to the tightening bolt 159. By tightening to get closer, the coupling hole 157 is reduced and the gripper body 110 inserted into the coupling hole 157 is configured to be coupled and fixed.

Meanwhile, in the present invention, the gripper device 100 is described as consisting only of the gripper elevating part 150 that elevates the gripper body 110 so that the finger means 130 vertically descends toward the part 10. Although not shown, the gripper Of course, a transport means configured to be connected to the lifting unit 150 to move the finger means 130 horizontally left and right on the XY plane and horizontally forward and backward may be further configured.

Due to the above configuration, the gripper device 100 for special parts of the present invention can operate to vertically descend toward the part 100 and grip the cup-shaped member 11.

Specifically, the gripper device 100 vertically descends toward the part 10 by driving the gripper elevating part 150 in a state in which the gripper body 110 is positioned directly above the part 10 to lift the part as shown in FIG. 5. The pin 12 of (10) is inserted into the pin receiving hole 122, and the lower ends of the finger bars 134 of the finger means 130 can be moved to the outside of the cup-shaped member 11 of the part 10. .

In this state, when the rotation shaft portion 120 is rotated according to the driving of the drive motor 115, the guide roller 142 moves along the rail portion 142 and each rotation arm 132 moves toward the rotation shaft portion 120. As each finger bar 134 maintains a vertical state while rotating relative to each other, the mutual spacing narrows toward the center, and the tight fixing rings 135 tightly press and hold the outer peripheral surface of the cup-shaped member 11, thereby attaching it to the part 10. Gripping is performed.

Meanwhile, in the gripper device 100 of the present invention, when the gripper body 110 lowers the part 10 by driving the gripper elevating part 150, as shown in FIG. 5, the arm support part 125 is a cup-shaped member ( 11) The descent may be made so as to approach only the height of the top of the cup-shaped member 11 without being inserted inside, and the position at which the arm support portion 125 is inserted into the interior of the cup-shaped member 11 according to the height standard of the cup-shaped member 11. It may also move downward.

Meanwhile, during the lowering motion of the gripper body 110, the pin 12 is inserted into the pin receiving hole 122 of the rotating shaft portion 120. At this time, an inclined guide surface 122a is formed at the lower end of the pin receiving hole 122. With this configuration, the pin 12 can easily enter the pin receiving hole 122 even if the center of the gripper body 110 and the center of the pin 12 are slightly different.

Although the present invention has been shown and described in connection with preferred embodiments for illustrating the principles of the present invention, the present invention is not limited to the configuration and operation as shown and described. Rather, those skilled in the art will be able to understand that many changes and modifications can be made to the present invention without departing from the spirit and scope of the appended claims. Accordingly, all such appropriate changes, modifications and equivalents shall be considered to fall within the scope of the present invention.

110...Gripper body
120...rotating shaft
122...Pin receiving hole
122a...slope guide surface
130...Finger means
132...swivel arm
134...Finger Bar
135...tight fixing ring
140...meeting guide means
142...Guide roller
143...rail part
144...Guide disk
150...Gripper lifting part
152...Linear actuator
154...elevating slider
156...Clamping means

Claims (8)

In the gripper device for gripping a part of a special shape with a long-axis pin protruding from the top of a cup-shaped member,
A gripper body in the form of a tubular body, arranged vertically up and down, and equipped with a drive motor at the upper end;
At least three finger means configured radially at the lower part of the gripper body to grip the cup-shaped member;
A rotating shaft portion accommodated inside the gripper body, the upper end of which is coupled to the motor shaft of the drive motor, and the lower end of which is connected to the finger means, narrows the finger means as it rotates to break the cup-shaped member,
A gripper device for special parts, characterized in that a pin receiving hole is formed at the center of the rotating shaft portion into which the pin is inserted and received when the gripper body is lowered.
According to claim 1,
The finger means is,
at least three rotary arms configured to extend horizontally outward around the lower end of the rotating shaft and rotatable with respect to the rotating shaft;
At least three finger bars are installed perpendicularly downward at the end of the rotary arm and arranged side by side and spaced apart around the rotary shaft, and the mutual spacing narrows or moves apart as the rotary arm rotates to grip the outer peripheral surface of the cup-shaped member. A gripper device for special parts, characterized in that it includes;
According to claim 2,
A gripper device for special parts, characterized in that an arm support part is formed at the lower end of the rotating shaft, which can be inserted into the cup-shaped member according to the height of the cup-shaped member, and on which the rotating arm is hingedly installed around the upper end.
According to claim 2,
The gripper device for special parts further includes a rotation guide means configured to connect the rotary arm and the gripper body and guides the rotation of the rotary arm according to the rotation of the rotary shaft portion.
According to claim 4,
The meeting guide means is
A guide roller rotatably installed in the middle of the length of the rotary arm,
It is formed integrally around the lower end of the gripper body, and the guide roller is inserted, and the guide roller moves according to the rotation of the rotation shaft portion, characterized in that it consists of a guide disk formed with a rail portion that allows the rotation of the rotary arm. Gripper device for special parts.
According to claim 5,
The gripper device for special parts, wherein the at least three finger bars are narrowed while maintaining a vertical position as the rotary arm rotates to tightly grip the outer surface of the cup-shaped member.
According to claim 1,
A gripper device for special parts, characterized in that an inclined guide surface is formed at the lower end of the pin receiving hole to guide the insertion of the pin.
According to claim 1,
A gripper device for special parts, further comprising a gripper elevating part that lowers the gripper body toward the part.

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