WO2006098556A1

WO2006098556A1 - Robot hand for loading stocks

Info

Publication number: WO2006098556A1
Application number: PCT/KR2006/000704
Authority: WO
Inventors: No-Gak Park; Jong-Moo Ryu; Joung-Yong Ha
Original assignee: Lg Household & Health Care Ltd.
Priority date: 2005-03-18
Filing date: 2006-02-28
Publication date: 2006-09-21
Also published as: DE112006000620T5; JP4907644B2; JP2008532786A

Abstract

The present invention relates to a robot hand for loading a plurality of products. The robot hand according to the present invention is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged side by side and horizontally separated from each other; a plurality of movable frames being combined with an upper portion of the gripper to fix the gripper; a guide rod passing through a plurality of movable frames to fix the movable frames; a pair of guide wings installed in both side ones of a plurality of movable frames; and a cylinder rod interconnecting a pair of guide wings and having a variable length.

Description

ROBOT HAND FOR LOADING STOCKS

TECHNICAL FIELD

The present invention relates to a robot hand for loading products, and more particularly to a robot hand that is capable of loading products in which intervals between a plurality of products can be significantly reduced to as small as possible.

BACKGROUND ART

Operation of an industrial robot is quite similar to that of human's hands, arms, and legs. Therefore, the industrial robot can be used in work requiring a lot of labor. As a result, the industrial robot has been adopted in various fields of current industries such as car manufacturing.

When products such as a powder packing container or a liquid packing container are put into a box for packing, robot hands as industrial robots are used. Here, robot hands are often used as a substitute for human hands.

If a plurality of packing containers of the same type are produced and output, a robot hand initially grasps them at one time. For convenience of work, the packing containers are output at a predetermined interval through a plurality of lines. Therefore, spaces exist between the packing containers. When a plurality of packing containers having spaces therebetween are grasped at one time and put into a box, a box with a large capacity is necessary due to the spaces. Therefore, unnecessary costs are consumed since the box with a large capacity is necessary. In addition, since spacing is formed between products loaded in the box, there is a problem that the products tumble down by shaking so that they are not arranged well during transportation. DETAILED DESCRIPTION OF THE INVENTION

Technical Goal of the Invention

The present invention has been conceived to solve the above mentioned problems, and provides a robot hand for loading products so as to load a plurality of products while minimizing interval between a plurality of products.

Disclosure of the Invention

A robot hand according to the present invention is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged side by side and horizontally separated from each other, a plurality of movable frames being combined with an upper portion of the gripper to fix the gripper, a guide rod passing through a plurality of movable frames to fix the movable frames, a pair of guide wings installed at both sides of a plurality of movable frames, and a cylinder rod interconnecting a pair of guide wings and having a variable length. When the length of the cylinder rod is at its minimum, a pair of guide wings may be extended to be inclined in an outward and downward direction from the robot hand.

When the length of the cylinder rod is at its maximum, a pair of guide wings are preferably directed in a vertical direction.

The guide wing may include a driving portion having one end which is fixed by hinges at the main frame and is connected to the connecting rod, and a cover connected to the other end of the driving portion. The driving portion may include a first driving frame fixed by hinges at the main frame, and a pair of second driving frames installed at both sides of the first driving frame in a direction to be intersected with the first driving frame. The connecting rod may be connected to the second driving frame.

Preferably, the gripper includes a gripper casing that is opened at its lower side. One side surface of the gripper casing and the second driving frame are preferably disposed together on a virtual plane extending in a vertical direction.

A pair of second driving frames may be supported by a supporting rod interconnecting a pair of second driving frames, and one end of the connecting rod may be connected to the supporting rod.

The cover may have a plurality of openings that are separated from each other.

The movable frame may be slid along the guide rod.

Preferably, the connecting rod may have a predetermined length. The gripper may include a gripper casing that is opened at its lower side; a pair of gripping portions protruding through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of a pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between a pair of gripping portions; and an elastic member interconnecting a pair of gripping portions. Both lower sides of the gripper driving portion may have inclined surfaces, which make a plane contact with a curved surface respectively formed on upper ends of the gripper portions.

When the gripper driving portion moves downward, a distance between a pair of gripping portions preferably becomes narrower.

When the gripper driving portion moves upward, a distance between a pair of gripping portions preferably becomes wider. A pair of guide rods may be installed in both sides of the movable frames.

A pair of guide wings may be installed between a pair of guide rods, the pair of guide wings facing each other.

Each of the movable frames may include a bracket having a lower portion combined with the gripper, and a through hole portion installed in both ends of the bracket and allowing the guide rod to pass therethrough.

The cylinder rods may connect each movable frame disposed at both ends of the plurality of movable frames among the plurality of movable frames with the main frame. A plurality of grippers may be combined with each bracket.

When a plurality of products are loaded, the pair of guide wings are preferably directed in a vertical direction.

The cylinder rods may be fixed at a lower portion of the main frame. A robot hand according to the present invention is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged side by side and horizontally separated from each other; a plurality of movable frames each combined with an upper portion of the gripper to fix the gripper; a guide rod passing through a plurality of movable frames to fix the movable frames; a main frame combined with an upper side of the movable frame disposed at the center of a plurality of movable frames; a cylinder rod connecting the movable frames with the main frame along an arranging direction of the grippers and having a variable length; a pair of guide wings fixed by hinges at both sides of the main frame and extended along an arranging direction of a plurality of grippers; and a pair of driving cylinders having one end fixed on the main frame and the other end connected to the respective guide wing.

When the length of the cylinder rod is at its maximum, a pair of guide wings may be extended to be inclined in an outward and downward direction from the robot hand.

The driving cylinders may be extended in an outward and upward direction from the robot hand.

When the length of the cylinder rod is at its minimum, a pair of guide wings are preferably extended in a vertical direction.

The driving cylinders are preferably extended in a horizontal direction. A pair of driving cylinders are preferably installed to be crossed with each other and are installed on the main frame. The guide wing may include a driving portion having one end connected to the driving cylinder and extended in a curved shape, and a

cover connected to the other end of the driving portion and fixed by hinges at the main frame. The cover may have a plurality of openings that are separated from each other.

The driving portion and the cover may be crossed with each other at a right angle and be connected to each other.

A pair of guide rods may be installed at both sides of a plurality of movable frames.

A pair of driving cylinders may be installed between a pair of guide

rods.

A pair of guide wings may be installed between a pair of guide rods and face each other. The gripper preferably includes a gripper casing that is opened at its lower side; a pair of gripping portions protruding through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of a pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between a pair of gripping portions; arid an elastic member interconnecting a pair of gripping portions. Both lower ends of the gripper driving portion preferably have inclined surfaces, which make a plane contact with a curved surface respectively formed on upper ends of the gripper portions.

When the gripper driving portion moves downward, a distance between a pair of gripping portions may become narrower.

When the gripper driving portion moves upward, a distance between a pair of gripping portions may become wider.

A robot hand according to the present invention is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged in parallel and horizontally separated from each other; a plurality of movable frames combined with upper portions of the grippers for fixing the grippers; a guide rod passing through a plurality of movable frames to fix them; a cylinder rod connected to the movable frame and extending along an arranging direction of the grippers and having a variable length; vertical cylinders fixed at both ends of the plurality of movable frames among the plurality of movable frames; and a pair of guide wings fixed by hinges at both ends of the plurality of movable frames among the plurality of movable frames and connected to the vertical cylinders and extended to an arranging direction of a plurality of grippers.

Preferably, one side of the guide wing is fixed by hinges, a supporting bracket is attached to the other side of the guide wing that is separated from the one side of the guide wing by a predetermined distance, and one end of the vertical cylinder is combined with the supporting bracket.

When the length of a pair of vertical cylinders is at its minimum, a pair of guide wings may be extended to be inclined in an outward and downward direction from the robot hand.

When the length of a pair of vertical cylinders is at its maximum, a pair of guide wings may be extended in a vertical direction.

Preferably, the robot hand further includes a connecting member for interconnecting the adjacent movable frames and the connecting member is shaped to be crossed.

The connecting member may include a plurality of first connecting portions having its center fixed at the movable frames which are arranged between movable frames disposed at both end thereof; a plurality of second connecting portions having its center fixed at an overlapped point with the first connecting portion and being three-dimensionally crossed with the first connecting portions; a pair of third connecting portions having one end fixed at the side movable frame and the other end connected to an end of the first connection portion; and a pair of fourth connecting portions each having one end three-dimensionally crossed with the third connecting portion and fixed at an overlapped point with the third connecting portion and the other end connected to an end of the second connecting portion. The first, second, third, and fourth connecting portions may operate to be rotated.

The length of the first connecting portion may be the same as that of the second connecting portion.

The length of the third connecting portion may be the same as that of the fourth connecting portion.

The lengths of the first and second connecting portions may be longer than those of the third and fourth connecting portions.

A pair of the cylinder rods may have one end connected to the movable frame disposed at both ends of the plurality of movable frames among the plurality of movable frames. The cylinder rods may be crossed with each other.

The gripper may include a gripper casing opened at its lower side; a pair of gripping portions protruded through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of a pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between a pair of gripping portions; and an elastic member interconnecting a pair of gripping portions. Both lower ends of the gripper driving portion may have inclined surfaces, which make a plane contact with a curved surface respectively formed on upper ends of a pair of gripper portions.

When the gripper driving portion moves upward, the distance between a pair of gripping portions preferably becomes wider. A pair of guide rods may be installed in both side movable frames.

A pair of guide wings may be installed between a pair of guide rods and face each other.

A pair of vertical cylinders may be installed between a pair of guide rods.

A robot hand according to the present invention is capable of loading a plurality of products at one time. The robot hand includes a plurality of grippers arranged in parallel and horizontally separated from each other; a plurality of movable frames each combined with an upper side of the gripper to fix the gripper; a guide rod passing through a plurality of movable frames to fix the movable frames; a pair of guide wings installed to both sides of a plurality of movable frames; and a cylinder rod interconnecting a pair of guide wings and having a variable length. The robot hand according to the present invention preferably further includes a connecting member interconnecting a plurality of movable frames and the connecting member is preferably shaped to be crossed.

The connecting member may interconnect a pair of guide wings with movable frames disposed at both ends of the plurality of movable frames among the plurality of movable frames.

The connecting member may include a plurality of first connecting portions each having its center fixed at the movable frame arranged between both the side movable frames; a plurality of second connecting portions each having its center fixed at an overlapped point with the first connecting portion and being three-dimensionally crossed with the first connection portions; a pair of third connecting portions having one end fixed at the side movable frame and the other end connected to an end of the first connection portion; and a pair of fourth connecting portions having one end three-dimensionally crossed with the third connecting portion and fixed at an overlapped point with the third connecting portion and the other end connected to an end of the second connecting portion. The first, second, third, and fourth connecting portions may operate to be rotated. Preferably, the length of the first connecting portion is the same as that of the second connecting portion.

Preferably, the length of the third connecting portion is the same as that of the fourth connecting portion.

Preferably, the lengths of the first and second connecting portions are longer than those of the third and fourth connecting portions.

A pair of guide wings may be extended in a vertical direction. The movable frame preferably includes a pair of first panels vertically separated from each other; a pair of second panels interconnecting both ends of a pair of first panels; and a movable frame body installed in a space formed by a pair of first panels and a pair of second panels, the guide rod passing through the movable frame body.

The first panel may have a guide groove formed in a longitudinal direction of the first panel, and the movable frame body may be connected to the gripper through the guide groove. A pair of the grippers is preferably fixed at the movable frame, and a pair of the grippers has an interval that can be adjusted through the guide groove.

A cylinder may be attached to an outside of a pair of second panels, and the cylinder may be connected to the movable frame body while passing through the second panel.

A guide groove may be formed in the first panel in a longitudinal direction of the first panel, and the cylinder may be operated along a direction of the guide groove.

A plurality of grippers are preferably installed along a longitudinal direction of the movable frame, and the grippers are preferably movable along a longitudinal direction of the movable frame.

Preferably, the robot hand according to the present invention further includes a pair of another guide wings for covering both longitudinal ends of the movable frames. Another guide wings are preferably installed to be crossed with the guide wings.

The robot hand according to the present invention may further include a pair of guide connecting members attached side by side having one end fixed by hinges at an inside of the another guide wing; a support for fixing the other end of the pair of guide connecting members by hinges; a main frame on which the support is installed; and a vertical cylinder installed in the main frame and connected to an upper side of the another guide wing.

A pair of supporting rods may be installed to pass through the guide connecting member and the support.

The pair of supporting rods are preferably fixed.

A pair of guide connecting members may operate in a circular arc shape on a center of the supporting rod when the vertical cylinders are operated.

When the length of the vertical cylinder is at its minimum, one end of the guide connecting member is preferably higher than the other end of the guide connecting member. When the length of the vertical cylinder is at its maximum, one end of the guide connecting member is preferably lower than the other end of the guide connecting member.

Preferably, the vertical cylinder is fixed by hinges at the main frame.

The gripper may include a gripper casing that is opened at its lower side; a pair of gripping portions protruded through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of a pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between a pair of gripping portions; and an elastic member interconnecting a pair of gripping portions. Both lower ends of the gripper driving portion may have inclined surfaces, which make a plane contact with a curved surface respectively formed on upper ends of a pair of gripper portions.

When the gripper driving portion moves upward, a distance between a pair of gripping portions preferably becomes wider.

A pair of guide rods may be installed on both sides of the movable frames.

A pair of guide wings may be installed between a pair of guide rods which face each other. Effect of the Invention According to the present invention, when a plurality of products are

loaded, It is possible to minimized intervals between the plurality of products. Therefore, it is possible to reduce the volume of the products and thus to load them in a small size of box.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS Fig. 1 is a perspective view of a robot hand according to a first embodiment of the present invention;

Fig. 2 is a partial exploded view of the robot hand of Fig. 1 ;

Fig. 3 is a partial cutaway view of a gripper of the robot hand of Fig.

1 ; Figs. 4 to 7 are diagrams of an operation state of the robot hand of

Fig. 1 ;

Fig. 8 is a perspective view of a robot hand according to a second embodiment of the present invention;

Figs. 9 and 10 are diagrams of an operation state of the robot hand of Fig. 8;

Fig. 11 is a perspective view of a robot hand according to a third embodiment of the present invention;

Figs. 12 and 13 are diagrams of an operation state of the robot hand of Fig. 11 ;

Figs. 14 and 15 are another diagrams of an operation state of the robot hand of Fig. 11 ;

Fig. 16 is a front view of a robot hand according to a fourth embodiment of the present invention;

Figs. 17 and 18 are partial cutaway views of an operation state of the

robot hand according to a fifth embodiment of the present invention;

Fig. 19 is a perspective view schematically showing a robot hand

according to a sixth embodiment of the present invention; and

Figs. 20 to 22 are diagrams of an operation state of the robot hand of

Fig. 19.

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will now be described in detail

with reference to Figs. 1 to 22. The embodiments are intended to exemplify

the present invention, but not to limit it.

Embodiments

Embodiments of the present invention will now be described in detail

with reference to Figs. 1 to 22, which are intended to exemplify but the present invention is not limited thereto.

Fig. 1 illustrates a robot hand 100 according to the first embodiment of the present invention. The structure shown in Fig. 1 is merely an example of the present invention, but the present invention is not limited thereto. Therefore, various modifications of the structure of the robot hand 100 can be made without departing from the concept of the present invention. In Fig. 1 , unnecessary parts and their descriptions, which can be easily understood by the ordinary persons skilled in the art, are omitted for convenience of understanding. As shown in Fig. 1 , the robot hand 100 includes a plurality of grippers

10, a plurality of movable frames 20, a pair of guide rods 30, a main frame 50, a pair of cylinder rods 40, a pair of guide wings 60, and a connecting rod 70. In addition to these, other elements may be further included if necessary. The robot hand 100 includes a plurality of grippers 10 for loading a plurality of products at one time. The plurality of grippers 10 are spaced from each other in order to easily grasp the products. In addition, the plurality of grippers 10 are horizontally arranged side by side. A movable frame 20 is installed above the plurality of grippers 10 to fix each of them. The plurality of grippers 10 can be safely fixed by using the movable frames 20.

A plurality of movable frames 20 are fixed by the guide rods 30 extending along an X-axis direction. The guide rods 30 fix the plurality of movable frames 20 by passing through them. Therefore, the movable frames 20 are safely fixed. The main frame 50 fixes the movable frames 20 and then connects them to external devices. Driving lines for driving the robot hand 100 pass through an opening 501 of the main frame 50. Since the connecting configuration and structure of the driving lines can be easily understood by the ordinary persons skilled in the art, detail description thereof will be omitted.

The cylinder rods 40 combine the main frame 50 with the movable frames 20. Since the cylinder rods 40 are fixed at a lower portion of the main frame 50, they operate well. The detailed structure of the cylinder rods 40 can be easily understood by those skilled in the art, and a detailed description thereof will be omitted.

The length of a cylinder rod 40 is adjusted by the operation of the cylinder along the arranging direction of the grippers (for example, an X-axis direction). Since one side of the cylinder rod 40 is fixed at the main frame 50, the movable frame 20 moves depending on the variation of the length of the cylinder rod 40. Accordingly, the interval of a plurality of movable frames 20 can be shortened or lengthened on an axis of the main frame 50. Therefore, when a plurality of grippers 10 grasp a plurality of products, they can be loaded with their intervals being reduced. A pair of guide wings 60 are installed to face each other between a pair of guide rods 30. Therefore, the robot hand 100 has a robust structure to safely grasp a plurality of products. When a plurality of grippers 10 grasp a plurality of products, the pair of guide wings 60 allow the plurality of products to be collected together more tightly. The guide wings 60 are fixed by hinges at both sides of the main frame 50. Since the guide wing 60 is fixed by the hinge 503, the guide wings 60 can operate to rotate.

The guide wings 60 include a driving portion 601 and a cover 603. One end of the driving portion 601 is fixed by hinges at the main frame 50. The other end of the driving portion 601 is connected to the cover 603.

Each driving portion 601 is connected to the grippers 11 and 15 by a pair of

connecting rods 70, thereby it is driven to rotate. Accordingly, the cover 603

is rotated together to cover both sides of the grippers 11 and 15.

The driving portion 601 includes a first driving frame 6011 and a pair

of second driving frames 6013. Besides, the driving portion 601 can include other elements if necessary. Since the driving portion 601 has the

aforementioned structure, the products can be easily gripped by an

interaction of the grippers 11 and 15.

The first driving frame 6011 is fixed by hinges at the main frame 50.

A pair of second driving frames 6013 are installed at both sides of the first driving frame 6011 , respectively. A pair of second driving frames 6013 are

installed to be crossed with the first driving frame 6011. A pair of connecting

rods 70 are connected to each of the second driving frames 6013. Since

the first driving frame 6011 and the second driving frames 6013 have a plurality of openings, the weight of the driving portion 601 can be reduced, so

that the load applied to the robot hand 100 can be minimized. In addition,

the air resistance is minimized, thereby the guide wings 60 can smoothly

operate.

Since the cover 603 has a plurality of openings 6031 , air resistance can be minimized during its operation. Particularly, the cover 603 comes in

contact with the products gripped by the grippers 11 and 15. Therefore, the cover 603 must have a predetermined area to push the products. A plurality of openings 6031 are spaced from each other at predetermined intervals, thereby the cover 603 can have a predetermined area. Accordingly, the products can be effectively pushed.

A pair of second driving frames 6013 are supported by a supporting rod 6015. The pair of second driving frames 6013 are connected together by the supporting rod 6015 and are supported by the supporting rod 6015. One end 701 of the connecting rod 70 is connected to the supporting rod 6015. Since the supporting rod 6015 is shaped as a cylinder, one end 701 of the pair of connecting rods 70 are attached to the circumference of the supporting rod 6015 and appropriately operate.

The connecting rod 70 is connected to the grippers 11 and 15 and the guide wings 60. The grippers 11 and 15 are located at both end sides of a plurality of grippers 10. The left gripper 11 is connected to the left guide wing 60 which is adjacent thereto, while the right gripper 15 is connected to the right guide wing 60 which is adjacent thereto. The connecting rod 70 has a predetermined length. Therefore, the length of the connecting rod 70 cannot be lengthened or shortened. Accordingly, if the cylinder rod 40 starts to operate, the movable frames 20 are pulled toward the center of the robot hand 100, and the grippers 11 and 15 move together. In this case, since the grippers 11 and 15 are connected to the guide wing 60 through the connecting rod 70, and the guide wing 60 is pulled. Accordingly, the guide wings 60, which are fixed by hinges, are rotated so that they cover both sides of a plurality of products. Now, a structure of the robot hand 100 of Fig. 1 will be described in more detail with reference to Fig. 2, which is a partially exploded view of Fig. 1.

Fig. 2 illustrates the robot hand 100 of Fig. 1 from which the main frame 50, the guide wings 60, and the connecting rods 70 are removed. The exploded structure of the robot hand 100 shown in Fig. 2 is to exemplify the present invention, but the present invention is not limited thereto.

As shown in Fig. 2, the movable frame 20 includes a bracket 201 and a through hole portion 203. The bracket 201 extends along a Y-axis direction. The grippers 10 are combined with the bracket 201 therebelow.

A plurality of grippers 10 may be combined with one bracket 201 along a Y- axis direction. While it is shown in Fig. 2 that two grippers 10 are combined with one bracket 201 , this is to exemplifythe present invention, and the present invention is not limited thereto. Therefore, a different number of grippers 10 can be combined with one bracket 201.

The through hole portions 203 are installed at both sides of the bracket 201. The guide rods 30 are installed at both sides of the movable frame 20, and the guide rod 30 passes through the through hole portions 203. Accordingly, the movable frames 20 can be slid along the guide rods 30. The interval of the movable frames 20 can be lengthened or shortened by their sliding movement.

The cylinder rod 40 connects the movable frames 21 and 25 disposed at both ends of the movable frames 20 among them and the main frame 50 together. The movable frames 21 and 25 are disposed at both ends of the movable frames 20 among a plurality of movable frames 20. Since one end of the cylinder rods 40 is fixed at the main frame, it can pull or push the movable frames 21 and 25 when the cylinder rods 40 operate. Accordingly, the interval of all the movable frames 20 can be lengthened or shortened by operating only the movable frames 21 and 25 disposed at both ends of the movable frames 20.

Fig. 3 is a partially cutaway view illustrating a gripper 10 of Fig. 1. The structure of the gripper 10 shown in Fig. 3 is intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the structure of the gripper 10.

As shown in Fig. 3, the gripper 10 includes a gripper casing 101 , a pair of gripping portions 103, a fixing pin 105, a gripper driving portion 107, and an elastic member 109. The gripper 10 can further include other elements if necessary.

The gripper casing 101 is opened at its lower end. In other words, an opening 1011 is formed at a lower end of the gripper casing 101. A pair of gripping portions 103 are protruded through the lower side of the gripper casing 101. Since a pair of gripping portions 103 are separated from each other, the product can be inserted into the space between them and then be gripped. The curved portion 1031 formed in an upper end of the pair of gripping portions 103 contacts with the inclined surface 1071 of the gripper driving portion 107. The fixing pin 105 is shaped as a cylinder and passes through an upper portion of the pair of gripping portions 103. Both ends of the fixing pin 105 are fixed on the gripper casing 101. Since the fixing pin 105 is shaped as a cylinder, a pair of gripping portions 103 can appropriately rotate on an axis of the fixing pin 105 as an axis.

The gripper driving portion 107 is installed in an upper portion of the spacing 103s between a pair of gripping portions 103. Inclined surfaces 1071 are formed at both sides of the lower end 1071 of the gripper driving portion 107. The inclined surfaces 1071 make a plane contact with the curved portions 1031. Accordingly, when the inclined surfaces 1071 are driven, the curved portions 1031 move upward or downward while the spacing between a pair of gripping portions 103 becomes narrower or wider. The gripper driving portion 107 may be actuated by a hydraulic cylinder or air pressure cylinder. Since the moving mechanism of the gripper driving portion 107 can be easily understood by the skilled in the art, its detailed description thereof is omitted.

The elastic member 109 connects a pair of gripping portions 103 with each other. Although the elastic member 109 is shown as a spring in Fig. 3, this is merely to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the elastic member 109. When the spacing between a pair of gripping portions 103 becomes large, the elastic member 109 let the spacing return to its original state. The spacing between a pair of gripping portions 103 can be reduced or increased by an interaction between the gripper driving portion 107 and the elastic member 109.

As show in Fig. 3, if the gripper driving portion 107 moves downward in a direction indicated by a upper side arrow, the inclined surfaces 1071 are inserted between a pair of curved portions 1031. Accordingly, the interval between a pair of curved portions 1031 increases. In this case, since a pair of gripping portions 103 are fixed by the fixing pins 105, they rotate in a direction indicated by a lower side arrow on an axis of the fixing pin 105. Therefore, as shown in the enlarged circle of Fig. 3, a pair of gripping portions 109 becomes parallel. In other words, as the gripper driving portion 107 moves downward, the distance between a pair of gripping portions 103 becomes narrower. Accordingly, the products can be easily gripped by using the gripping portions 103. Furthermore, a plurality of concave portions and protruding portions are continuously formed on the inner surfaces 1033 of a lower side of the gripping portions 103. Therefore, the products can be stably gripped. An elastic material such as a rubber can be coated on the inner surfaces of a lower side of the gripping portions 103 in order for products to be prevented from damaging.

On the contrary, when the gripper driving portion 107 moves upward, the inclined surfaces 1071 are pulled out from the space between a pair of curved portions 1031. The space between a pair of gripping portions 103 becomes wider since they are pulled by the elastic force of the elastic member 109. Accordingly, the products gripped by the gripping portions 107 are released and fall on the desired position in order to be easily loaded.

Figs. 4 to 7 illustrate processes of gripping and loading the products by using the robot hand shown in Fig. 1. The processes of loading products by using the robot hand will be explained in order with reference to Figs. 4 to 7.

As shown in Fig. 4, the robot hand 100 is disposed over the manufactured products B. Each gripper 10 is disposed directly over each product B so that a plurality of products B may be gripped by the gripping portions 103 of the gripper 10. In this case, the guide wing 60 does not operate yet. Since the cylinder rod 40 does not operate yet, the cylinder rod 40 is at its maximum length. Accordingly, a pair of guide wings 60 are extended to be inclined in an outward and downward direction from the robot hand 100.

One side surface 1013 of the gripper casing and the driving frame 601 should be arranged together on a virtual plane P that is shown as deviant crease lines in Fig. 4. The virtual plane P is extended along a vertical direction. In this case, the gripper 10 and the guide wing 60 can be connected side by side by using a pair of connecting rods 70. Accordingly, the guide wing 60 can appropriately rotate without interference of the connecting rods 70 and so on.

Then, as shown in Fig. 5, the upper ends of the products B are gripped by the grippers 10. Next, the robot hand 100 is hoisted and transferred to a desired position by a transfer device that is connected to the main frame 50. Since the products B are safely gripped by the grippers 10, they are hoisted together with the robot hand 100. As soon as the robot hand 100 starts to move, the cylinder rod 40 operates to pull the movable frames 21 and 25 disposed at both ends of a plurality of movable frames 20. Accordingly, the interval of the movable frames 20 becomes narrower. Therefore, the guide wings 60, which are connected to the grippers 11 and 15 by the connecting rods 70, rotate in a direction indicated by arrows, thereby covering both sides of a plurality of products B.

Therefore, as shown in Fig. 6, a plurality of products B can be completely gathered together without any interval. In this case, a length of the cylinder rod 40 is at its minimum, a pair of guide wings 60 are directed to a vertical direction (along the z-axis direction). A pair of guide wings 60 completely cover both sides of a plurality of products B. While the aforementioned condition is maintained, the robot hand 107 is transferred to a loading position. A box O is prepared under the robot hand 100 in order to load the products B with a minimum volume.

Next, as shown in Fig. 7, the robot hand 100 sharply approach directly over the box O, and the grippers 10 are released. The interval of a pair of gripping portions 103 becomes wider by an elastic force of the elastic member 109, and the products B fall down and are loaded in the box O. Since a pair of guide wings 60 are directed in a vertical direction when a plurality of products B are loaded, a plurality of products B can be loaded in the box O with their arranged state itself. After the products B are loaded, the robot hand 100 is returned to its original position while dispersing the movable frames.

A robot hand 200 according to the second embodiment of the present invention will be described below with reference to Figs. 8 to 10. Fig. 8 shows a robot hand 200 according to the second embodiment of the present invention. The structure of the robot hand 200 is intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the structure of the robot hand 200. Since the structure of the robot hand 200 shown in Fig. 8 is similar to that of the first embodiment of the present invention, same reference numerals refer to the same elements and their detailed description is omitted.

As shown in Fig. 8, the robot hand 100 includes a plurality of grippers 10, a plurality of movable frames 20, guide rods 30, a main frame 52, cylinder rods 40, a pair of guide wings 62, and a pair of driving cylinders 82. Besides, other elements may be included if necessary.

The robot hand 200 according to the second embodiment of the present invention has guide wings 62 that are independently driven from each other. This point is different from the robot hand 100 according to the first embodiment. The guide wings 62 are not connected to the grippers 10, but are connected to a separated driving cylinder 82 and operate. While the interval of the movable frames 20 is reduced by operating the cylinder rods 40, the guide wings 62 can rotate by operating the driving cylinders 82. The cylinder rods 40 and the driving cylinders 82 may operate together by adjusting a controlling method. Accordingly, when each gripper 10 grips each product, the cylinder rods 40 operate. The driving cylinders 82 push the guide wings 62 while the interval of the movable frames 20 becomes narrower. Then, the guide wings 62 cover both sides of a plurality of products. Such a method for controlling the cylinder rods 40 and the driving cylinders 82 can be understood by the skilled in the art, thereby detailed description thereof is omitted.

One end 821 of the driving cylinder 82 is fixed at the main frame 52, and the other end 823 is connected to the guide wing 62. Since the main frame 52 is fixed and the guide wings 62 are fixed by hinges, the guide wings 62 rotate by operating the driving cylinder 82. Therefore, the guide wings 62 can smoothly rotate.

A pair of driving cylinders 82 are installed on the main frame 52 while crossing each other. Since the driving cylinders 82 are long, it is difficult to install them on the main frame 52 with mutual symmetry. Therefore, a pair of driving cylinders 82 are arranged in a crossing position, thereby being easily installed on the main frame 52. The robot hand 200 can smoothly operate by installing a pair of driving cylinders 82 between a pair of guide rods 30.

The guide wing 62 includes a driving portion 621 and a cover 623. One end 6211 of the driving portion 621 is connected to the driving cylinder 82, and the other end 6213 of the driving portion 621 is connected to the cover 623. The driving portion 621 is shaped in a curve and is extended at some length. Therefore, the cover 623 can be driven to rotate.

Since the cover 623 is fixed by hinges at the main frame 52, it can smoothly rotate. The driving portion 621 and the cover 623 are connected to each other while crossing each other with a right angle. Therefore, the driving portion 621 may easily push or pull the cover 623, thereby the cover

623 can smoothly rotate.

Processes for operating the robot hand 200 will be described in order with reference to Figs. 9 and 10. Since processes for operating the robot hand 200 according to the second embodiment shown in Figs. 9 and 10 are similar to those of the first embodiment of the present invention, the same operating processes are omitted to show.

As shown in Fig. 9, the robot hand 200 opens gripping portions 103 of a plurality of the gripper 10 and moves to a plurality of products B. Since the cylinder rods 40 do not operate yet, the cylinder rods 40 are at their maximum length. In this case, a pair of guide wings 62 are extended to be inclined in an outward and downward direction from the robot hand 200.

Therefore, a plurality of products B can be easily gripped by using the robot hand 200. On the other hand, the driving cylinders 82 are extended to be inclined in an outward and upward direction from the robot hand 200. Since the driving cylinders 82 are disposed like above, the guide wings 62 can smoothly rotate.

The gripper 10 grips the products B by using a pair of gripping portions 103. After the grippers 10 grip the products B, the cylinder rods 40 operate. The distance between a plurality of movable frames 20 becomes narrow by operating the cylinder rod 40. At the same time, the driving cylinders 82 operate, thereby the guide wings 62 rotate toward both side ends of a plurality of grippers 10.

As shown in Fig. 10, the cylinder rods 40 completely operate to their minimum length. In this case, the driving cylinders 82 move downward and then are extended in a horizontal direction. Accordingly, the guide wings 62 can be easily supported by using the driving cylinders 82. Such operation of the driving cylinders 82 allow a pair of guide wings 62 to be extended in a vertical direction. Accordingly, a pair of guide wings 62 cover both side

ends of a plurality of products B, and gather the products B together. The robot hand 200 can load a plurality of products B in the box O while maintaining such a condition. In other words, the products B can be loaded in the box O by opening the gripping portions 103 of the grippers 10. After the products B are loaded, the robot hand 200 returns to its original position while dispersing the movable frames.

A robot hand 300 according to the third embodiment of the present invention will be described below with reference to Figs. 11 to 15. Fig. 11 schematically illustrates a robot hand 300 according to the third embodiment of the present invention. The structure of the robot hand 300 is intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the structure of the robot hand 300. Since the structure of the robot hand 300 according to the third embodiment of the present invention is similar to that of the second embodiment of the present invention, same reference numerals refer to the same elements and detailed description thereof is omitted.

The robot hand 300 includes a plurality of grippers 10, a plurality of movable frames 20, guide rods 30, cylinder rods 43, a pair of vertical cylinder 83, and a pair of guide wings 63. Besides, other elements may be further included if necessary. The vertical cylinders 83 are installed along a vertical direction (i.e., the z-axis direction). A pair of vertical cylinders 83 are installed between a pair of guide rods 30. The vertical cylinders 83 rotate the guide wings 63. The vertical cylinders 83 are fixed at the movable frames 21 and 25 by the mounting supports 833. Accordingly, when the movable frames 21 and 25 move along the guide rods 30, the vertical cylinders 83 may move together. In addition, a pair of guide wings 63 are also fixed by hinges at the movable frames 21 and 25. A pair of guide wings 63 are extended along an arranging direction of a plurality of grippers 10 (i.e., an x-axis direction). Therefore, the guide wings 63 can easily rotate to approach both side ends of a plurality of grippers 10.

The enlarged circle of Fig. 11 shows a connecting structure of a left guide wing 63, a vertical cylinder 83, and a movable frame 21. As shown in the enlarged circle of Fig. 11 , one side 63a of the guide wing 63 is fixed by hinges at the movable frame 21. The other side 63b of the guide wing 63 is separated from one side 63a of the guide wing 63 at a predetermined distance. A supporting bracket 631 is attached at the other side 63b of the guide wing 63. One end 831 of the vertical cylinder 83 is combined with the supporting bracket 631.

The rotating procedure of the guide wing 63 by operating the vertical cylinder 83 will be explained below. First, in the ? process, the vertical

cylinder 83 operates along a direction indicated by an arrow. Accordingly,

the supporting bracket 631 connected to one end 831 of the vertical cylinder 83 is also forced downward. Therefore, the force is applied to the other side 63b of the guide wing 63. Then, in the ? process, the guide wing 63 rotates along a direction indicated by an arrow by operating the vertical cylinder 83. Since one side 63a of the guide wing 63 is fixed by hinges, the guide wing rotates as described above. Although not shown in Fig. 11 , since the right guide wing 63 is symmetric to the left guide wing 63, the right guide wing 63 identically operates as the above process. The right guide wing 63 is fixed by hinges at the movable frame 25.

The connecting member 73 pulls a plurality of movable frames 20 toward a center direction, thereby gathering the products B. Since movable frames 21 and 25 disposed at both side ends thereof are connected to the respective cylinder rod 43, a plurality of movable frames 20 can be gathered or dispersed by pulling or pushing the connecting member 73. Therefore, an operating mechanism of the robot hand 300 is simple.

In addition, the vertical cylinder 83 and the connecting member 73

can operate together by adjusting a method for controlling them. Since

such a controlling method can be understood by the skilled in the art,

detailed description thereof is omitted. The connecting member 73 will be

described below in detail with reference to Figs. 14 and 15.

Processes for operating the robot hand 300 will be described in order with reference to Figs. 12 and 13. Since the processes for operating the

robot hand 300 shown in Figs. 12 and 13 are similar to those of the second

embodiment of the present invention, descriptions of the same processes

are omitted.

As shown in Fig. 12, the robot hand 300 approaches a plurality of

products B. Since the plurality of products B are separated from each other,

they can be gripped by a plurality of grippers 10. In this case, since a pair

of vertical cylinders 83 do not operate yet, they are at their minimum length. Accordingly, a pair of guide wings 63 are extended to be inclined in an

outward and downward direction from the robot hand 300. Accordingly, the robot hand 300 can easily grip a plurality of products B that are separated from each other.

Next, the plurality of products B are gripped by the plurality of grippers 10 while the vertical cylinder 83 operate, thereby the pair of guide wings 63 cover both sides of a plurality of products B. Accordingly, the plurality of products B are gathered well. According to the third embodiment of the present invention, the vertical cylinder 83 is separately operated from the connecting member 73. As the connecting member 73 operate, the movable frames 20, which are disposed at both side ends of the movable frames, are gathered toward the center direction, and the vertical cylinders 83 and the guide wings 63, which are fixed at the movable frames 21 and 25, also move toward the center direction.

As shown in Fig. 13, after a plurality of products B are gathered by the robot hand 300, the grippers 10 are opened to load a plurality of products B in the box O. In this case, the pair of vertical cylinders 83 is at their maximum length. The pair of guide wings 63 are extended in a vertical direction to cover both sides of a plurality of products B and gather them. After loading the products B, the robot hand 300 returns to its original position while dispersing the movable frames 20.

Figs. 14 and 15 are partial plan views of the robot hand. Figs. 14 and 15 illustrate processes for operating the robot hand by using the connecting member 73. In Figs. 14 and 15, unnecessary elements are omitted for convenience in order to explain the connecting member 73.

As shown in Fig. 14, the connecting member 73 interconnects the adjacent movable frames 73. The connecting member 73 is shaped to be crossed. Therefore, when a pair of cylinder rods 43 operate, a plurality of movable frames 25 are gathered toward the center direction by using the connecting members 73. A pair of fixed cylinders 43 can be connected to both movable frames 21 and 25 disposed at both ends of the movable frames. Therefore, their lengths are allowed to be short, thereby possibility of interference with the connecting member 73 can be reduced.

The connecting members 73 include a plurality of first connection portions 731 , a plurality of second connecting portions 733, a pair of third connecting portions 735, and a pair of fourth connection portions 737. A

pair of third connecting portions 735 and a pair of fourth connection portions 737 are installed in the movable frames 21 and 25 disposed at both side ends of the movable frames.

The centers of the first connecting portions 731 are fixed at the movable frames 22, 23, and 24. The movable frames 22, 23, and 24 are interposed between the movable frames 21 and 25 disposed at both side ends of the movable frames. The centers of the second connecting portions 733 are fixed at the movable frames 22, 23, and 24. The second connecting portions 733 three-dimensionally cross the first connecting portions 731. Therefore, a plurality of first connecting portions 731 and a plurality of second connecting portions 733 are connected in an X-shape or a diamond shape.

One end 7351 of a pair of third connecting portions 735 is fixed at the movable frame 21 or 25. The other end 7353 of a pair of third connection portions 735 is connected to the end 7311 of the first connecting portions 731. In addition, the fourth connecting portions 737 are three-dimensionally crossed with the third connecting portions 735. One end 7371 of a pair of fourth connecting portions 737 is fixed at and overlapped with the third connecting portions 735. The other end 7373 of the fourth connecting portions 737 is connected to the end 7331 of the second connecting portions 733.

Here, the first connecting portion 731 , the second connecting portion 733, the third connecting portion 735, and the fourth connecting portions 737 can operate to be rotated. This is because the ends or the centers thereof are fixed. Therefore, the connecting member 73 can smoothly operate by pulling or pushing the cylinder rods 43. Accordingly, the interval of a plurality of movable frames 20 can be freely adjusted. The length of the first connecting portion 731 is the same as that of the second connecting portion 733. Therefore, a plurality of first connecting portions 731 and a plurality of second connecting portions 733 can be arranged in a symmetrical manner, thereby more smoothly operating the connecting member 73. Particularly, the connecting member 73 can more smoothly operate by making the length of the third connecting portion 735 be the same as that of the fourth connecting portions 737.

The third connecting portions 735 and the fourth connecting portions 737 are disposed at side positions and the first connecting portions 731 and the second connecting portions 733 are disposed therebetween. Accordingly, it is preferable that the first connecting portion 731 and the second connecting portion 733 are longer than the third connecting portion 735 and the fourth connecting portion 737. Such a structure of the connecting member 73 allows the robot hand to smoothly operate by using a small power.

Fig. 15 illustrates that the interval of a plurality of movable frames 20 is minimized by operating a pair of cylinder rods 43 in a direction indicated by an arrow. If the cylinder rods 43 operate in a direction opposing to a direction indicated by an arrow, the interval of a plurality of movable frames 20 can be increased. On the other hand, since hinges 211 and 251 are attached in both movable frames 21 and 25 disposed at both ends of the movable frames, a pair of guide wings can be fixed at the hinges 211 and 251 and then rotate. Fig. 16 illustrates a robot hand 400 according to the fourth embodiment of the present invention. The structure of the robot hand 400 is intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the structure of the robot hand 400. Since the structure of the robot hand 400 according to the fourth embodiment of the present invention is similar to that of the third embodiment of the present invention, same reference numerals refer to same elements detailed descriptions thereof are omitted.

As shown in Fig. 16, the robot hand 400 includes a plurality of grippers 10, a plurality of movable frames 20, guide rods 30, cylinder rods 44, and a pair of guide wings 64. Besides, other elements can be further included if necessary.

The cylinder rod 44 interconnects a pair of guide wings 64. The length of the cylinder rod 44 can be adjusted. A pair of guide wings 64 are extended in a vertical direction (along a z-axis direction). Therefore, when the interval of a plurality of movable frames 20 becomes narrow, a pair of guide wings 64 can cover both sides of a plurality of products and gather them without any rotation. A pair of guide wings 64 can be attached to both movable frames 21 and 25 disposed at both ends of the movable frames or be separated from them. Although a pair of guide wings 64 are shown to be separated from the movable frames 21 and 25 in Fig. 16, they can be attached to the movable frames 21 and 25. The connecting member 74 interconnects a plurality of movable frames 20. The configuration of the connecting member 74 is the same as that of the third embodiment of the present invention. The connecting member 74 is shaped to be crossed. Accordingly, a plurality of movable frames 20 are interconnected, thereby the interval of a plurality of movable

frames 20 can be increased and reduced.

As shown in Fig. 16, a pair of guide wings 64 and the movable frames 21 and 25 disposed at both side ends of the movable frames are interconnected by the connecting member 74. Therefore, when the cylinder 44 operates, a plurality of movable frames 20 and a pair of guide wings 64 can be gathered together or dispersed together. As described above, since the structure of the robot hand 400 is simple, the robot hand 400 can smoothly operate.

Since processes for operating the robot hand 400 according to the fourth embodiment of the present invention can be easily derived from the above processes for operating the robot hand according to the first and third embodiments of the present invention, detailed description thereof is omitted.

Figs. 17 and 18 partially shows a robot hand 500 according to the fifth embodiment of the present invention. The structure of the robot hand

500 shown in Figs. 17 and 18 is intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, various modifications can be adapted to the structure of the robot hand 500. Since the structure of the robot hand 500 according to the fifth embodiment of the present invention is similar to that of the fourth embodiment of the present invention, same reference numerals refer to the same elements, and detailed description thereof is omitted.

In Fig. 17, the guide wings and the connecting member are omitted to show in order to explain for a convenience. The guide wings and the connecting member shown in Fig. 16 may be used in the robot hand 500 according to the fifth embodiment of the present invention.

As shown in Fig. 17, the grippers 10a and 10b are movable in a direction which is indicated by an arrow (i.e., y-axis direction) as well as in an x-axis direction along the guide rods 30. Therefore, when each product is gripped by each gripper 10a and 10b, a space occupied by a plurality of products can be minimized. For this purpose, the movable frame 28 has a unique structure.

Although only a pair of grippers 10a and 10b are shown in Fig. 17, they are intended to exemplify the present invention, but the present invention is not limited thereto. Therefore, a plurality of grippers can be installed along a longitudinal direction of the movable frame 28 (i.e., in a y- axis direction). Accordingly, a plurality of grippers can move along a longitudinal direction of the movable frame 28, thereby the products can be loaded with a minimum volume after gripping a large amount of products.

The movable frame 28 includes a pair of first panels 281 , a pair of second panels 283, and movable frame bodies 285a and 285b. A pair of first panels 281 are vertically separated. In addition, a pair of second panels 283 interconnect both ends of a pair of first panels 281. Accordingly, the movable frame 28 is shaped to have a cavity which is formed in an x-axis direction.

The movable frame bodies 285a, 285b are installed in a space 28s formed by a pair of first panels 281 and a pair of second panels 283. Since the guide rods 30 pass through the movable frame bodies 285a and 285b, the movable frame 28 can smoothly move along an x-axis direction.

A guide groove 281a is formed along a longitudinal direction of the pair of first panels 281 (i.e., y-axis direction). The guide groove 281a is formed to pass through the first panel 281. Therefore, the movable frame bodies 285a and 285b can be connected to the grippers 10a and 10b, respectively. Since the grippers 10a and 10b are fixed at the movable frame 28, the interval therebetween can be adjusted by using the guide groove 281a. Accordingly, the grippers 10a and 10b can be easily moved in a y-axis direction.

Fig. 18 shows a state that a movable frame 28 having the above mentioned structure operates. The grippers 10a and 10b are gathered along a y-axis direction, and a plurality of products are loaded. Then, the spacing between grippers 10a and 10b should be enlarged in order for them to grip other products again.

For this purpose, cylinders 45 are provided on outsides of a pair of second panels 283. The cylinders 45 pass through a pair of second panels

283 and are connected to the movable frame bodies 285a and 285b. The connecting rods 451 provided in the cylinders 45 interconnect the cylinders

45 and the movable frame bodies 285a and 285b. The length of the connecting rod 451 is controllable and the connecting rod 451 operates along a y-axis direction. In other words, the cylinder 45 operates along a longitudinal direction of the guide groove 281a (i.e., in the y-axis direction). The cylinders 45 may pull the movable frame bodies 285a and 285b, thereby allowing the grippers 10a and 10b to return to their original positions.

Fig. 19 illustrates a robot hand 600 according to the sixth embodiment of the present invention. The structure of the robot hand 600 is intended to exemplify the present invention, but the present invention is not limited thereto.

The robot hand 600 shown in Fig. 19 is used for reducing the interval of the products in an x-axis direction, which is different from the above mentioned robot hand. Therefore, the robot hand 600 having this type is suitable to the robot hand according to the fourth and fifth embodiments of the present invention. As described above, it is more effective to use the robot hand 600 with the robot hands according to the fourth and fifth embodiments of the present invention rather than separately using the robot hand 600.

In the robot hands according to the fourth and fifth embodiments of the present invention, the guide wing is arranged in parallel with an x-axis direction. On the other hand, according to the robot hand 600 according to the sixth embodiment of the present invention, other guide wings 66 are arranged in parallel with a y-axis direction. Accordingly, other pair of guide wings 66 cover both side ends of the movable frame in a longitudinal direction (i.e., x-axis direction), and are installed in a direction which is crossed with the pair of guide wings. Since the robot hand 600 has such a structure, a space formed between the products along an x-axis direction can be reduced.

The robot hand 600 includes guide connecting members 67, supports 561 , a main frame 56, and vertical cylinders 86. A plurality of supports 561 are provided under the main frame 56 and are directed downward. Each support 561 has a pair of openings 5611 , and the supporting rods 69 pass through each opening 5611 and are connected thereto. The vertical cylinder 86 is fixed by hinges at the main frame 56 by the mounting stand 863. Accordingly, the vertical cylinders 86 can operate in left or right directions as it operates. Since the vertical cylinder 86 can freely operate to the left or right directions, the products can be suitably covered by another pair of guide wings 66.

One end 671 of a pair of guide connecting members 67 is fixed by hinges at the inside of other guide wings 66, respectively. A pair of guide connecting members 67 are attached to the guide wings 66 side by side and operate together. The supporting rods 69 pass through the other end 673 of the pair of guide connecting members 67. The support 561 fixes the other end 673 of a pair of guide connecting members 67 by hinges. The vertical cylinders 86 are connected to the upper portion of the guide wings 66, thereby operating the guide wings 66 upward and downward.

Since the supporting rods 69 are fixed, positions of the other ends 673 of the guide connecting members 67 are not varied. On the contrary, since other pair of guide wings 66 operate upward and downward by the vertical cylinders 86, the positions of the ends 671 of the guide connecting members 67 are varied. Therefore, the guide connecting members 67 rotate on an axis of the other ends 673 thereof. This will be explained in detail with reference to Figs. 20 to 22.

Figs. 20 to 22 shows processes for operating the robot hand in order according to the sixth embodiment of the present invention. Although the robot hands according to the fourth and fifth embodiments of the present invention can be installed with the robot hand according to the sixth embodiment of the present invention, detailed descriptions thereof are omitted for convenience. Fig. 20 shows a state before the vertical cylinder 86 operates. The products B are disposed under the robot hand. Since the vertical cylinder 86 is at its minimum length, one end 671 of the guide connecting member 67 is located to be higher than the other end 673 of the guide connecting member 67. The supporting rod 69 is fixed in order not to move. Other guide wings 66 are separated from the products B.

Fig. 21 shows a state that the vertical cylinder 86 operates. As the vertical cylinder 86 starts to operate, a pair of guide connecting members 67 operate to move along a circular arc on an center of the supporting rods 69. When the vertical cylinders 86 operates, the vertical cylinders 86

move downward like a process CD. The vertical cylinders 86 move to

slightly outside of the robot hand while operating. The guide wings 66, which are connected to the vertical cylinders 86, are forced downward while the ends 671 of the guide connecting members 67 are also forced. In this case, the other ends 673 of the guide connecting member 67 are fixed by the supporting rods 69, thereby the guide connecting members 67 rotate along a

direction indicated by an arrow like a process (2). The horizontal distance

between the guide wing 66 and the products B continues to increase until the height of one end 671 of the guide connecting member 67 becomes the same as that of the other end 673 thereof.

Fig. 22 shows a state that the vertical cylinders 86 complete their operation. When the vertical cylinders 86 complete their operation, they are at their maximum length. In this case, one end 671 of the guide connecting member 67 is lower than the other end 673 thereof. Therefore, a pair of guide wings 66 pushes a plurality of products B, thereby gathering them toward the center thereof. By using such a method, the products can be effectively loaded in the box.

Claims

1. A robot hand for loading a plurality of products at one time, wherein the robot hand comprises: a plurality of grippers arranged side by side and horizontally separated from each other; a plurality of movable frames being combined with an upper portion of the gripper to fix the gripper; a guide rod passing through a plurality of movable frames to fix the movable frames; a main frame combined with an upper portion of the movable frame disposed at the center of a plurality of movable frames; a cylinder rod connecting the movable frames with the main frame along an arranging direction of the grippers, the cylinder rod having a variable length; a pair of guide wings fixed by hinges at both sides of the main frame and extended along an arranging direction of the plurality of grippers; and a pair of connecting rods connecting each grippers disposed at both ends of the plurality of grippers among the plurality of grippers with the guide wings adjacent to the each grippers, respectively.

2. The robot hand of claim 1 , wherein the pair of guide wings are extended to be inclined in an outward and downward direction from the robot hand when the length of the cylinder rod is at its minimum.

3. The robot hand of claim 1 , wherein the pair of guide wings are directed in a vertical direction when the length of the cylinder rod is at its maximum.

4. The robot hand of claim 1 , wherein the guide wings comprises: a driving portion having one end which is fixed by hinges at the main frame and is connected to the connecting rod; and a cover connected to the other end of the driving portion.

5. The robot hand of claim 4, wherein the driving portion comprises: a first driving frame fixed by hinges at the main frame; and a pair of second driving frames installed at both sides of the first driving frame in a direction to be intersected with the first driving frame, the connecting rod being connected to the second driving frame.

6. The robot hand of claim 5, wherein the gripper comprises a gripper casing opened at its lower side, and one side surface of the gripper casing and the second driving frame are disposed together on a virtual plane extending in a vertical direction.

7. The robot hand of claim 5, wherein the pair of second driving frames are supported by a supporting rod interconnecting the pair of second driving frames, and one end of the connecting rod is connected to the supporting rod.

8. The robot hand of claim 4, wherein the cover has a plurality of openings that are separated from each other.

9. The robot hand of claim 1 , wherein the movable frame can be slid along the guide rod.

10. The robot hand of claim 1 , wherein the connecting rod has a predetermined length.

11. The robot hand of claim 1 , wherein the gripper comprises: a gripper casing that is opened at its lower side; a pair of gripping portions protruding through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of the pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between the pair of gripping portions; and an elastic member interconnecting the pair of gripping portions, wherein both lower sides of the gripper driving portion have inclined surfaces, which makes a plane contact with a curved surface respectively formed on upper ends of the pair of gripper portions.

12. The robot hand of claim 11 , wherein a distance between the pair of gripping portions becomes narrower when the gripper driving portion moves downward.

13. The robot hand of claim 11 , wherein a distance between the pair of gripping portions becomes wider when the gripper driving portion moves upward.

14. The robot hand of claim 1 , wherein the pair of guide rods are installed in both sides of the movable frames.

15. The robot hand of claim 14, wherein the pair of guide wings are installed between the pair of guide rods, and the pair of guide wings face each other.

16. The robot hand of claim 1 , wherein each of the movable frames comprises: a bracket having a lower portion combined with the gripper; and a through hole portion installed in both ends of the bracket, the through hole portion allowing the guide rod to pass therethrough.

17. The robot hand of claim 16, wherein the cylinder rods connect each movable frame disposed at both ends of the plurality of movable frames among the plurality of movable frames with the main frame.

18. The robot hand of claim 16, wherein a plurality of grippers are combined with each bracket.

19. The robot hand of claim 1 , wherein the pair of guide wings are directed in a vertical direction when the plurality of products are loaded.

20. The robot hand of claim 1 , wherein the cylinder rods are fixed at a lower portion of the main frame.

21. A robot hand for loading a plurality of products at one time, wherein the robot hand comprises: a plurality of grippers arranged side by side and horizontally separated from each other; a plurality of movable frames each combined with an upper portion of the gripper to fix the gripper; a guide rod passing through the plurality of movable frames to fix the movable frames; a main frame combined with an upper sides of the movable frame disposed at the center of a plurality of movable frames;

a cylinder rod connecting the movable frames with the main frame along an arranging direction of the grippers, the cylinder rod having a variable length; a pair of guide wings fixed by hinges at both sides of the main frame and extended along an arranging direction of the plurality of grippers; and a pair of driving cylinders , each driving cylinder having one end fixed on the main frame and the other end connected to the respective guide wing.

22. The robot hand of claim 21 , wherein the pair of guide wings are extended to be inclined in an outward and downward direction from the robot hand when the length of the cylinder rod is at its maximum.

23. The robot hand of claim 22, wherein the driving cylinders are extended to be inclined in an outward and upward direction from the robot hand.

24. The robot hand of claim 21 , wherein the pair of guide wings are extended in a vertical direction when the length of the cylinder rod is at its minimum.

25. The robot hand of claim 24, wherein the driving cylinders are extended in a horizontal direction.

26. The robot hand of claim 21 , wherein the pair of driving cylinders are installed to be crossed with each other and installed on the main frame.

27. The robot hand of claim 21 , wherein each of the guide wings comprises: a driving portion having one end connected to the driving cylinder and extended in a curved shape; and a cover connected to the other end of the driving portion and being fixed by hinges at the main frame.

28. The robot hand of claim 27, wherein the cover has a plurality of openings that are separated from each other.

29. The robot hand of claim 27, wherein the driving portion and the cover are crossed with each other at a right angle and connected to each other.

30. The robot hand of claim 31 , wherein the pair of guide rods are installed at both sides of the plurality of movable frames.

31. The robot hand of claim 30, wherein the pair of driving cylinders are installed between the pair of guide rods.

32. The robot hand of claim 30, wherein the pair of guide wings are installed between the pair of guide rods and face each other.

33. The robot hand of claim 31 , wherein each of the grippers comprises: a gripper casing opened at its lower side; a pair of gripping portions protruded through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of the pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between the pair of gripping portions; and an elastic member interconnecting the pair of gripping portions, wherein both lower ends of the gripper driving portion have inclined surfaces, which make a plane contact with a curved portion respectively formed on upper ends of the pair of gripper portions.

34. The robot hand of claim 33, wherein, a distance between the pair of gripping portions becomes narrower when the gripper driving portion moves downward.

35. The robot hand of claim 34, wherein the distance between the pair of gripping portions becomes wider when the gripper driving portion moves upward.

36. A robot hand for loading a plurality of products at one time, wherein the robot hand comprises:

a plurality of grippers arranged in parallel and horizontally separated from each other; a plurality of movable frames combined with upper portions of the grippers for fixing the grippers; a guide rod passing through the plurality of movable frames to fix them; a cylinder rod connected to the movable frame and extending along an arranging direction of the grippers, the cylinder rod having a variable length; vertical cylinders fixed at both ends of the plurality of movable frames among the plurality of movable frames; and a pair of guide wings fixed by hinges at both ends of the plurality of movable frames among the plurality of movable frames and connected to the vertical cylinders, the pair of guide wings being extended in an arranging direction of the plurality of grippers.

37. The robot hand of claim 36, wherein one side of the guide wing is fixed by hinges, a supporting bracket is attached to the other side of the guide wing that is separated from the one side of the guide wing by a predetermined distance, and one end of the vertical cylinder is combined with the supporting bracket.

38. The robot hand of claim 37, wherein the pair of guide wings are extended to be inclined in an outward and downward direction from the robot hand when the length of a pair of vertical cylinders is at its minimum.

39. The robot hand of claim 37, wherein the pair of guide wings are extended in a vertical direction when the length of a pair of vertical cylinders is at its maximum.

40. The robot hand of claim 36, further comprising a connecting member for interconnecting the adjacent movable frames, the connecting member being shaped to be crossed.

41. The robot hand of claim 40, wherein the connecting member comprises: a plurality of first connecting portions having its center fixed at the movable frames which are arranged between movable frames disposed at both end thereof; a plurality of second connecting portions having its center fixed at an overlapped point with the first connecting portion, the second connecting portions being three-dimensionally crossed with the first connecting portions; a pair of third connecting portions having one end fixed at the side movable frame and the other end connected to an end of the first connection portion; and

a pair of fourth connecting portions each having one end three- dimensionally crossed with the third connecting portion and fixed at an overlapped point with the third connecting portion and the other end connected to an end of the second connecting portion, wherein the first, second, third, and fourth connecting portions operates to be rotated.

42. The robot hand of claim 41 , wherein the length of the first connecting portion is the same as that of the second connecting portion.

43. The robot hand of claim 41 , wherein the length of the third connecting portion is the same as that of the fourth connecting portion.

44. The robot hand of claim 41 , wherein the lengths of the first and second connecting portions are longer than those of the third and fourth connecting portions.

45. The robot hand of claim 41 , wherein a pair of the cylinder rods have one end connected to the movable frames disposed at both ends of the plurality of movable frames among the plurality of movable frames.

46. The robot hand of claim 36, wherein the cylinder rods are crossed with each other.

47. The robot hand of claim 36, wherein each of the grippers comprises:

a gripper casing opened at its lower side;

a pair of gripping portions protruding through the lower side of the

gripper casing and separated from each other;

a cylindrical fixing pin passing through upper sides of the pair of gripping portions and having both ends fixed at the gripper casing;

a gripper driving portion installed on an upper side of a gap between

the pair of gripping portions; and

an elastic member interconnecting the pair of gripping portions,

wherein both lower ends of the gripper driving portion have inclined

surfaces, which make a plane contact with curved portion respectively

formed on upper ends of the pair of gripper portions.

48. The robot hand of claim 47, wherein a distance between the pair of gripping portions becomes narrower when the gripper driving portion moves downward.

49. The robot hand of claim 47, wherein the distance between the pair of gripping portions becomes wider when the gripper driving portion moves upward.

50. The robot hand of claim 36, wherein a pair of guide rods are installed at both sides of movable frames.

51. The robot hand of claim 50, wherein the pair of guide wings are installed between the pair of guide rods, and the pair of guide wings face each other.

52. The robot hand of claim 50, wherein a pair of vertical cylinders are installed between the pair of guide rods.

53. A robot hand for loading a plurality of products in one time, wherein the robot hand comprises: a plurality of grippers arranged in parallel and horizontally separated from each other; a plurality of movable frames each combined with an upper side of the gripper to fix the gripper; a guide rod passing through the plurality of movable frames to fix the movable frames; a pair of guide wings installed at both sides of the plurality of movable frames; and a cylinder rod interconnecting the pair of guide wings, the cylinder rod having a variable length.

54. The robot hand of claim 53, further comprising a connecting member interconnecting the plurality of movable frames, wherein the connecting member is shaped to be crossed.

55. The robot hand of claim 54, wherein the connecting member interconnects a pair of guide wings with movable frames disposed at both ends of the plurality of movable frames among the plurality of movable frames.

56. The robot hand of claim 54, wherein the connecting member comprises: a plurality of first connecting portions having its center fixed at the movable frames which are arranged between movable frames disposed at both end thereof; a plurality of second connecting portions having its center fixed at an overlapped point with the first connecting portion, the second connection portions being three-dimensionally crossed with the first connection portions; a pair of third connecting portions having one end fixed at the side movable frame and the other end connected to an end of the first connection portion; and a pair of fourth connecting portions having one end three- dimensionally crossed with the third connecting portion and fixed at an overlapped point with the third connecting portion and the other end connected to an end of the second connecting portion, wherein the first, second, third, and fourth connecting portions operates to be rotated.

57. The robot hand of claim 56, wherein the length of the first connecting portion is the same as to that of the second connecting portion.

58. The robot hand of claim 56, wherein the length of the third connecting portion is the same as that of the fourth connecting portion.

59. The robot hand of claim 56, wherein the lengths of the first and second connecting portions are longer than those of the third and fourth connecting portions.

60. The robot hand of claim 53, wherein the pair of guide wings are extended in a vertical direction.

61. The robot hand of claim 53, wherein each of the movable frames comprises: a pair of first panels that are vertically separated from each other; a pair of second panels interconnecting both ends of the pair of first panels; and a movable frame body installed in a space formed by the pair of first panels and the pair of second panels, the guide rod passing through the movable frame body.

62. The robot hand of claim 61 , wherein the first panel has a guide groove formed in a longitudinal direction of the first panel, and the movable frame body is connected to the gripper through the guide groove.

63. The robot hand of claim 62, wherein the pair of grippers are fixed on the movable frame, and the pair of the grippers has an interval that can be adjusted through the guide groove.

64. The robot hand of claim 61 , wherein a cylinder is attached to an

outside of the pair of second panels, and the cylinder is connected to the

movable frame body while passing through the second panel.

65. The robot hand of claim 64, wherein a guide groove is formed in the first panel in a longitudinal direction of the first panel, and the cylinder is operated along a direction of the guide groove.

66. The robot hand of claim 53, wherein a plurality of grippers are installed along a longitudinal direction of the movable frame, and the grippers are movable along a longitudinal direction of the movable frame.

67. The robot hand of claim 66, further comprising a pair of another guide wings for covering both longitudinal ends of the movable frames, wherein the another guide wings are installed to be crossed with the guide wings.

68. The robot hand of claim 67, further comprising: a pair of guide connecting members attached side by side having one end fixed by hinges at an inside of the another guide wing; a support for fixing the other end of the pair of guide connecting members by hinges; a main frame on which the support is installed; and a vertical cylinder installed in the main frame and connected to an upper side of the another guide wing.

69. The robot hand of claim 68, further comprising a pair of supporting rods passing through the guide connecting member and the support.

70. The robot hand of claim 69, wherein the pair of supporting rods are fixed.

71. The robot hand of claim 69, wherein the pair of guide connecting members are operated in a circular arc shape on an center of the supporting rod when the vertical cylinders are operated.

72. The robot hand of claim 68, wherein one end of the guide connecting member is higher than the other end of the guide connecting member when the length of the vertical cylinder is at its minimum.

73. The robot hand of claim 68, wherein one end of the guide

connecting member is lower than the other end of the guide connecting member when the length of the vertical cylinder is at its maximum.

74. The robot hand of claim 68, wherein the vertical cylinder is fixed

by hinges at the main frame.

75. The robot hand of claim 67, wherein the gripper comprises: a gripper casing opened at its lower side; a pair of gripping portions protruding through the lower side of the gripper casing and separated from each other; a cylindrical fixing pin passing through upper sides of the pair of gripping portions and having both ends fixed at the gripper casing; a gripper driving portion installed on an upper side of a gap between the pair of gripping portions; and an elastic member interconnecting the pair of gripping portions, wherein both lower ends of the gripper driving portion have inclined surfaces which make a plane contact with curved portions respectively formed on upper ends of the pair of gripper portions.

76. The robot hand of claim 75, wherein a distance between the pair of gripping portions becomes narrower when the gripper driving portion moves downward.

77. The robot hand of claim 75, wherein a distance between the pair of gripping portions becomes wider when the gripper driving portion moves upward.

78. The robot hand of claim 67, wherein the pair of guide rods are installed on both sides of the movable frames.

79. The robot hand of claim 78, wherein the pair of guide wings are installed between the pair of guide rods, and the pair of guide wings face each other.