WO2017209438A1 - Gripping device and assembly system having same - Google Patents

Abstract

A gripping device, according to one aspect of the present invention, comprises: a body part provided with rail shafts; a jig part provided with a jig plate, a first jig and a second jig, the jig plate being movably coupled to the rail shafts, and the first jig and the second jig being positioned on the jig plate and being capable of gripping workpieces having different structures from each other; a height adjustment part coupled to the body part and comprising air cylinders capable of adjusting height; and an upper gripper coupled to the height adjustment part and capable of gripping workpieces having different structures from each other, wherein the jig part is provided with a first locking member corresponding to the first jig, and a second locking member corresponding to the second jig, and comprises a locking part coupled to the first locking member and the second locking member so as to fix the position of the jig part.

Description

Gripping device and assembly system having same

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device and an assembly system having the same, and more particularly, to a gripping device capable of holding a plurality of workpieces having different structures and an assembly system having the same.

A gripping device, such as an air gripper, corresponds to a device that allows a workpiece to be gripped and processed. For example, in the process of assembling a shock absorber, it is necessary to grip the parts of the shock absorber, where an air gripper may be used.

Conventional gripping devices generally have a structure that can hold only one type of workpiece. This requires a dedicated gripping device capable of gripping each of the workpieces having different structures, thereby increasing the cost of the device and increasing the volume of the device, as well as the inefficient assembly process. For example, shock absorbers include a McPherson shock absorber and a telescopic shock absorber, and both have different shapes and sizes. Conventionally, in order to grip the McPherson shock absorber and the cylindrical shock absorber having such a different structure and shape, there has been a problem of having a separate gripping device.

Accordingly, the present invention has been made to solve the above-described problems, and to provide a gripping device capable of holding a plurality of workpieces having different structures and an assembly system having the same.

Other objects of the present invention will become more apparent through the embodiments described below.

According to an aspect of the present invention, a gripping device includes a body part having a rail shaft, a jig plate movably coupled to the rail shaft, and a jig plate disposed on the jig plate and capable of holding workpieces of different structures. A jig part having a first jig and a second jig, a height adjusting part including an air cylinder coupled to the body part and capable of adjusting height, and an upper part coupled to the height adjusting part to hold a workpiece having a different structure. And a gripper, wherein the jig portion includes a first catching member corresponding to the first jig and a second catching member corresponding to the second jig, and is coupled to the first catching member and the second catching member to fix the jig portion. It includes a locking part.

An assembly system according to an aspect of the present invention includes the gripping device, the body portion includes a plurality of downwardly projecting transfer members, and a guide groove for inserting the transfer member to guide the transfer member.

Air gripper according to an aspect of the present invention, a jig body, a pair of jig gripper rotatably provided on the jig body, an elastic member coupled to the pair of jig gripper, respectively, and close to each other, the jig gripper A slide plate which is coupled to each other and which can be moved up and down by air, and a distance between the pair of jig grippers is enlarged by the rise of the slide plate, and the jig grippers are rotatably coupled to the front and rear surfaces of the jig body, respectively. And a first arm plate and a second arm plate, a connecting member connecting the first arm plate and the second arm plate, respectively, and a jig finger protruding from any one of the first arm plate and the second arm plate.

According to another aspect of the present invention, an air gripper includes a pair of mutually opposing rod fingers, a pair of gripper cylinders each provided with a rod finger, a gripper frame positioned between the gripper cylinders, a gripper cylinder, and a gripper frame. A hollow strut bar inserted to guide the movement of the gripper cylinder, and an elastic member positioned inside the strut bar to provide elastic force in the gripper frame direction to the pair of gripper cylinders, and supply air through the hollow of the strut bar. The gripper cylinder can be spaced apart from the gripper frame.

The present invention can provide a gripping device capable of holding a plurality of workpieces having different structures and an assembly system having the same.

1 is a perspective view illustrating a gripping device according to an embodiment of the present invention.

FIG. 2 is a view of the front of the gripping apparatus illustrated in FIG. 1, illustrating a state in which a stopper is provided on an upper portion thereof.

3 is a perspective view illustrating a jig portion of a gripping device according to an embodiment of the present invention.

4 is a view illustrating a state in which the first jig is located in the center of the body part in the gripping apparatus illustrated in FIG. 1.

FIG. 5 is a diagram illustrating a state in which a second jig is positioned at the center of the body part in the gripping apparatus illustrated in FIG. 1.

6 is a view illustrating a locking part of the gripping device according to an embodiment of the present invention.

FIG. 7 is a front view of the front of the second jig illustrated in FIG. 6, illustrating a state before air is supplied.

FIG. 8 is a front view of the front of the second jig illustrated in FIG. 6 and illustrates a state in which air is supplied and the jig gripper is opened.

9 is a cross-sectional view illustrating an air cylinder of the height adjustment unit in the gripping device according to an embodiment of the present invention.

10 is a cross-sectional view of the air cylinder illustrating a state in which the inner tube is raised in FIG. 9.

11 is a perspective view illustrating a tapered clutch in the air cylinder of the height adjustment unit.

12 is a perspective view illustrating an upper gripper of a gripping device according to an embodiment of the present invention.

FIG. 13 is a diagram illustrating a planar internal configuration of the upper gripper illustrated in FIG. 12, illustrating a state in which only one gripper cylinder is moved.

FIG. 14 is a diagram illustrating a front internal configuration of the upper gripper illustrated in FIG. 12 and illustrates a state in which only one gripper cylinder is moved.

15 is a diagram illustrating the back of the gripping device according to an embodiment of the present invention.

16 is a view illustrating a state before the air supply module is coupled to the air connector of the gripping device according to an embodiment of the present invention.

17 is a plan view illustrating an assembly system according to an embodiment of the present invention.

18 is a cross-sectional view illustrating a state in which a conveying member of the gripping device is inserted into a guide groove formed in the guide member of the assembly system illustrated in FIG. 17.

FIG. 19 is a plan view of the first guide groove and the second guide groove illustrated in FIG. 17.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Terms such as first, second and internal, external, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in describing the present invention with reference to the accompanying drawings, the same or corresponding elements are denoted by the same reference numerals regardless of the reference numerals, and duplicates thereof. The description will be omitted.

1 is a perspective view illustrating a gripping apparatus 100 according to an embodiment of the present invention. 2 is a view of the front of the gripping apparatus 100 illustrated in FIG. 1, and illustrates a state in which a stopper 295 is provided at an upper portion thereof.

1 to 2, the gripping apparatus 100 according to an embodiment of the present invention is characterized in that the gripping two or more workpieces (not shown) having a different structure. For example, the gripping device 100 according to the present embodiment may grip the shock absorber of the pulse type and the cylindrical shock absorber. As such, the gripping device 100 according to the present embodiment can hold a workpiece having two or more different structures as one device, thereby reducing the cost and volume of the device and efficiently performing the operation. We can plan effective effect.

The gripping device 100 according to the present embodiment is provided in the assembly system 400 as illustrated in FIG. 17, and allows the workpiece (not shown) to be processed while being moved by the conveyor 410.

The gripping device 100 according to the present embodiment includes a jig part 150 having a body part 110, a first jig 170, and a second jig 180, and a height coupled to the body part 110. It includes an upper gripper 300 coupled to the adjusting unit 220 and the height adjusting unit 220. In addition, the gripping device 100 according to the present exemplary embodiment may further include a stopper 295 for adjusting the height of the upper gripper 300 by limiting the lift of the height adjusting unit 220.

Workpieces (not shown) having different structures and sizes may be selectively gripped by the gripping device 100 according to the present embodiment. For example, the shock absorber of the pulse type is coupled to the first jig 170, one end is gripped, the other end may be gripped by the upper gripper 300, the height is adjusted by the height adjuster 220. have. In addition, the cylindrical shock absorber is coupled to one end of the grip by the second jig 180, the other end may be gripped by the upper gripper 300, the height is adjusted by the height adjuster 220.

As described above, the jig unit 150 includes two or more jigs 170 and 180 corresponding to the type of workpiece to be gripped, and when the jig is used, the jig unit 150 may be moved. do. In addition, all of the upper portion of the workpiece can be gripped by the upper gripper 300, the upper gripper 300 is adjusted by the height adjuster 220, the effective grip in response to the structure and shape of the workpiece It may be possible.

Although the gripping device 100 according to the present embodiment has been illustrated as being capable of holding two types of workpieces with the first jig 170 and the second jig 180, the gripping device according to the present invention. Is not limited by the number, type and structure of the workpiece to be gripped. Accordingly, the gripping device according to another embodiment of the present invention may selectively grip three or more workpieces having different structures by including three or more jigs.

The body part 110 of the gripping apparatus 100 according to the present embodiment forms an outer body of the gripping apparatus 100. The inside of the body part 110 is provided with a jig part 150 to be movable, and also has a locking part 140 for limiting the movement of the jig part 150. The body 110 is provided with two air cylinders 221 of the height adjusting part 220, and one upper gripper 300 is provided at the end of the air cylinder 221. A stopper 295 may be provided at an upper portion of the upper gripper 300.

The body part 110 includes an opening 112, and the first jig 170 and the second jig 180 of the jig part 150 may be exposed to the outside through the opening 112.

Body portion 110 has two side holes 114 are formed symmetrically on both sides. Both ends of the rail shaft 160 are inserted into the side holes 114. A pair of rail shafts 160 arranged in parallel to each other guide the jig plate 152 of the jig part 150.

The back of the body portion 110 is provided with an air inlet (not shown). High pressure air is supplied to the jig unit 150, the height adjusting unit 220, and the upper gripper 300 through an air inlet, which causes the devices 150, 220, and 300 to operate.

The lower surface of the body portion 110 is provided with a pair of transfer members 118. As illustrated in FIG. 17, the transfer members 118 may be positioned one on a diagonal line at the bottom surface of the body 110 having a quadrangular shape. And the conveying member 118 is provided with a first bearing 120 and the second bearing 122, these 120, 122 are rotatably coupled to the lower surface of the body portion 110 by the bearing shaft 124 Can be. The first bearing 120 and the second bearing 122 may have the same size and shape.

The conveying member 118 enables conveying the gripping device 100 in the assembly system 400.

The lower surface of the body portion 110 is partially open, which causes the lower surface of the jig plate 152 of the jig portion 150 to be exposed to the outside of the body portion 110. And a part of the lower surface of the body portion 110 is covered. One end of the air cylinder 221 is fixed to the covered portion, and the locking part 140 is also located. The stopper 295 is positioned above the upper gripper 300 of the gripping apparatus 100 and presses downward while contacting the upper gripper 300. As a result, the height increase of the height adjusting unit 220 is limited, so that the upper gripper 300 can be positioned at a desired height.

The stopper 295 may be provided with a pneumatic or hydraulic cylinder, but this may be any type and structure as long as the stopper 295 is an example and the height can be adjusted. Therefore, the present invention is not limited by the structure, shape and position of the stopper.

3 is a perspective view illustrating a jig portion 150 of the gripping apparatus 100 according to an embodiment of the present invention. 4 is a view illustrating a state in which the first jig 170 is located at the center of the body part 110 in the gripping apparatus 100 illustrated in FIG. 1, and FIG. 5 is a gripping apparatus illustrated in FIG. 1. In FIG. 100, the second jig 180 is located at the center of the body 110. 6 is a diagram illustrating the locking unit 140 of the gripping device 100 according to an embodiment of the present invention.

3 to 6, the jig part 150 according to the present embodiment is coupled to the body part 110, and is slidable in a left and right direction (a transfer direction of the body part 110). That is, the jig plate 152 of the jig part 150 may be moved so that the first jig 170 may be located at the center of the body part 110 (see FIG. 4). As a result, the first jig 170 and The upper gripper 300 can hold both ends of the workpiece. In addition, the jig plate 152 may be moved so that the second jig 180 may be positioned at the center of the body part 110 (see FIG. 5). As a result, the second jig 180 and the upper gripper 300 may be Both ends of the workpiece can be gripped.

As illustrated in FIGS. 4 and 5, the jig unit 150 moved in position may be stably fixed by the locking unit 140.

The jig unit 150 may move one of the first jig 170 and the second jig 180 selectively to the vertical lower portion of the upper gripper 300 while moving left and right according to the type of workpiece to be gripped. . For this reason, the jig unit 150 grips the workpiece along with the upper gripper 300.

The jig unit 150 includes a jig plate 152, a rail shaft 160, a first jig 170 and a second jig 180, a first catching member 156, and a second catching member 158. .

The jig plate 152 is a block of a rectangular parallelepiped, on which a first jig 170 and a second jig 180 are positioned. The jig plate 152 is provided with a first locking member 156 and a second locking member 158, respectively.

The jig plate 152 has two through holes 154, the rail shaft 160 is inserted into the through holes 154. The pair of rail shafts 160 are arranged in parallel to each other to guide the jig plate 152 to move in the longitudinal direction thereof. The conveying direction of the jig plate 152 and the conveying direction of the gripping apparatus 100 in the assembly system 400 may be the same.

The first catching member 156 corresponds to the first jig 170, and as illustrated in FIG. 4, when the first jig 170 is positioned at the center of the body part 110, the first catching member 156 is caught by the locking part 140. do. In addition, the second locking member 158 corresponds to the second jig 180, and as illustrated in FIG. 5, when the second jig 180 is positioned at the center of the body part 110, the locking part 140 is provided. Is caught. Since any one of the first locking member 156 and the second locking member 158 is selectively caught by the locking unit 140, the jig unit 150 is fixed in position without moving from side to side.

The first locking member 156 and the second locking member 158 are coupled to an upper surface of the jig plate 152, and a part of the first locking member 156 and the second locking member 158 protrude out of the jig plate 152. A locking groove 157 is formed in the center of the end portions of the first locking member 156 and the second locking member 158. The locking protrusion 147 of the locking portion 140 is inserted into the locking groove 157, whereby the jig part 150 may be fixed by the locking portion 140.

Referring to FIG. 6, the locking unit 140 includes two posts 142, a slider 146 that is movably coupled to the post 142, an elastic member 144 that presses the slider 146 upwardly, and And a pushbutton 148 protruding upward of the slider 146.

Post 142 is a pin (pin) having the same size and shape are arranged parallel to each other. The pair of posts 142 guide the slider 146 to be movable in the vertical direction.

On one surface of the slider 146, the locking protrusion 147 protrudes in the direction of the jig plate 152. The locking protrusion 147 corresponds to a portion inserted into the locking groove 157 provided in the first locking member 156 or the second locking member 158. As the locking protrusion 147 is inserted into the locking groove 157, the jig plate 152 of the jig part 150 does not move left and right.

The slider 146 may be guided by the post 142 to move up and down. The slider 146 is pressurized upward by the elastic member 144, thereby causing the locking protrusion 147 of the slider 146 to be selectively caught by either the first locking member 156 or the second locking member 158. do.

Slider 146 has a pushbutton 148 thereon. The push button 148 is exposed at the upper end of the body portion 110. Accordingly, when the push button 148 is pressed downward by an external force, the slider 146 moves downward despite the upward pressing force of the elastic member 144. As such, the slider 146 moves downward, thereby causing the locking protrusion 147 to move downward and to be separated from the locking groove 157, thereby causing the first locking member 156 and the second locking member 158 to move. The jam state is released.

In order to position one of the first jig 170 and the second jig 180 by the movement of the jig unit 150 in the center of the body unit 110, first, the push button of the locking unit 140 ( 148 is pressed downward to release the locking state of the locking unit 140 with respect to the first locking member 156 or the second locking member 158. Then, the jig plate 152 is moved in the horizontal direction by a separate device (not shown) provided in the assembly system (see reference numeral 400 of FIG. 17) to move the jig part 150 illustrated in FIGS. 4 and 5. As can be moved to the desired position. If the external force on the push button 148 is removed after the jig part 150 is moved, the slider 146 is raised by the elastic force of the elastic member 144 and the locking protrusion 147 is the first locking member 156. And it is selectively caught by any one of the second locking member 158.

The gripping device 100 according to the present exemplary embodiment may include locking units having various structures in order to fix the position of the jig unit 150. For example, in the gripping device 100 according to another embodiment of the present invention, the locking part may be implemented by using magnetic force or by selectively inserting a protrusion for fixing to a groove provided in the jig plate. As such, the present invention is not limited by the structure of the locking portion.

In addition, the present invention is not limited by the means for driving the jig unit 150. In the gripping device according to another embodiment of the present invention, the jig portion may move in the left and right directions by a linear motor or a ball screw.

Hereinafter, the first jig 170 and the second jig 180 of the gripping apparatus 100 according to an exemplary embodiment of the present invention will be described with reference to FIGS. 3 and 7 to 8.

3 and 7 to 8, the first jig 170 is for holding a workpiece having a structure and a shape different from that of the second jig 180. The first jig 170 includes a jig block 172 fixed on the jig plate 152. The jig block 172 is provided with a plurality of jig protrusions (not shown) for fixing the workpiece. In addition, the first locking member 156 is provided in front of the jig block 172.

The second jig 180 corresponds to an air gripper because it is operated by high pressure air.

The second jig 180 is for holding a workpiece having a structure and a shape different from that of the first jig 170. Like the first jig 170, the second jig 180 may be fixed on the jig plate 152 by the jig block 182. The second locking member 158 is provided in front of the second jig 180. The jig body 184 is provided on the jig block 182, and the jig body 184 is provided with a jig protrusion 186 and a jig gripper 188 for gripping a workpiece.

The jig protrusion 186 protrudes from the front surface of the jig body 184 and has a structure that can be easily gripped corresponding to the shape and structure of the workpiece.

The jig gripper 188 is provided with a pair of symmetrical in the jig body 184. As the jig gripper 188 is contracted as shown in FIG. 7 in a state in which the jig gripper 188 is opened in the left and right directions, the workpiece can be gripped. One jig gripper 188 includes a first arm plate 192 and a second arm plate 194, a first connection member 196 and a second connection member 198, a driving member 200, and a jig finger 202. ) And an elastic member 206.

The first arm plate 192 and the second arm plate 194 are rotatably coupled to the front and rear of the jig body 184 by the rotation hinge 190, respectively. An end of the first arm plate 192 is provided with a jig finger 202 for holding the workpiece. The first arm plate 192 and the second arm plate 194 spaced apart from each other are connected to each other by the first connection member 196 and the second connection member 198. Therefore, the first arm plate 192 and the second arm plate 194 are integrally rotated.

An elastic member 206 may be provided in any one of the first connection member 196 and the second connection member 198. In the gripping device 100 according to the present embodiment, one end of the elastic member 206 is coupled to the first connection member 196. The pair of left and right jig grippers 188 by the elastic member 206 has a minimum gap as illustrated in FIG. 7. When the high pressure air is supplied to the second jig 180, the jig gripper 188 has a maximum gap as illustrated in FIG. 8. As such, the elastic member 206 minimizes the distance between the pair of jig grippers 188 when no external force is applied, and when the external members are removed after the external force is applied, the jig grippers 188 spaced apart from each other as shown in FIG. 8. ) To have a minimum distance as shown in FIG. 7.

Although the gripping device 100 according to the present embodiment has been illustrated as one jig gripper 188 includes two arm plates 192 and 194 and two connecting members 196 and 198, the present invention provides an arm. It is not limited by the number of plates and connecting members. Therefore, in the gripping device according to another embodiment of the present invention, one jig gripper may include one or more arm plates and connecting members.

At the end of the arm plate (192. 194), the driving member 200 is provided at a constant angle. The drive member 200 rotates integrally with the arm plate (192. 194) around the rotation hinge 190. One end of the circular shape of the driving member 200 is rotatably inserted into the driving groove 210 of the slide plate 208. For this reason, when the slide plate 208 linearly moves in the vertical direction, the driving member 200 and the arm plates 192 and 194 are rotated about the rotation hinge 190 in conjunction with this.

The jig finger 202 is provided at the end of the first arm plate 192. The jig finger 202 corresponds to a portion where the workpiece is gripped. Since the second jig 180 includes two jig grippers 188, the second jig 180 includes two jig fingers 202. The center of the jig finger 202 is formed with a center groove (not shown), the center groove facilitates the gripping of the workpiece.

The elastic member 206 is a coil spring, and hooks (without reference numerals) provided at both ends thereof are caught by the first connecting member 196 of the jig gripper 188, which is arranged symmetrically. The elastic member 206 provides elastic force to the jig gripper 188 to be in the state of FIG. 7 while elastically deforming when the pair of jig grippers 188 is opened outward as shown in FIG. 8. Therefore, when the air is removed, the jig gripper 188 is in the state of FIG. 7 by the elastic restoring force of the elastic member 206 in the state of FIG. 8.

In the gripping device 100 according to the present embodiment, the elastic member 206 is illustrated as a coil spring, but the present invention is not limited by the type and shape of the elastic member of the second jig 180. In the gripping device according to another embodiment of the present invention, the second jig has various structures and shapes such as a torsion spring provided at the rotary hinge 190 or an elastic rubber having both ends coupled to the first connection member 196. It may be provided with an elastic member having.

The second jig 180 has a slide plate 208. The slide plate 208 is movably coupled in the vertical direction inside the jig body 184 and is operated in conjunction with the air piston 212 operated by air. The slide plate 208 is caught inside the jig body 184, which may limit its rise. One end of the slide plate 208 has a pair of drive grooves 210 are formed symmetrically. An end of the driving member 200 is rotatably inserted into the driving groove 210. The other end of the slide plate 208 is coupled to the air piston 212.

The air piston 212 is positioned inside the jig body 184 and ascends by air or descends when air is removed. The air piston 212 has a hollow 214 in the center thereof, and may rise by air injected into the hollow 214. In addition, the air piston 212 is provided around the O-ring 216 and the seal 218, by which the air injected into the hollow 214 is not discharged to the outside.

Hereinafter, the operation of the second jig 180 corresponding to the air gripper will be described.

Referring to FIG. 7, when high-pressure air is not injected into the air piston 212 or air is removed, the air piston 212 is in a lowered state, and the pair of jig grippers 188 is also an elastic member. The spacing is minimized by the elastic force of 206. As such, when the gap between the jig grippers 188 is minimized, the workpiece may be gripped. Therefore, the force holding the workpiece in the second jig 180 is due to the elastic restoring force of the elastic member 206.

When high pressure air is injected into the hollow 214 provided inside the air piston 212, the air piston 212 rises by the pressure. As the air piston 212 rises, the slide plate 208 rises as shown in FIG. 8, and as a result, the pair of jig grippers 188 rotates to maximize the gap as shown in FIG. 8. When the jig gripper 188 starts to rotate, the elastic restoring force acts on the jig gripper 188 while the length of the elastic member 206 is expanded. However, since the force for rotating the jig gripper 188 by the lift of the air piston 212 and the slide plate 208 is greater, the jig gripper 188 is rotated despite the elastic restoring force of the elastic member 206. Will be.

When the gap between the pair of jig grippers 188 is maximized as shown in FIG. 8, the gripped workpiece may be removed or the workpiece may be newly gripped. Of course, when the air provided to the air piston 212 is removed, the air piston 212 and the slide plate 208 are lowered, thereby lowering the jig gripper 188 to the state of FIG.

As described above, the second jig 180 of the gripping apparatus 100 according to the present embodiment is characterized in that the air gripper that is simple in configuration and can efficiently grip the workpiece.

Hereinafter, the height adjusting unit 220 of the gripping apparatus 100 according to the present embodiment will be described with reference to FIGS. 9 to 11.

The height adjusting unit 220 serves to adjust the height of the upper gripper 300 by a pair of air cylinders 221. By adjusting the height by the height adjusting unit 220, the upper gripper 300 can grip the workpiece at the optimum height.

The height adjusting unit 220 includes a pair of air cylinders 221 and an upper plate 290 for connecting the air cylinders 221. The pair of air cylinders 221 operate in the same manner to adjust the height of the upper plate 290. The air cylinder 221 may be operated by the air injected by the air inlet provided in the body portion 110.

The air cylinder 221 adjusts the height of the upper plate 290 while the inner tube 234 movably inserted into the outer tube 222 is lifted by the air or the air is removed and lowered. An interior piston 250, a clutch pipe 254, a taper clutch 260, an upper taper tip 264, and a lower taper tip 258 are provided inside the air cylinder 221.

The outer tube 222 has a hollow cylindrical shape. An open upper end of the outer tube 222 is coupled to the closing cap 228, the inner tube 234 penetrates the center of the closing cap 228. The air nipple 280 is coupled to the open lower end of the outer tube 222. Air is supplied to the hollow 236 corresponding to the inside of the inner tube 234 through the air nipple 280.

The lower taper 226 is formed to be inclined inward at the lower end of the outer tube 222. The air nipple 280 is not easily separated by the lower taper 226.

A through hole 224 is formed around the outer tube 222. The through hole 224 may be maintained at atmospheric pressure in the space between the outer tube 222 and the inner tube 234 and the space between the inner piston 250 and the upper taper tip 264. One or more through holes 224 may be provided around the outer tube 222.

Closing cap 228 is coupled to the upper end of the outer tube 222 is provided with an O-ring 230 therein. O-ring 230 is in close contact with the inner tube 234 to maintain the airtight. Inner tube 234 is penetrated through the center of the closing cap 228. The inner tube 234 has a hollow cylindrical shape, the open upper end is coupled to the connection cap 242 and the lower end is coupled to the upper taper tip 264. The connection cap 240 and the upper taper tip 264 are firmly coupled to the inner tube 234 by the upper taper 238 and the lower taper 240 formed at the upper and lower ends of the inner tube 234, respectively. You can ascend or descend.

The hollow 236 is formed at the center of the inner tube 234. The hollow 236 is supplied with high pressure air, which causes the inner tube 234 to rise by the pressure caused by the air.

An upper taper tip 264 is coupled to the lower end of the inner tube 234. The upper taper tip 264 is the connection head 270 is located inside the inner tube 234, the remaining portion is protruded to the outside of the inner tube 234 is located inside the outer tube 222. An outer o-ring 268 is provided around the upper taper tip 264. The outer o-ring 268 maintains airtight while being in contact with the inner circumferential surface of the outer tube 222, and the sharpness of the inner tube 234 is caused by friction. It serves to prevent the rise.

An upper taper 274 is formed around the lower end of the upper taper tip 264. The upper taper tip 264 has a truncated cone shape whose diameter decreases toward the lower end by the upper taper 274. The tapered clutch 260 may be positioned around the upper taper 274.

In the center of the upper taper tip 264, the clutch pipe 254 is coupled through. The space between the inner piston 250 and the upper taper tip 264 coupled to the upper end of the clutch pipe 254 is at atmospheric pressure by the through hole 224.

A seating step 272 is provided in the empty space formed at the center of the upper taper tip 264. An elastic member 285 is positioned at the seating step 272. The elastic member 285 provides a force for raising the inner piston 250 as illustrated in FIG. 9. The elastic member 285 may correspond to a coil spring or elastic rubber, and the present invention is not limited by the shape and material of the elastic member.

An inner o-ring 266 is provided inside the upper taper tip 264. The inner o-ring 266 maintains hermetic contact with the circumference of the clutch pipe 254 passing through the center of the upper taper tip 264.

The clutch pipe 254 penetrating the center of the upper taper tip 264 corresponds to a cylinder having a hollow 256 and having a predetermined length. The upper and lower ends of the clutch pipe 254 have an open structure. Therefore, the air supplied through the air nipple 280 flows into the hollow 236 of the inner tube 234 through the clutch pipe 254.

An inner piston 250 is coupled to the upper end of the clutch pipe 254, and a lower taper tip 258 is coupled to the lower end. And the clutch pipe 254 is inserted to move in the vertical direction with respect to the upper tapered tip (264). Accordingly, the clutch pipe 254 serves to transmit the force applied to the inner piston 250 to the lower taper tip 258. That is, when the downward pressing force F2 acts on the inner piston 250 by air, the inner piston 250 and the clutch pipe 254 are lowered with respect to the upper taper tip 264, which causes the lower taper tip ( 258) also descends. In addition, when only the upward pressing force by the elastic member 285 acts on the inner piston 250 because no air is supplied, the inner piston 250 and the clutch pipe 254 are raised relative to the upper taper tip 264. The lower taper tip 258 also rises.

The inner piston 250 is fixedly coupled to the upper end of the clutch pipe 254 and is located inside the inner tube 234. The O-ring 252 is provided around the inner piston 250 to maintain airtightness. In addition, the lower surface of the inner piston 250 is elastically pressurized upward by the elastic member 285. Pressing of the taper clutch 260 against the inner circumferential surface of the outer tube 222 is made or released by the vertical movement of the inner piston 250. In addition, the inner piston 250 presses the elastic member 285 and the upper taper tip 264 downward while moving downward when the inner tube 234 rises, so that the inner tube 234 does not suddenly rise but smoothly. Allow to climb

The lower taper tip 258 is fixedly coupled to the lower end of the clutch pipe 254 and moves up and down integrally with the clutch pipe 254. A minute gap is formed between the lower taper tip 258 and the inner circumferential surface of the outer tube 222. Therefore, the lower taper tip 258 may be able to move up and down without interference inside the outer tube 222. The lower taper tip 258 has a lower taper 259 formed on its circumferential surface, thereby having a truncated cone shape. The lower taper 259 and the upper taper 274 are arranged symmetrically with each other. A tapered clutch 260 is disposed around the upper taper 274 and the lower taper 259.

The tapered clutch 260 has a ring shape, and on one side thereof, a cutout 262 is formed over the entire longitudinal direction. The outer diameter of the tapered clutch 260 may be increased or decreased by the cutout 262. The inner circumferential surface of the tapered clutch 260 has a tapered structure corresponding to both the upper taper 274 and the lower taper 259.

The taper clutch 260 increases or decreases the outer diameter (increase the incision 262) or decreases (decrease the incision 262) the gap between the upper taper tip 264 and the lower taper tip 258. . As the outer diameter of the tapered clutch 260 increases, its circumferential surface compresses the inner circumferential surface of the outer tube 222, which causes the height of the inner tube 234 and the upper taper tip 264 to the outer tube 222 to increase. Can be fixed. In addition, when the outer diameter of the tapered clutch 260 decreases, the circumferential surface thereof does not compress the inner circumferential surface of the outer tube 222, which causes the inner tube 234 and the upper taper tip 264 to the outer tube 222. This can move up and down.

The elastic member 285 is located inside the upper taper tip 264 and the clutch pipe 254 penetrates through the center thereof. The lower end of the elastic member 285 is located on the seating step 272 of the upper taper tip 264 and the upper end is in contact with the lower surface of the inner piston 250. The elastic member 285 presses the inner piston 250 upwardly to be spaced apart from the upper taper tip 264. Thus, the gap between the lower taper tip 258 and the upper taper tip 264 is reduced so that the outer diameter of the tapered clutch 260 is enlarged by the wedge effect by the upper taper 274 and the lower taper 259. As the outer diameter of the tapered clutch 260 is enlarged, it is fixed high inside the outer tube 222, and thus the inner tube 234 is also fixed high inside the outer tube 222. Of course, when air is supplied, the inner tube 234 may rise in spite of the elastic force by the elastic member 285 since the force by the air is greater than the fixing force (including friction force) by the elastic member 285. have.

When air is supplied to the air cylinder 221 and the inner tube 234 rises by the force F1, the inner piston 250 receives downward force by acting downward pressing force F2 (<F1) by the air. . At this time, the force (F2) acting on the inner piston 250 may be greater than the upward pressing force by the elastic member 285. As a result, the inner piston 250 is lowered, so that the lower taper tip 258 connected to the clutch pipe 254 is also lowered at the same time while the gap with the upper taper tip 264 is widened. As illustrated in FIG. 10, when the distance between the lower taper tip 258 and the upper taper tip 264 is enlarged, the diameter of the taper clutch 260 decreases (contracts the incision 262) while the outer tube 222 is reduced. The pressure on the inner circumferential surface of the) is released, thereby allowing the inner tube 234 to rise.

When air is not supplied to the air cylinder 221, the inner tube 234 is lowered because the pressure by the air is removed. At this time, the pressing force by the air does not act on the inner piston 250, only the upward pressing force by the elastic member 285 acts. As a result, the inner piston 250 rises with respect to the upper taper tip 264 to raise the lower taper tip 258 connected to the clutch pipe 254 to reduce the gap with the upper taper tip 264 ( 9).

When the distance between the upper taper tip 264 and the lower taper tip 258 is reduced, the cutout portion 262 of the tapered clutch 260 interposed therebetween opens and the outer diameter thereof is enlarged. When the outer diameter of the tapered clutch 260 is enlarged, the height of the tapered clutch 260 is fixed to the outer tube 222 while pressing the inner circumferential surface of the outer tube 222. Since the height of the tapered clutch 260 is fixed, the height of the inner tube 234 with respect to the outer tube 222 may also be fixed.

As described above, the air cylinder 221 of the gripping apparatus 100 according to the present exemplary embodiment locks the tapered clutch 260 while the inner piston 250 and the lower taper tip 258 descend when the air is supplied. Since the inner tube 234 is slightly pushed down to release the inner tube 234, the inner tube 234 may rise smoothly without sharply rising. In addition, when the air is removed, the air cylinder 221 is the outer diameter of the tapered clutch 260 is secured by the wedge effect by the elastic force of the elastic member 285 to be in close contact with the inner peripheral surface of the outer tube (222) inner tube ( The height of 234 is fixed. Therefore, it is characterized in that the inner tube 234 can be prevented from falling sharply.

An upper plate 290 is provided at an upper end of the air cylinder 221, and an upper gripper 300 corresponding to an air gripper is provided at the upper plate 290.

Hereinafter, the upper gripper 300 of the gripping apparatus 100 according to the present embodiment will be described with reference to FIGS. 12 to 14.

12 is a perspective view illustrating the upper gripper 300 of the gripping apparatus 100 according to an embodiment of the present invention. 13 is a diagram illustrating a planar internal configuration of the upper gripper 300 illustrated in FIG. 12, and illustrates a state in which only one gripper cylinder 320 is moved. In addition, FIG. 14 is a diagram illustrating a front internal configuration of the upper gripper 300 illustrated in FIG. 12 and illustrates a state in which only one gripper cylinder 320 is moved.

For reference, in the upper gripper 300 according to the present embodiment, the pair of gripper cylinders 320 simultaneously move left and right, but in FIG. 13 and FIG. 14, only one gripper cylinder 320 is moved for convenience of description. It was. In addition, the packing 304 (see FIG. 13) in the road finger 302 is illustrated in FIG. 12 as being removed.

The upper gripper 300 corresponds to an air gripper similarly to the second jig 180, and is operated by high pressure air to hold another part of the workpiece. In particular, the upper gripper 300 is characterized in that its height can be adjusted by adjusting the height of the air cylinder 221.

The upper gripper 300 is characterized in that the pair of road fingers 302 can grip the workpiece by opening the left and right respectively by air. The upper gripper 300 includes a gripper frame 310 positioned at the center, a pair of gripper cylinders 320 symmetrically positioned at right and left, and a rod finger 302 coupled onto the gripper cylinder 320, respectively. Include.

The rod finger 302 is coupled to the gripper cylinder 320 and moves together. When air is supplied to the upper gripper 300, the pair of gripper cylinders 320 move in the left and right directions based on the gripper frame 310, respectively. As a result, the distance between the pair of road fingers 302 can be enlarged to hold the workpiece.

Packing 304 is coupled to the end of the rod finger 302. The packing 304 may be formed by a relatively soft material such as rubber or the like. Damage to the workpiece gripped by the rod finger 302 by the packing 304 can be prevented.

The shape of the rod finger 302 may be formed to suit the structure of the workpiece to be gripped.

The gripper frame 310 is positioned at the center of the upper gripper 300 to form a center to which the gripper cylinders 320 disposed on the left and right sides can move. The gripper frame 310 has an outer shape of a rectangular parallelepiped. The gripper frame 310 is provided with a crank 312 and a connecting rod 318. In addition, a pair of strut bars 326 that guide the gripper cylinder 320 penetrates the gripper frame 310.

The crank 312 corresponds to a disc rotatably coupled to the gripper frame 310. The crank 312 may rotate about the crank pin 316. One end of the pair of connecting rods 318 is rotatably coupled to one surface of the crank 312 by pins (not shown). Since the connecting rod 318 is coupled to the left and right symmetry around the crank 312, when one crank cylinder 320 is moved, the other crank cylinder 320 is also moved together. As such, the crank 312 and connecting rod 318 allow the pair of gripper cylinders 320 to always move in opposite directions and the same distance at the same time.

One end of the connecting rod 318 is rotatably coupled to the crank 312 and the other end is rotatably coupled to the gripper cylinder 320. The gripper cylinders 320 positioned on the left and right sides of the pair of connecting rods 318 always move symmetrically.

Of course, the upper gripper according to another embodiment of the present invention may not have a crank 312 and the connecting rod 318, so that the pair of gripper frame 310 is shown in Figures 13 and 14 Each can move independently.

The gripper cylinder 320 is a portion that is pressurized by air and moves symmetrically with respect to the gripper frame 310. The gripper cylinder 320 also has a rectangular parallelepiped shape.

The gripper cylinder 320 is guided by the strut bar 326 to move linearly. Strut bar 326 is a hollow tube provided with two pairs in parallel. The strut bar 326 is inserted into the gripper frame 310 and the gripper cylinder 320 positioned on the left and right sides, respectively. An elastic member 328 is provided inside the gripper cylinder 320.

The elastic member 328 is a coil spring, and a hook hook 330 is provided at both ends thereof. The hook hook 330 is caught by a spring cap 324 provided on one side of the gripper cylinder 320. When air is not supplied, the pair of gripper cylinders 320 may be in close contact with the gripper frame 310 located at the center by the elastic restoring force of the elastic member 328.

One side of the gripper cylinder 320 is covered by a side cover 322, respectively. As a result, the spring cap 324 is not exposed to the outside.

Air is supplied to the gripper frame 310 and then introduced into the pair of strut bars 326. Since both ends of the strut bar 326 are positioned opposite to the spring cap 324, a force acts on the spring cap 324 away from the center gripper frame 310 by air. For this reason, the gripper cylinder 320 is to move in the horizontal direction in spite of the elastic force of the elastic member 328.

In the air gripper such as the upper gripper 300 according to the present embodiment, the strut bar 326 for guiding the gripper cylinder 320 and the force generated by the air to move the gripper cylinder 320 are coaxial with each other. It is characterized by being. As a result, it is possible to solve the problem that the product is worn and malfunction occurs due to the moment that may occur by not being located on the coaxial line.

FIG. 15 is a view illustrating a rear surface of the gripping device 100 according to an embodiment of the present invention, and FIG. 16 is a view illustrating an air supply module 360 coupled to the air connector 340 illustrated in FIG. It is a figure which illustrates a state.

15 to 16, the gripping apparatus 100 according to the present embodiment includes an air connector 340 on a rear surface thereof, and an air supply module 360 is coupled to the air connector 340. The air supply module 360 supplies air to the gripping device 100 through the air connector 340.

The air connector 340 is disposed on the rear surface of the body 110 and includes a block 342 having a rectangular shape. Three connection holes 346, 348 and 350 are provided at the center of the block 342, and fastening holes 344 are provided at both sides thereof. The connection nozzles 364, 366, and 368 provided in the air supply module 360 are respectively inserted into the three connection holes 346, 348, and 350, thereby supplying air to the gripping device 100. In addition, an insertion pin 370 provided in the air supply nozzle 360 is inserted into the fastening hole 344, thereby allowing the air supply module 360 to be stably coupled to the air connector 340.

The air introduced through the connection hole 346 may be bifurcated through the branch pipe 352 and supplied to the air nipples 280 of the respective air cylinders 221. In addition, the air introduced through the other connection hole 348 may be supplied to the upper gripper 300, and the air introduced through the other connection hole 350 may be supplied to the second jig 180.

The air supply module 360 is coupled to and separated from the air connector 340 while linearly reciprocating in the direction of the arrow. The air supply module 360 may be coupled to the air connector 340 to supply air. For example, when the gripping apparatus 100 is positioned in front of the air supply module 360 by moving, the air supply module 360 may be coupled to the air connector 340 while supplying air while moving linearly.

The air supply module 360 includes a movable block 362 and a movable block 362 includes three connection nozzles 364, 366, and 368. The connection nozzles 364, 366, and 368 are inserted into the three connection holes 346, 348, and 350 provided in the air connector 340 to supply air, as described above.

Insertion pins 370 protrude from the left and right sides of the connection nozzles 364, 366, and 368. The insertion pin 370 is inserted into the fastening hole 344 of the air connector 340, thereby guiding the movement of the air supply nozzle 360.

Hereinafter, the assembly system 400 according to an embodiment of the present invention will be described with reference to FIGS. 17 to 19.

17 is a plan view illustrating an assembly system 400 according to an embodiment of the present invention, and FIG. 18 is guide grooves 422 and 424 formed in the guide member 420 of the assembly system 400 illustrated in FIG. 17. It is sectional drawing which illustrates the state in which the conveyance member 118 of the gripping apparatus 100 was inserted. FIG. 19 is a plan view illustrating the first guide groove 422 and the second guide groove 424 illustrated in FIG. 17.

For reference, FIG. 17 illustrates a portion of an assembly system 400 in accordance with one embodiment of the present invention.

Assembly system 400 according to an embodiment of the present invention is characterized in that it comprises a plurality of gripping device (100). The assembly system 400 processes the gripped workpiece while transporting the gripping apparatus 100.

The assembly system 400 according to an embodiment of the present invention includes a conveyor 410, a guide member 420, and a power transmission device 440 for transferring the gripping device 100. The conveyor 410 is for linearly conveying the gripping apparatus 100, and the guide member 420 is for curvedly conveying the gripping apparatus 100. Conveyors 410 disposed at a predetermined angle (eg, 90 degrees) with each other are interconnected by guide members 420. In addition, one side of the guide member 420 is provided with a power transmission device 440 for transferring the gripping device 100 in a curved path.

The conveyor 410 is for linearly conveying the gripping apparatus 100. The conveyor 410 is provided with a rail (not shown) and a driving means (not shown) for guiding the body portion 110 of the gripping apparatus 100. The drive means may have a variety of structures and shapes, such as using a conveyor belt or a transfer slider having projections that are caught in grooves (not shown) formed on the bottom surface of the jig plate 152. The direction in which the conveyor 410 transfers the gripping apparatus 100 and the direction in which the jig plate 152 is parallel may be parallel to each other.

The guide member 420 has a shape that is bent by 90 degrees and guides the gripping apparatus 100 to curve transfer. The guide member 420 is provided with a first guide groove 422 and a second guide groove 424. The conveying member 118 of the body part 110 is inserted into the first guide groove 422 and the second guide groove 424. That is, as illustrated in FIG. 18, the first bearing 120 of the transfer member 118 may be located inside the first guide groove 422 or the second guide groove 424 and the second bearing 122. ) May protrude outwardly. The second bearing 122 protruding to the outside of the first guide groove 422 and the second guide groove 424 is conveyed while being pressed by the locking member 444 of the power transmission device 440.

The first guide groove 422 includes a first straight portion 430, and the second guide groove 424 includes a second straight portion 438. The first guide groove 422 has a first curved portion 432, and the second guide groove 424 has a second curved portion 436.

The conveying member 118 is disposed diagonally from the lower surface of the body portion 110. Therefore, when the gripping device 100 enters the guide member 420, one conveying member 118 is positioned at the end of the first straight portion 430 (a position), and the other conveying member 118 is second. It is located at the inlet of the curved portion 436 (b position).

When the conveying member 118 of the gripping device 100 is pressed by the power transmission device 440 at the positions a and b, both conveying members 118 are both the first curved portion 432 and the second curved portion. It is guided while entering the section 436 simultaneously. When the conveying member 118 is conveyed along the first curved portion 432 and the second curved portion 436, the gripping device 100 rotates gradually, and the first curved portion 432 and the second curved portion are rotated. When completely passing through the portion 436, the gripping device 100 is rotated 90 degrees.

The conveying member 118 that has passed through both the first curved portion 432 and the second curved portion 436 is in the c position and the d position. If the transfer of the transfer member 118 in the c position and the d position continues, both the transfer member 118 enters the conveyor 410 through the guide member 420 while entering the straight section.

The upper surface of the guide member 420 is provided with a plurality of feed rollers 426 to facilitate the transfer of the gripping device 100.

The power transmission device 440 pushes the transfer member 118 while rotating about the rotation center 442. The power transmission device 440 is provided with a locking member 444, the gripping device 100 to the guide member 420 by the locking member 444 pushes the second bearing 122 of the transfer member 118. Guided by the curve to move.

In the assembly system 400 according to the present exemplary embodiment, the gripping apparatus 100 has a minimum radius because the first guide groove 422 and the second guide groove 424 have shapes as illustrated in FIG. 17. Can be rotated, thereby reducing the volume of the device.

Although the above has been described with reference to an embodiment of the present invention, those skilled in the art may vary the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be appreciated that modifications and variations can be made.

Claims (18)

1. A body part having a rail shaft;

   A jig part having a jig plate movably coupled to the rail shaft and a first jig and a second jig positioned on the jig plate and capable of gripping workpieces of different structures;

   A height adjusting part coupled to the body part and including an air cylinder capable of height adjustment; And

   It is coupled to the height adjusting portion includes an upper gripper that can hold the workpiece of the different structure,

   The jig unit includes a first locking member corresponding to the first jig and a second locking member corresponding to the second jig,

   And a locking part coupled to the first locking member and the second locking member to fix the jig part.
2. The method of claim 1,

   The locking unit includes a post, a slider movably coupled to the post and having a locking protrusion engaged with the first locking member and the second locking member, and an elastic member for elastically pressing the slider to maintain the locking state. Gripping device, characterized in that.
3. The method of claim 2,

   And a push button coupled to the slider to protrude out of the body portion.
4. The method of claim 1,

   The height adjusting portion includes an upper plate coupled to the air cylinder, the upper plate is a gripping device, characterized in that the rise is limited by the stopper located on the upper.
5. The method of claim 1,

   The height adjusting unit, the upper gripper and the second jig is operated by air, characterized in that the gripping device.
6. The method of claim 5,

   The body portion has an air connector,

   Further includes an air supply module capable of linear reciprocating motion,

   The air supply module is a gripping device, characterized in that for supplying air coupled to the air connector.
7. A gripping device as claimed in any one of claims 1 to 6,

   The body portion has a plurality of transfer members protruding downward,

   And a guide member having a guide groove into which the transfer member is inserted to guide the transfer member.
8. The method of claim 7, wherein

   The conveying member has a first bearing and a second bearing, the second bearing protrudes out of the guide groove,

   And a power train for moving the gripping device by pressing the second bearing.
9. The method of claim 7, wherein

   The transfer member is provided with a pair to be located on the diagonal of the body portion,

   The guide groove has a first guide groove and a second guide groove into which the transfer member is inserted, respectively,

   The first guide groove has a first straight portion and a first curved portion perpendicular to each other,

   The second guide groove has a second curved portion and a second straight portion perpendicular to each other,

   The first straight portion and the second curved portion are disposed in the same direction, the first curved portion and the second straight portion are disposed in the same direction,

   And when said body portion rotates in said guide member, a pair of said conveying members pass through said first curved portion and said second curved portion, respectively.
10. The method of claim 7, wherein

    A conveyor for linearly conveying the gripping device,

    And the conveying direction of the conveyor and the conveying direction of the jig plate are parallel to each other.
11. Jig body;

    A pair of jig grippers rotatably provided in the jig body;

    Elastic members coupled to a pair of the jig grippers, respectively, to be close to each other; And

    A slide plate coupled to each of the jig grippers and movable up and down by air,

    The gap between the pair of jig grippers is enlarged by the rise of the slide plate,

    The jig gripper may include a first arm plate and a second arm plate rotatably coupled to front and rear surfaces of the jig body, a connecting member connecting the first arm plate and the second arm plate, respectively, and the first arm plate. An air gripper having a jig finger protruding from one of an arm plate and a second arm plate.
12. The method of claim 11,

    The pair of jig grippers are formed symmetrically, and the elastic member is an air gripper, characterized in that the coil spring is caught by the jig gripper.
13. The method of claim 11,

    At least one of the first arm plate and the second arm plate includes a driving member,

    The driving member is coupled to the first arm plate and the second arm plate at a predetermined angle,

    And the driving member is rotatably inserted into a driving groove formed in the slide plate.
14. The method of claim 11,

    It is provided with an air piston located in the vertical lower portion of the slide plate,

    The air piston is an air gripper, characterized in that for pressing the slide plate upward by air.
15. A pair of mutually opposite road fingers;

    A pair of gripper cylinders each provided with the rod fingers;

    A gripper frame positioned between the gripper cylinders;

    A hollow strut bar inserted into the gripper cylinder and the gripper frame to guide the movement of the gripper cylinder; And

     An elastic member positioned inside the strut bar and providing an elastic force to the pair of gripper cylinders in the gripper frame direction;

    And the gripper cylinder may be spaced apart from the gripper frame by supplying air through the hollow of the strut bar.
16. The method of claim 15,

    The gripper frame has a rotatable crank, each gripper cylinder has a connecting rod connected to the crank,

    And the gripper cylinder is symmetrically moved by a pair of connecting rods.
17. The method of claim 16,

    And a pair of strut bars symmetrically disposed about the crank.
18. The method of claim 15,

    The elastic member includes a hook hook, and the gripper cylinder has an air gripper, characterized in that it has a spring cap to the hook hook.

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