KR920001900B1

KR920001900B1 - Hand exchange devices

Info

Publication number: KR920001900B1
Application number: KR1019890006898A
Authority: KR
Inventors: 김명길
Original assignee: 주식회사 동장기연; 전진탁
Priority date: 1989-05-23
Filing date: 1989-05-23
Publication date: 1992-03-06
Also published as: KR900017740A

Abstract

The apparatus makes it easy and simple to exchange hands of robot arm or manipulator, so as to enhance a work efficiency and reduces cost. The apparatus comprises a housing (1) where grooves (101,102) for actuating a piston and holding the robot hand are formed and a load hole (103) is perforated between the grooves (101,102); a cover (11) where a downward-directional protrusion (11) having a protruded end (111) and a groove (112) is formed, a passage-way (114) being connected to a port (115) and O-ring (117) inserted into a ring groove at the circumference of the downward directional protrusion (113); a piston (12) where an O-ring (121) and a wear ring (122) re inserted into its circumference.

Description

Hand Changer of Industrial Robot

제1도는 본 발명장치의 결합 상태를 도시한 종단면도.1 is a longitudinal cross-sectional view showing a coupled state of the device of the present invention.

제2도는 제1도의 A-A선 단면도.2 is a sectional view taken along the line A-A of FIG.

제3도는 본 발명장치의 분리 상태를 도시한 외관 사시도.Figure 3 is an external perspective view showing a separated state of the device of the present invention.

제4도는 본 발명의 사용상태도.4 is a state of use of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 몸체 2 : 핸드1: body 2: hand

10 : 하우징 11, 21 : 커버10 housing 11, 21 cover

12, 22 : 피스톤 20 : 외측 케이싱12, 22: piston 20: outer casing

20a : 착탈돌부 20b, 20c : 위치결정핀20a: detachable protrusion 20b, 20c: positioning pin

20d : 작동홈 23 : 핑거20d: operating groove 23: finger

101 : 작동홈 102 : 핸드 착탈홈101: operating groove 102: hand removable groove

103, 123, 211, 223 : 로드공 104, 104' : 핀홈103, 123, 211, 223: rod ball 104, 104 ': pin groove

105, 106, 115 : 포트 110 : 홈부105, 106, 115: Port 110: Groove

111 : 돌출단부 112 : 요홈111: protruding end 112: groove

113 : 하향돌부 114, 128, 201 : 유로113: downward projection 114, 128, 201: euro

117, 121, 213, 221 : O링 122, 222 : 웨어링117, 121, 213, 221: O-ring 122, 222: Wear ring

124, 224 : 피스톤로드 125, 225a : 나사부124, 224: piston rod 125, 225a: threaded portion

126, 225b : 링홈 127, 225 : 소경부126, 225b: ring groove 127, 225: small diameter part

129, 227 : 대경부 130, 228 : 스프링와셔129, 227: large diameter part 130, 228: spring washer

131, 229 : 너트 212 : 돌출부131, 229: nut 212: protrusion

226 : 핀 227a : 설치홈226: pin 227a: mounting groove

본 발명은 산업용 로보트에 사용하는 핸드를 교환할 수 있게 이루어진 핸드교환 장치에 관한 것이다. 최근 국내외를 막론하고 공장 자동화 추세가 대단히 급속도로 발전하면서 산업용 로보트나 매니퓰레이터의 사용이 급신장되고 있다. 이와 같은 산업용 로보트나 매니퓰레이터엔 반드시 공작물을 파지하여 운반 및 조립을 수행할 수 있도록 한 핸드를 사용하게 된다.The present invention relates to a hand exchange device made possible to exchange a hand for use in an industrial robot. Recently, as the trend of factory automation is rapidly developing, both at home and abroad, the use of industrial robots and manipulators is rapidly expanding. In such industrial robots or manipulators, a hand must be used to grasp the workpiece and carry and assemble it.

종래에 있어서 상기와 같은 산업용 로보트의 아암이나 매니퓰레이터에 직접 설치하여 사용하게 되어 있으므로 파지하고자 하는 공작물의 형태나 사용목적에 따라, 때로는 수리를 행하고자 핸드를 교환하여야만 하는 경우 자동적인 교환이 불가능한 관계로 일일이 수동으로 교환하여야 하는 불편함이 있다.In the related art, since the robot is directly installed and used on the arm or manipulator of the industrial robot as described above, when the hand must be replaced to perform repairs, depending on the type and purpose of the workpiece to be gripped, the automatic replacement is impossible. There is an inconvenience that must be changed manually.

본 발명은 이와 같은 종래의 핸드가 갖는 불편한 문제점을 해소하고자 안출된 것으로서 자동적인 교환이 용이하고 신속한 교환이 이루어질 수 있어 산업용 로보트나 매니퓰레이터의 작업 효율을 증대시키며, 착탈교환 조작이 간편하게 이루어지면서 구조 또한 간단하게 이루어져 제작비용이 크게 절감될 수 있도록한 핸드교환 장치를 제공하는데 그 목적이 있다.The present invention has been made to solve the inconvenience of the conventional hand, such that automatic exchange is easy and quick exchange can be made to increase the work efficiency of the industrial robot or manipulator, and the structure can be easily removable Its purpose is to provide a hand exchange device that is made simple so that manufacturing costs can be greatly reduced.

이하 본 발명의 기술적인 구성과 그 작용효과에 대하여 첨부도면에 따라 상세히 설명하고자 한다.Hereinafter will be described in detail with reference to the accompanying drawings the technical configuration and its operational effects of the present invention.

제1도 내지 제3도에 도시된 바와 같이, 본 발명인 교환장치는 몸체(1)와 핸드(2)로 이루어지되, 몸체(1)는 하우징(10), 커버(11) 및 피스톤(12) 이 결합하여 이루어지고 핸드(2)는 외측케이싱(20), 커버(21) 및 피스톤(22)과 연동하는 핑거(23)의 결합으로 이루어진다.As shown in Figures 1 to 3, the present inventors exchange device consists of a body (1) and a hand (2), the body (1) is a housing (10), a cover (11) and a piston (12) The hand 2 is made of a combination of the outer casing 20, the cover 21 and the finger 23 in conjunction with the piston 22 is made of a combination.

몸체(1)의 하우징(10)은 일측 중심에 피스톤 작동홈(101)을 그리고 타측 중심엔 핸드 착탈홈(102)을 각각 형성하고 상기 피스톤 작동홈(101)과 핸드 착탈홈(102)사이엔 로드공(103)을 형성하며, 저면 양측엔 핀솜(104, 104')을 각각 형성하는 동시에, 외주연엔 작동 유체의 공급 및 배출이 이루어질 수 있도록한 포트(105, 106)와 후쉬(106') 볼플런저(107) 스프링(108) 및 세트스크류(109)를 체결 고정할 수 있게 이루어지고 통공(11110')이 형성된 다수의 홈부(110)를 형성하되, 피스톤 작동홈(101)은 포트(105)와 연통되고 핸드착탈홈(102)은 수직부와 경사부의 조합된 형태로 이루어지며, 로드공(103) 엔 링홈이 형성되어 O링(103')이 삽착되는 동시에, 핀홈(104)엔 링홈이 형성되어 O링(104″)이 삽착되고 포트(106)와 연통되게 되어 있으며, 볼플런저(107)는 만곡돌부(107a), 플랜지부(107b), 및 돌부(107c)가 일체로 형성되어 홈부(110)의 내측에 스프링(108)에 탄지된 채로 세트스크류(109)에 의하여 체결 고정되며 만곡돌부(107a)는 통공(110')에 끼워 결합된다.The housing 10 of the body 1 forms a piston actuating groove 101 at one center and a hand detachable groove 102 at the other center, and between the piston actuating groove 101 and the hand detachable groove 102. The rods 103 are formed, and the pins 104 and 104 'are formed on both sides of the bottom, respectively, and the ports 105 and 106 and the hush 106' are provided to allow the supply and discharge of working fluid to the outer periphery. The ball plunger 107 to form a plurality of grooves (110) formed to be fastened and fixed to the spring 108 and the set screw 109, the through hole (11110 '), the piston operating groove 101 is a port ( 105 is in communication with the hand detachable groove 102 is made of a combination of the vertical portion and the inclined portion, the rod hole 103 and the ring ring is formed, the O-ring 103 'is inserted and at the same time, the pin groove 104 A ring groove is formed so that the O-ring 104 " is inserted and in communication with the port 106. The ball plunger 107 includes a curved protrusion 107a, a flange portion 107b, and The protrusion 107c is integrally formed and fastened and fixed by the set screw 109 while being supported by the spring 108 inside the groove 110, and the curved protrusion 107a is fitted into the through hole 110 ′.

몸체(1)의 커버(11)는 일측 중심에 돌출단부(111)를 그리고 타측 중심엔 요홈(112)이 파여진 하향돌부(113)를 각각 형성하고 일측엔 유로(114)와 연통되는 포트(115)가 마련되어 전술한 바 있는 하우징(10)의 상단에 다수의 스크류(116)에 의한 체결 고정이 될 수 있게 이루어지되, 상기 하향돌부(113)의 외주연엔 링홈이 형성되어 O링(117)이 삽착되고 상기 하향돌부(113)의 외주연이 피스톤 작동홈(101)에 끼워 결합될 수 있게 되어 있다.The cover 11 of the body 1 has a protruding end portion 111 formed at one center thereof, and a downward protrusion 113 formed with a recess 112 at the other center thereof, and a port communicating with the flow passage 114 at one side thereof. 115 is provided to be fastened and fixed by a plurality of screws 116 on the top of the housing 10 as described above, the outer periphery of the downward protrusion 113 is formed with a ring groove O ring 117 ) Is inserted and the outer periphery of the downward protrusion 113 is fitted to the piston operating groove 101 to be coupled.

몸체(1)의 피스톤(12)은 외주연에 링홈이 형성되어 O링(121) 및 에어링(Wear Ring)(122)이 삽착되고, 중심엔 로드공(123)이 형성되어 피스톤로드(124)가 끼워 결합될 수 있게 이루어지되, 피스톤로드(124)는 나사부(125) 및 링홈(126)이 형성된 소경부(127)와 유로(128)가 형성된 대경부(129)가 일체로 이루어져 나사부(125)엔 스프링와셔(130)가 끼워지고 너트(131)에 의하여 체결 고정된다.The piston 12 of the body 1 has a ring groove formed on the outer circumference thereof, and an O-ring 121 and an air ring 122 are inserted, and a rod hole 123 is formed at the center of the piston rod 124. The piston rod 124 is formed of a small diameter portion 127 having a threaded portion 125 and a ring groove 126 and a large diameter portion 129 having a flow path 128 integrally formed therein. ) Spring washer 130 is fitted and is fastened and fixed by the nut (131).

핸드(2)의 외측케이싱(20)은 일측 중심에 유로(201)가 형성된 착탈돌부(20a)가, 착탈돌부(20a)의 양측방엔 위치 결정핀(20b, 20c)이 각각 결합되고 하부 중심엔 피스톤 작동홈(20d)이 형성되어 이루어지되, 착탈돌부(20a)는 전술한바 있는 하우징(10)의 핸드 착탈홈(102)에 끼워질 수 있도록 형성되고 외주연엔 링홈(202) 및 플런저홈(203)이 마련되어 링홈(202)엔 O링(204)이 끼워지고 플런저홈(203)엔 스프링(108)에 탄지된 볼플런저(107)가 끼워져 결합될 수 있게 되어 있으며, 위치 결정핀(20b)은 중심에 유로(205)가 형성되고 외주연엔 링홈이 형성되어 O링(206)이 각각 끼워지고 핀공(207)에 결합되는 한편 유로(208)와 연통되게 이루어지는 동시에 위치 결정핀(20c)은 핀홈(209)에 나합 고정되어 핀홈(104. 104')에 각각 끼워질 수 있게 되어 있고, 피스톤 작동홈(20d)은 유로(201, 208)와 각각 연통되게 이루어지되 유로(201)의 일측 단부엔 피킹시트(201a), 스틸보올(201b) 및 코킹(201c)에 의한 폐쇄가 이루어진다.The outer casing 20 of the hand 2 has a detachable protrusion 20a having a flow path 201 formed at one center thereof, and positioning pins 20b and 20c coupled to both sides of the detachable protrusion 20a, respectively, and have a lower center. The piston actuating groove 20d is formed, but the detachable protrusion 20a is formed to be fitted into the hand detachable groove 102 of the housing 10 as described above, and the outer periphery of the ring groove 202 and the plunger groove. O-ring 204 is provided in the ring groove 202, and the ball plunger 107 supported by the spring 108 is fitted into the ring groove 202, and the positioning pin 20b can be coupled thereto. ) Is formed with a flow path 205 at the center and a ring groove at the outer circumference thereof so that the O-rings 206 are fitted to each other and engaged with the pin hole 207, while communicating with the flow path 208, and at the same time, the positioning pin 20c Is fixedly screwed into the pin groove 209 so as to be fitted into the pin grooves 104. 104 ', respectively, and the piston actuating groove 20d is formed with the flow paths 201 and 208, respectively. One end of yen jidoe made to be communicated with flow path 201. Pick sheet (201a), made of steel bowl is closed by a (201b) and coking (201c).

핸드(2)의 커버(21)는 중심에 로드공(211)이 형성되고 상부엔 돌출부(212)가 형성되며 로드공(211)엔 링홈이 파여 O링(213)이 끼워지는 동시에 하부엔 돌출단부(214, 214')가 일체로 형성되어 이루어지되, 로드공(21)엔 피스톤 로드(224)가 접동이 자유롭게 끼워지고 돌출부(212)의 외주연은 피스톤 작동홈(20d)에 끼워져 커버(21)와 외측 케이싱(20d)이 스크류체결 고정되며 돌출단부(214, 214')사이엔 핑거(23)가 각각 축설된다.The cover 21 of the hand 2 has a rod hole 211 formed at the center thereof, and a protrusion 212 formed at the top thereof, and a ring groove is formed in the rod hole 211 so that the O-ring 213 is fitted at the same time. End portions 214 and 214 'are formed integrally, but the piston rod 224 slides freely into the rod hole 21, and the outer periphery of the protrusion 212 is fitted into the piston operating groove 20d to cover the cover ( 21 and the outer casing 20d are screwed and fixed, and the fingers 23 are arranged between the protruding ends 214 and 214 ', respectively.

피스톤(22)은 피스톤 작동홈(20d) 내부에서 접동 가능하게 설치되고 그 구조는 전술한 바 있는 피스톤링(12)과 같이 O링(221), 웨어링(222)이 외주연에 설치되고 중심엔 로드공(223)이 형성되어 피스톤로드(224)가 끼워 결합될 수 있게 이루어지되, 피스톤로드(224)는 나사부(225a) 및 링홈(225b)이 형성된 소경부(225)와 후술된 핑거(23)가 핀(226)에 의하여 설치되는 설치홈(227a)이 형성된 대경부(227)가 일체로 이루어져 나사부(225a)엔 스프링와셔(228)가 끼워지고 너트(229)에 의하여 체결 고정된다.The piston 22 is slidably installed in the piston actuating groove 20d, and its structure is similar to the piston ring 12 described above, and the O-ring 221 and the wear ring 222 are installed on the outer circumference thereof. The rod hole 223 is formed so that the piston rod 224 can be fitted to be coupled, the piston rod 224 is a small diameter portion 225 is formed with a screw portion 225a and a ring groove 225b and the finger 23 described below. A large diameter portion 227 is formed integrally with the mounting groove 227a where the mounting groove 227a is installed by the pin 226, and the spring washer 228 is fitted to the threaded portion 225a and is fastened and fixed by the nut 229.

핑거(23)는 통상의 형태로서 ㄱ자 형태로 이루어지고 축(231, 231')에 의하여 커버(21)의 돌출단부(214, 214')사이에 축설되며 일측 단부엔 장공(232)이 형성되어 핀(226)이 끼워 설치되는 동시에 피스톤로드(224)의 상하작동에 따라 핀(226)에 끼워진 양측핑거(23)가 서로 오무러들거나 벌어질 수 있게 되어 있다.The finger 23 is formed in a L-shape as a conventional shape, and is arranged between the protruding end portions 214 and 214 'of the cover 21 by the shafts 231 and 231', and a long hole 232 is formed at one end thereof. At the same time the pin 226 is fitted, the both sides finger 23 fitted to the pin 226 according to the up and down operation of the piston rod 224 is able to collapse or open each other.

미설명 부호로서 223은 O링을 표시하고 234는 로보트의 아암이나 매니퓰레이터와 조립하기 위한 템공을 나타내며 235는 핸드 수납 인덱스를 나타낸다.Reference numeral 223 denotes an O-ring, 234 denotes a temper for assembling with the arm or manipulator of the robot, and 235 denotes a hand storage index.

이하 본 발명의 작용 및 효과에 대하여 살펴보기로 한다.Hereinafter, the operation and effects of the present invention will be described.

우선 몸체(1)는 돌출단부(111)와 탭공(234)을 통하여 제4도에 도시한 바와 같이 산업용 로보트의 아암이나 매니퓰레이터에 체결 고정하게 되고 각 포트(105, 106, 115)엔 작동 유체를 공급 또는 배출하기 위한 호스가 설치되게 된다.First, the body 1 is fastened to the arm or manipulator of the industrial robot through the protruding end 111 and the tap hole 234, as shown in FIG. 4, and the working fluid is applied to each of the ports 105, 106 and 115. Hose for supply or discharge will be installed.

이와 같이 설치된 상태에서 핸드(2)의 교환과정을 알아본다.In this way, the installation process of the hand 2 is examined.

핸드(2)의 결합순서는 로보트아암이나 매니퓰레이터의 동작에 의하여 통상적으로 핸드순압 인덱스(235)에 보관되는 핸드중 사용목적에 적합한 핸드(2)를 핸드 수납인덱스(235)의 회전에 따라 소정위치에 위치시킨 상태에서 상하동작이 이루어지면 핸드(2)의 착탈돌부(20a)는 몸체(1)의 핸드착탈홈(102)에 그리고 위치결정핀(20b, 20c)은 핀홈(104, 104')에 각각 삽착되고 플런저홈(203)엔 스프링(108)에 탄지된 다수의 볼플런저(107)의 만곡돌부(107a)가 끼워져 몸체(1)와 핸드(2)의 결합이 이루어진다.The joining order of the hands 2 is a predetermined position in accordance with the rotation of the hand receiving index 235 of the hand 2 suitable for the purpose of use, which is typically stored in the hand pressure index 235 by the operation of a robot arm or a manipulator. When the up and down motion is performed in the state of being placed in the state, the detachable protrusion 20a of the hand 2 is located in the hand detachable groove 102 of the body 1 and the positioning pins 20b, 20c are the pin grooves 104, 104 '. The curved protrusions 107a of the plurality of ball plungers 107 inserted into the plunger grooves 203 and supported by the springs 108 are fitted to each other so that the body 1 and the hand 2 are coupled to each other.

이때 로보트아암이나 매니퓰레이터의 가압력은 스프링(108)의 탄지력 보다 통상 크게 이루어지므로 상호간의 결합이 가능하고 위치결정핀(20b)은 중심의 유로(205)가 형성되어 포트(106)와 유로(208)사이의 연결이 이루어지며 위치결정핀(20b, 20c)에 의한 위치결정이 이루어지는 동시에 유로(128)와 유로(201)이 연통되어 작동준비상태가 이루어진다.At this time, the pressing force of the robot arm or the manipulator is generally larger than the holding force of the spring 108 so that mutual coupling is possible, and the positioning pin 20b is formed with a central flow path 205 so as to form a port 106 and a flow path 208. Connection is made and positioning is performed by the positioning pins 20b and 20c, and at the same time, the flow path 128 and the flow path 201 communicate with each other to prepare for operation.

또한, 핑거(23)의 동작은 포트(105) 및 포트(106)를 통한 작동 유체의 공급 또는 배출에 의하여 이루어지게 되는바, 포트(105)를 통하여 작동유체가 공급되면 작동유체는 유로(128, 201)를 경유 피스톤(22)상부의 피스톤 작동홈(20d)에 공급되어 피스톤(22)상부를 가압하고 피스톤로드(224)가 하강하면서 피스톤로드(224)의 설치홈(227a)에 핀(226)으로 설치된 핑거(23)의 일측이 가압되고 양측핑거(23)는 축(231)을 지점으로하여 벌어지게되며, 포트(106)를 통하여 작동유체가 공급되면 작동유체는 핀홈(104) 및 유로(205, 208)를 경유 피스톤(22)하부의 피스톤작동홈(20d)에 공급되며 피스톤(22)은 상부로 가압되어 상향이동하고 양측핑거(23)는 전술한 동작과 반대로 오무라들게 된다.In addition, the operation of the finger 23 is made by the supply or discharge of the working fluid through the port 105 and the port 106, when the working fluid is supplied through the port 105, the working fluid is flow path 128 , 201 is supplied to the piston operating groove 20d on the upper portion of the diesel piston 22 to pressurize the upper portion of the piston 22 and the piston rod 224 is lowered so that the pin (in the installation groove 227a of the piston rod 224) One side of the finger 23 installed by 226 is pressed and both fingers 23 are opened by the shaft 231 as a point, when the working fluid is supplied through the port 106 the working fluid is a pin groove 104 and The flow paths 205 and 208 are supplied to the piston actuating groove 20d below the diesel piston 22, and the piston 22 is pressurized upward to move upward, and both fingers 23 fall into the opposite direction as described above. .

이와 같은 핑거(23)의 동작에 의하여 공작물의 파지이동등의 동작이 이루어지게 된다.By the operation of the finger 23 as described above, the operation such as gripping movement of the workpiece is made.

다음은 핸드(2)의 분리순서를 살펴보면, 우선 핑거(23)의 동작을 정지시키고 로보트아암이나 매니퓰레이터를 작동시켜 핸드 수납 인덱스중 빈 수납홈을 소정위치에 위치시킨 상태에서 상기 소정위치에 위치시키고 포트(115)를 통하여 작동유체를 공급하면 작동유체는 유로(114)를 경유, 피스톤(12)상부의 피스톤 작동홈(101)에 공급되어 피스톤(12)상부를 가압하고 피스톤(12)은 하강하게 되며 피스톤로드(124)는 핸드(2)의 착탈돌부(20a)를 가압하여 플런저홈(203)에 압입되어 있던 볼플런저(107)는 만곡돌부(107a)로부터 이탈후퇴하면서 위치결정핀(20b, 20c)역시 핀홈(104, 104')으로부터 분리되어 핸드 수납 인덱스중 빈 수납홈에 수납되게 된다.Next, referring to the separation procedure of the hand 2, first, the operation of the finger 23 is stopped and the robot arm or manipulator is operated to position the empty storage groove in the hand storage index at the predetermined position. When the working fluid is supplied through the port 115, the working fluid is supplied to the piston operating groove 101 on the upper part of the piston 12 via the flow path 114 to pressurize the upper part of the piston 12 and lower the piston 12. The piston rod 124 presses the detachable protrusion 20a of the hand 2 so that the ball plunger 107 press-fitted into the plunger groove 203 is retracted from the curved protrusion 107a while being positioned and retracted. 20c) is also separated from the pin groove (104, 104 ') is to be stored in the empty storage groove of the hand storage index.

이때, 포트(105)를 통하여 작동유체가 공급되는 상태에서 상기 동작이 이루어진 경우엔 피스톤 로드(124)가 하강하면서 로드공(103)에 유로(128)가 막히게 되어 작동유체의 공급이 중지될 수 있으며 이와 같이 피스톤로드(124)가 하강된 상태에서 다시 다른 핸드(2)를 결합하고자 하는 경우엔 포트(105)를 통하여 작동유체를 공급하면서 피스톤(12)이 상승하여 피스톤로드(124)를 원위치시킬 수 있다.At this time, when the operation is made in the state in which the working fluid is supplied through the port 105, the piston rod 124 is lowered and the flow path 128 is blocked in the rod hole 103 to stop the supply of the working fluid. When the piston rod 124 is lowered and the other hand 2 is to be coupled again, the piston 12 is raised while supplying the working fluid through the port 105 to return the piston rod 124 to its original position. You can.

상기와 같은 핸드(2)의 결합 및 분리동작에 의한 착탈이 이루어져 결국 핸드(2)의 교환동작은 이루어질 수 있다.Detachment is performed by the coupling and disengagement of the hand 2 as described above, and thus the exchange operation of the hand 2 may be performed.

따라서 본 발명은 핸드교환장치는 산업용 로보트나 매니퓰레이터에 설치되어 자동적인 핸드교환을 보다 신속하게 이룩할 수 있고 종래와 같은 유공압호그의 교환시간이나 체결스크류의 체결이나 분리작업이 전혀 필요치 아니하며 보다 경제적이고 작업성이 향상될 수 있는 장점을 가지며 다수개의 핸드를 단지 핸드수납인덱스에 수납시킨 상태에서 필요한 용도에 따라 적절한 핸드를 선택하여 수시로 교체 사용할 수 있어 소량 다품중 생산 목적에 적합하게 호환성을 가지고 이용할 수 있는 동시에 단순동작이 이루어지는 로보트나 매니퓰레이터엔 수동으로도 동작이 이루어지게 할 수 있는 등의 우수한 효과를 갖는다.Therefore, the present invention is a hand exchange device is installed in an industrial robot or manipulator to achieve automatic hand change more quickly and does not require the exchange time of the pneumatic pneumatic hog or the fastening or detachment of the fastening screw as in the prior art more economical It has the advantage that the performance can be improved, and it is possible to select the appropriate hand according to the necessary use and replace it at any time in a state where only a number of hands are stored in the hand storage index. At the same time, robots or manipulators that perform simple operations have excellent effects, such as allowing manual operation.

Claims

A hand consisting of a body (1) consisting of a combination of a housing (10), a cover (11) and a piston (12) and a finger (23) communicating with an outer casing (20), a cover (21) and a piston (22). It consists of (2), the housing (1) forms a piston operating groove 101 and the hand detachable groove 102, respectively, forming a rod hole 103 between the grooves (101, 102) and the bottom groove on both sides of the pin groove (104, 104 '), respectively, and at the same time the outer periphery of the port (105. 106) and a plurality of grooves (110); The cover 11 is provided with a downwardly protruding portion 113 in which the protruding end 111 and the recess 112 are dug, and a port 115 communicating with the flow passage 114 is provided, and the outer periphery of the downwardly protruding portion 113 is provided. An N-ring groove is formed so that the O-ring 117 can be inserted and the outer periphery of the downward protrusion 113 can be fitted into the piston actuating groove 101; The O-ring 121 and the wear ring 122 are inserted into the outer circumference of the piston 12, and the piston rod 124 is fitted into the central rod hole 123, and the piston rod 124 is a threaded portion 125 and a ring groove. A small diameter portion 127 in which 126 is formed and a large diameter portion 129 in which a flow path 128 is formed are integrally formed so that the fastening and fixing by the spring washer 130 and the nut 131 may be performed; The outer casing 20 is provided with a detachable protrusion 20a having a flow path 201, positioning pins 20b and 20c coupled to both sides of the detachable protrusion 20a, and a piston operating groove 20d at the lower center thereof. Meanwhile; The cover 21 is formed of a rod hole 211 into which the O-ring 213 is fitted, and protrusion end portions 214 and 214 'at the bottom of the upper protrusion 212 are integrally formed. 224 is fitted and the outer periphery of the projection 212 is such that the piston actuating groove 20d can be fitted; The piston 22 is made of a combination of the piston ring 224 of the 0 ring 221, the wear ring 222, the rod hole 223, like the piston 12, the piston rod 224 and the threaded portion (225a) and The small diameter portion 225 having the ring groove 225b and the large diameter portion 227 having the installation groove 227a where the finger 23 is installed by the pin 226 are integrally formed to form a spring washer 228 and a nut ( 229) of the industrial robot hand exchange apparatus characterized in that the fastening and fixing.

According to claim 1, wherein the body (1) the piston operating groove 101 is in communication with the port 105, the hand detachable groove 102 is made of a combination of the vertical portion and the inclined portion and the rod hole 103 in the O-ring ( 103 ') is inserted and at the same time the O-ring 104' is inserted into the pin groove 104 and communicates with the port 106. The ball plunger 107 is a curved protrusion 107a, a flange portion 107b and a protrusion 107c. Is integrally formed and fastened and fixed by the set screw 109 through a sieve supported by a spring 108 inside the groove 110 and the curved protrusion 107a is fitted into the through hole 110 '. Robot hand changer.

The outer casing 20 of the hand 2, the detachable protrusion 20a is formed to be fitted to the hand detachable groove 102 of the housing 10, the outer peripheral ring groove 202 And a plunger groove 203 is provided so that the ring groove 202 is fitted with an O-ring 204 and the plunger groove 203 is fitted with a ball plunger 107 which is supported by a spring 108 to be engaged. The pin 20b has a flow path 205 formed at the center thereof and a ring groove formed at the outer circumference thereof so that the O-rings 206 are respectively fitted and engaged with the pin hole 207 while communicating with the flow path 208. 20c is screwed into the pin groove 209 to be fitted into the pin grooves 104 and 104 ', respectively, and the piston actuating groove 20d is made in communication with the flow paths 201 and 208, but the flow path 201 One side end of the industrial exchange robot hand exchange, characterized in that the closing by the packing sheet 201a, steel bowl (201b) and caulking (201c) is made .