KR970005543A - Robotic Articulated Hand - Google Patents

Robotic Articulated Hand Download PDF

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Publication number
KR970005543A
KR970005543A KR1019960055666A KR19960055666A KR970005543A KR 970005543 A KR970005543 A KR 970005543A KR 1019960055666 A KR1019960055666 A KR 1019960055666A KR 19960055666 A KR19960055666 A KR 19960055666A KR 970005543 A KR970005543 A KR 970005543A
Authority
KR
South Korea
Prior art keywords
diameter piston
small diameter
solenoid valve
robot
cylinder body
Prior art date
Application number
KR1019960055666A
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Korean (ko)
Other versions
KR100197547B1 (en
Inventor
이정호
Original Assignee
이정호
주식회사 성산암데코
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 이정호, 주식회사 성산암데코 filed Critical 이정호
Priority to KR1019960055666A priority Critical patent/KR100197547B1/en
Publication of KR970005543A publication Critical patent/KR970005543A/en
Application granted granted Critical
Publication of KR100197547B1 publication Critical patent/KR100197547B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Landscapes

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

Abstract

본 발명은 각종 공작물의 자동가공시 사용되는 로보트의 관절형 손에 관한 것으로, 특히 요가공 공작물을 가공기계의 가공 기준면 및 기준핀 또는 척홀더에 부드럽고 정확하게 밀착하여 물리거나 탈거할 수 있는 로보트의 관절형 손에 관한 것이다. 외주 일측면에는 공압 또는 유압을 수급할 수 있는 복수의 포트(PORT)를 갖는 실린더몸체와 상기 실린더몸체 내측에 형성되며 O링을 갖는 솔레노이드 밸브(SOLENOID VALVE)를 형성한 소경 피스톤과, 상기 소경 피스톤을 수용하며 역시솔레노이드 밸브(SOLENOID VALVE)를 형성한 대경 피스톤과, 상기 소경 피스톤 및 대경 피스톤 외측에 형성되어 공작물을파지 하는 그리퍼(GRIPPER)를 수용하는 브라켓등으로 구성된 것으로, 종래의 위치결정 정밀도가 떨어지고 많은 제작비가소요되는 랙 피니언 방식을 탈피한, 작동유체를 공기 또는 기름을 이용한 정압안내 방식을 이용한 것으로 안내면의 마찰계수를 없애고 위치결정 정밀도를 높인 것으로, 공작물을 가공기계의 기준면 및 기준핀에 정확하고 부드러운 척킹 및 탈거를 위한 로보트의 관절 손을 제공함에 있는 것이다.The present invention relates to an articulated hand of a robot used in the automatic processing of various workpieces, and in particular, a joint of a robot that can bite or remove a yoga workpiece by smoothly and precisely adhering to a machining reference surface and a reference pin or chuck holder of a processing machine. It's about the brother's hand. On the outer circumferential side, a small diameter piston having a cylinder body having a plurality of ports capable of supplying pneumatic or hydraulic pressure, a solenoid valve formed inside the cylinder body and having a solenoid valve having an O-ring, and the small diameter piston And a bracket for accommodating a large diameter piston which also has a solenoid valve and a gripper which is formed outside the small diameter piston and the large diameter piston and grips the workpiece. The working fluid is a static pressure guiding method using air or oil, which avoids the rack pinion method, which requires a lot of manufacturing cost, and eliminates the friction coefficient of the guide surface and improves the positioning accuracy. To provide robotic joint hands for accurate and smooth chucking and removal. .

Description

로보트의 관절형 손Robotic Articulated Hand

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 정단면도를 나타내는 도면, 제2도는 본 발명의 평면상에서 작동상태를 나타낸 것이다.1 shows a front sectional view of the present invention, and FIG. 2 shows an operating state on the plane of the present invention.

Claims (4)

유압 또는 공압으로 동작 가능하며, 그 외일측부에 작동 유체를 수급할 수 있는 복수의 포트(2, 3, 4, 5)를가지며 그 상면은 로보트의 아암과 체결될 수 있는 복수의 연결공(13)을 갖는 실린더몸체(1)와, 상기 실린더몸체(1)양측부에 카버(6)를 가지며 내부중앙에는 밀폐작용을 하는 "0"(11)을 갖는 솔레노이드 밸브를 형성한 소경 피스톤(7)과, 상기 소경 피스톤(7)을 내삽 수용하며 역시 밀폐작용을 하는 "0"링(11)을 갖는 솔레노이드 밸브(8a)를 형성한 대경 피스톤(8)과, 상기 소경 피스톤(7) 및 대경 피스톤(8) 외측에 형성되어 공작물을 파지 하는 그리퍼(10)를 수용하는 브라켓(9)으로 이루어지는 것을 포함하는 로보트의 관절 손It is operable hydraulically or pneumatically, and has a plurality of ports (2, 3, 4, 5) for receiving the working fluid on the outer side thereof, the upper surface of the plurality of connecting holes (13) that can be engaged with the arm of the robot A small diameter piston (7) having a solenoid valve having a cylinder body (1) having an inner side of the cylinder body (1), a carver (6) at both sides of the cylinder body (1), and a "0" (11) in the inner center thereof. And a large diameter piston 8 interpolating the small diameter piston 7 and forming a solenoid valve 8a having a " 0 " ring 11, which also has a sealing action, and the small diameter piston 7 and the large diameter piston. (8) Articulated hand of the robot comprising a bracket (9) formed on the outside to receive a gripper (10) for holding a workpiece 제1항에 있어서, 상기 소경 피스톤(7)과 대경 피스톤(8)은 각각 솔레노이드 밸브(7a, 8a)에 의해 포트(2, 3, 4, 5)로 동력원이 동시 공급되거나 독립적으로 공급되어 실린더몸체(1)의 정지시에도 상기 피스톤(7, 8)은 구분되어따로 동작되거나, 또는 동시 동작될 수 있도록 형성한 것을 특징으로 하는 로보트의 관절 손2. The small diameter piston (7) and the large diameter piston (8) are each powered by a solenoid valve (7a, 8a) to the ports (2, 3, 4, 5) simultaneously or independently by a cylinder Even when the body 1 stops, the joints 7 and 8 of the robot are characterized in that they are formed to be operated separately or simultaneously. 제1항에 있어서, 상기 실린더몸체(1) 일측부와, 대경 피스톤(8)의 일측 끝단에 설치되어 작동시 팽창 및진공 상태를 제거하여 정숙성을 유지하는 소음기(12)를 포함하는 것을 특징으로 하는 로보트의 관절형 손According to claim 1, characterized in that it comprises a silencer (12) which is installed at one end of the cylinder body (1), one end of the large diameter piston (8) to remove the expansion and vacuum during operation to maintain quietness Articulated hand of a robot 제1항에 있어서, 상기 브라켓(9) 양측부에는 피스톤(7, 8)과 함께 직선운동을 하는 복수의 가이드(14)를형성한 것을 특징으로 하는 로보트의 관절형 손The articulated hand of the robot according to claim 1, wherein a plurality of guides (14) are formed on both sides of the bracket (9) for linear movement together with the pistons (7, 8).
KR1019960055666A 1996-11-20 1996-11-20 Robot hand KR100197547B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019960055666A KR100197547B1 (en) 1996-11-20 1996-11-20 Robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019960055666A KR100197547B1 (en) 1996-11-20 1996-11-20 Robot hand

Publications (2)

Publication Number Publication Date
KR970005543A true KR970005543A (en) 1997-02-19
KR100197547B1 KR100197547B1 (en) 1999-06-15

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ID=19482652

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019960055666A KR100197547B1 (en) 1996-11-20 1996-11-20 Robot hand

Country Status (1)

Country Link
KR (1) KR100197547B1 (en)

Also Published As

Publication number Publication date
KR100197547B1 (en) 1999-06-15

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