WO2021187799A1

WO2021187799A1 - Cross joint unit

Info

Publication number: WO2021187799A1
Application number: PCT/KR2021/002967
Authority: WO
Inventors: 조호영
Original assignee: (주)브이텍
Priority date: 2020-03-18
Filing date: 2021-03-10
Publication date: 2021-09-23
Also published as: KR102174037B1

Abstract

The present invention relates to a cross joint unit. The joint unit comprises: a first clamp and a second clamp, which correspond with respect to directions that intersect each other; an adjustment means disposed between both clamps; and a fixing shaft, which sequentially passes through the first clamp, the adjustment means and the second clamp. Specifically, the adjustment means includes: a first block having a plurality of through-holes spaced apart at the same radius from the fixing shaft; corresponding grooves formed at the second clamp so as to correspond to the through-holes; and a plurality of fixing pins, which are provided so that each one end thereof having passed through the through-hole is inserted into the corresponding groove, wherein the first block and the fixing pins are fixed to and supported by the first clamp.

Description

cross joint unit

The present invention relates to a cross-joint unit, and more particularly, to a cross-joint unit capable of effectively and stably adjusting an intersection angle.

A so-called 'cross joint' is a connecting member used to connect two rods in a direction crossing each other, and includes upper and lower two rod clamps. For example, in a vacuum transport system, this cross joint is mounted between a robotic arm and an arm on the side of the suction pad to facilitate gripping and transport of articles. At this time, in order to accurately grip and transport the object, the two clamps are connected to adjust the mutual intersection angle.

Referring to FIG. 1 , the cross joint 1 is disposed between two 'C'-

shaped clamps

2 and 3 that are disposed correspondingly in a direction crossing the upper and lower sides, and the

clamps

2 and 3, and both ends A so-called gear-type adjustment means 5 inserted into and engaged with the gear groove 4 of each

clamp

2,3, and the first clamp 2, the adjustment means 5, and the second clamp 3 are sequentially arranged. It comprises a shaft bolt (6) for fixing to be installed through. Here, reference numeral 7 denotes a nut fastened to the end of the shaft bolt 6 , and

reference numerals

8 and 9 denote members such as rods or arms mounted on the

respective clamps

2 and 3 .

In general, in such a gear-type coupling structure, since the shaft rotation and fixation of each

clamp

2 and 3 in the direction to which the user applies a force are possible, there is an advantage that the intersection angle adjustment of the

clamps

2 and 3 can be made relatively easily. . Actually, the cross joint 1 is also the one currently used by the present applicant.

However, the cross joint 1 has the following fatal problem.

First, when an unexpected force or impact is applied to the clamp (2,3) portion, the intersection angle can be arbitrarily changed;

Second, although it depends on the degree of the applied load, the gear is easily worn after a few rotations, which causes the

clamps

2 and 3 and the gear body 5 to rotate in vain, making it unusable. become;

Third, accuracy and stability in system operation such as vacuum transfer are greatly impaired by the above problem.

Registered Utility Model Publication No. 20-0379664

Registered Patent Publication No. 10-1182784

Registered Patent Publication No. 10-1934618

Unexamined Patent Publication No. 2003-0030963

The present invention is proposed to solve the problems of the conventional cross joint described above. An object of the present invention is to provide a cross-joint unit capable of remarkably improving the operating accuracy and stability of various systems using a cross-joint, as arbitrary rotation and joint part wear do not occur while adjusting the cross-joint angle. would like to

The cross joint unit of the present invention includes: a first clamp and a second clamp disposed opposite to each other in a cross phase, a cross angle adjusting means provided between both clamps, the first clamp - the adjusting means - the angle of the second clamp It is based on a cross joint with a fixed shaft which in turn passes through the shaft hole.

Here, the adjusting means comprises:

a first block including a plurality of circular through-holes formed on the same radius with respect to the fixing axis and being detachably fixed to the opposite surface of the first clamp;

a plurality of corresponding grooves communicating with the through-holes and formed on opposite surfaces of the second clamp;

a plurality of fixing pins having one end passing through the through hole installed to be inserted into the corresponding groove to fix an adjustment and a set intersection angle between the first clamp and the second clamp;

includes,

In this case, the fixing pin is supported by the push pressure of the flat opposite surface of the first clamp applied in close contact with the other end of the head that is not inserted from the first block when the first block is fixed;

is characterized by

where the corresponding groove is:

directly formed on the opposite surface of the second clamp or formed on a second block fixed to the opposite surface of the second clamp to face the first block;

can be

Preferably, the first and second clamps are made of aluminum, but at least the first block and the fixing pin are made of steel having relatively superior strength and abrasion resistance compared to the clamps.

A recess into which the head of the fixing pin is fitted may be formed outside the through hole. Meanwhile, the through-holes may be arranged in a circular or arcuate shape, and in this case, the grooves may be formed in a circular or arcuate form according to the arrangement of the through-holes.

Also, preferably, the through-holes and corresponding grooves of the first block and the second block are configured as 'holes' of isoform symmetry.

In the cross joint unit of the present invention, two clamps are connected in a so-called pin-type, not in a gear-type. In this connection method of the present invention, especially when adjusting the clamp intersection angle, wear, friction, or damage due to the joint part does not occur, and the adjustment state is not arbitrarily deformed by external force or friction after adjustment. Therefore, the cross-joint unit of the present invention has the effect of being applied to various systems to remarkably improve the accuracy and stability of operation.

1 is a view showing the configuration of a conventional cross joint.

2 is a perspective view of a cross joint unit according to an embodiment of the present invention.

Figure 3 is an exploded view of Figure 2;

4 is a cross-sectional view taken along line 'B-B' of FIG.

5 is a partially enlarged view of the 'adjustment means (13)' of FIG.

6 is a cross-sectional view for explaining the adjustment of the intersection angle of the cross joint unit of FIG.

FIG. 7 is an exemplary diagram of adjusting the intersection angle according to FIG. 6 .

[Explanation of code]

10. Cross joint unit

11. First Clamp

12. Second Clamp

13. Means of Coordination

14. Fixed axis

14a. shaft bolt

14b. nut

15. Block 1

16. Through hole

17. Second Block

18. Correspondence home

19. Retaining Pins

20. Head

21,22. opposite side

23. Yohome

A1, A2. arm

The technical features and effects of the present invention 'cross joint unit' described or not described above will become more apparent through the description of the embodiments described below with reference to the accompanying drawings. 2, the cross-joint unit of the present invention is denoted by reference numeral '10'.

2 to 5 , the cross joint unit 10 of the present invention has a first clamp 11 and a second clamp 12 disposed opposite to each other, and an intersection angle disposed between both

clamps

11 and 12 . Adjusting means (13), the first clamp (11) - adjusting means (13) - through each shaft hole of the second clamp (12) in turn, a fixed shaft (14) for closely fixing each element (11, 13, 12) ) is included. The fixed shaft 14 includes a shaft bolt 14a and a nut 14b fastened to an end of the shaft bolt 14a.

Reference numerals A1 and A2 denote arm members fitted to the

respective clamps

11 and 12 and firmly fixed by the fixing shaft 14 .

The first clamp 11 and the second clamp 12 are both common 'C' type clamps, and are spaced apart and opposed in a crossed phase, and each arm A1, A2 is operated by the fixing shaft 14. ) can be firmly fixed or released. In the drawings, the intersection angle of the two

clamps

11 and 12 is approximately 90°, but this can be appropriately modified or adjusted by using the adjusting means 13 as needed.

However, the configuration and function of the cross-joint unit 10 described above are not special in the present invention, and the technical features and effects of the present invention are actually in the specific design of the adjusting means 13 . In the structure of the cross joint unit 10 of the present invention, the adjusting means 13 includes a first block 15 fixed to the first clamp 11, a corresponding groove 18 formed on the second clamp 12 side, and the and a plurality of fixing pins 19 organically extending between the first block 15 and the corresponding groove 18 .

Specifically, the first block 15 includes a plurality of through holes 16 formed on the same radius with respect to the fixed axis 14 .

Further, the corresponding groove 18 is formed on the opposite surface 22 side of the second clamp 12 so as to communicate with the through hole 16 . Depending on the design, the corresponding groove 18 is formed directly on the opposite surface 22 of the second clamp 12, or is fixed to the opposite surface 22 of the second clamp 12 so that the first block ( 11) and may be formed in the second block 17 to face. Although this embodiment illustrates the latter design, this does not exclude the former design from the present invention.

And the fixing pin 19 is installed so that one end passing through the through hole 16 of the first block 15 is inserted into the corresponding groove 18 .

In this structure, the first block 15 and the second block 17 are bolted to the

opposite surfaces

21 and 22 of the first and

second clamps

11 and 12, respectively, with the fixing pins 19 ) is firmly supported by the pressure applied in close contact with the non-inserted other end portion of the fixing pin 19 from the surface of the flat opposite surface 21 of the first clamp 11 to which the first block 15 is fixed. can Therefore, a separate means for supporting the fixing pin 19 is not required.

On the other hand, the through-holes 16 are arranged in a circular or arc shape at a dense interval, but the present invention is not limited to the spacing or the overall shape of the through-holes 16 . Nevertheless, the dense spacing of the through holes 16 in this embodiment is because it is more advantageous to finely adjust the intersection angle of the two

clamps

11 and 12 by doing so. Of course, this fine adjustment will also be directly related to the size of the diameter of the through hole 16 .

A recess 23 is formed on the outside of the through hole 16 through which the head 20 of the fixing pin 19 is fitted. As the through hole 16 can be arranged in a circular or arc shape, the The recess 23 may be formed in a circular or arc shape corresponding to the entire arrangement of the through holes 16 .

Preferably, the first and

second clamps

11 and 12 are made of aluminum, and both

blocks

15 and 17 or at least the first block 15 of them are made of aluminum compared to the aluminum clamps 11 and 12 . It is formed of steel having relatively excellent wear resistance and is fixed to the first and

second clamps

11 and 12, respectively. This is judged to be an optimal material design considering both the clamping characteristics of the

clamps

11 and 12 and the rigidity and durability of the adjusting means 13, and the fixing pin 19 is also made of steel.

Preferably, the through hole 16 and the corresponding groove 18 of the first block 15 and the second block 17 are 'holes' of isomorphic symmetry. Compared to the case of a different shape, the productivity and assembling property of the joint unit 10 are improved, and in particular, the operator selects a convenient position for the fixing pin 19 among the through hole 16 and the corresponding groove 18 It has the convenience of being able to install it. Also, for example, even if any one of the

blocks

15 and 17 is damaged, there is an advantage that it can be easily replaced without distinguishing the position.

In terms of assembly, first, the fixing pins 19 are inserted one by one into the through holes 16 of the first block 15 so that the pin head 20 is seated in the upper recess 23 of the through hole 16. After that, the first block 15 is bolted to the opposite surface 21 of the first clamp 11 . At this time, the fixing pin 19 is firmly supported by the push pressure of the surface of the head 20 portion of the flat opposite surface 21 of the first clamp (11). Meanwhile, the second block 17 is bolted to the opposite surface 22 of the second clamp 12 .

Then, the first and

second blocks

15 and 17 are brought into contact with one end of the fixing pin 19 being inserted into the communication hole 18 , and then the first clamp 11 and the first and the

second block

15 and 17, and the nut 14b at the end of the shaft bolt 14a that has passed through each shaft hole of the second clamp 12 in sequence and tightened, thereby tightening the

respective elements

11, 15, 17 , 12) are in close contact with each other to complete the cross joint unit 10 of the present invention.

When the cross joint unit 10 is assembled, an intersection angle between the two

clamps

11 and 12 is set, and the intersection angle may be adjusted as necessary.

6 and 7, first, the shaft bolt 14a is released and the first clamp 11 is moved in the opposite direction of the second clamp 12, so that the first block 15 and the first block 15 facing each other 2 Separate the blocks 17 from each other (see arrow ①). Then, while the fixing pin 19 is separated from the corresponding groove 18, the

clamps

11 and 12 are rotatable about the fixing shaft 14 (refer to arrow ②). For this state, it is preferable that the shaft bolt 14a of the fixed shaft 14 has a sufficient length so as not to be completely separated from the nut 14b.

In this state, all rotation of the second clamp 12 within the range of 360° is possible, for example, in the case of 180° rotation, the direction will be reversed, but the intersection angle θ between the two

clamps

11 and 12 is zero. However, there are not many cases where such a large range of rotation is required.

When the required degree of rotation (refer to arrow ③) is completed, the first block 15 and the second block 17 are assembled again. That is, the first and

second blocks

15 and 17 in a state where one end of the fixing pin 19 passes through the through hole 16 and is inserted into the other corresponding groove 18 adjacent to the previous corresponding groove 18 . and then, by tightening the shaft bolt 14a of the fixed shaft 14 to the end nut 14b member, the crossing angle adjustment of the cross joint unit 10 is completed. A symbol 'θ' in FIG. 7 is an adjustment angle changed in this process.

According to the structure of the cross-joint unit 10 of the present invention, wear, friction, or damage due to the joint portion does not occur during this adjustment process, and the adjusted state is not arbitrarily deformed by an external force after adjustment. Therefore, the cross joint unit 10 can be applied to various systems to significantly improve the accuracy and stability of operation.

Claims

A first clamp and a second clamp disposed opposite to each other in a mutually spaced apart and cross phase, an intersection angle adjusting means provided between the two clamps, the first clamp-adjusting means-fixing shaft passing through each shaft hole of the second clamp in turn; in doing,

The adjusting means (13) comprises:

A first block ( 15);

a plurality of corresponding grooves (18) communicating with the through hole (16) and formed on the opposite surface (22) side of the second clamp (12);

A plurality of fixing pins installed so that one end passing through the through hole 16 is inserted into the corresponding groove 18 to fix the adjustment and set intersection angles between the first clamp 11 and the second clamp 12 . (19);

includes,

At this time, the fixing pin 19 is a flat opposite of the first clamp 11 applied in close contact with the other end of the head 20 that is not inserted from the first block 15 when the first block 15 is fixed. supported by the push pressure of the face 21 surface;

On the outside of the through hole 16, the head 20 of the fixing pin 19 is fitted with a recess 23 is formed;

Cross-joint unit characterized in that.
According to claim 1,

The corresponding groove 18 is:

A second block directly formed on the opposite surface 22 of the second clamp 12 or fixed to the opposite surface 22 of the second clamp 12 to face the first block 15 ( 17) formed in;

Cross-joint unit characterized in that.
According to claim 1,

The fixed shaft (14) comprises a shaft bolt (14a) and an end side nut (14b) of the shaft bolt (14a).
According to claim 1,

The cross joint unit, characterized in that the through holes (16) are arranged in a circular or arc shape.
According to claim 1,

The through-holes (16) are arranged in a circular or arcuate shape, and the grooves (23) are formed in a circular or arcuate shape corresponding to the arrangement of the through-holes (16).
According to claim 1,

The first and second clamps 11 and 12 are formed of aluminum, and the first block 15 and the fixing pin 19 are formed of steel having relatively superior wear resistance compared to aluminum. .
According to claim 1,

the corresponding groove (18) is fixed to the opposite face (22) of the second clamp (12) and is formed in the second block (17) facing the first block (15); At this time, the through-holes 16 and the corresponding grooves 18 of the first block 15 and the second block 17 are 'holes' of isomorphic symmetry;

Cross-joint unit characterized in that.
According to claim 1,

The intersection angle between the first clamp and the second clamp is:

releasing the fixed shaft (14); moving the first clamp 11 and the second clamp 12 in opposite directions so that the fixing pin 19 is separated from the communication hole 18; being adjusted by rotating the first clamp (11) or the second clamp (12);

Cross-joint unit characterized in that.
11. The method of claim 10,

the fixing shaft 14 includes a shaft bolt 14a and an end side nut 14b of the side bolt 14a; The shaft bolt 14a has a length that is not completely separated from the nut 14b when the first clamp 11 and the second clamp 12 are moved;

Cross-joint unit characterized in that.