WO2023172091A1 - Dispositif de préhension multipoint rotatif destiné au transport de matériau - Google Patents

Dispositif de préhension multipoint rotatif destiné au transport de matériau Download PDF

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Publication number
WO2023172091A1
WO2023172091A1 PCT/KR2023/003256 KR2023003256W WO2023172091A1 WO 2023172091 A1 WO2023172091 A1 WO 2023172091A1 KR 2023003256 W KR2023003256 W KR 2023003256W WO 2023172091 A1 WO2023172091 A1 WO 2023172091A1
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WO
WIPO (PCT)
Prior art keywords
gear
coupled
grip
movable
module
Prior art date
Application number
PCT/KR2023/003256
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English (en)
Korean (ko)
Inventor
원수경
조요한
유종태
Original Assignee
주식회사 아이엠지로보틱스
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 주식회사 아이엠지로보틱스 filed Critical 주식회사 아이엠지로보틱스
Publication of WO2023172091A1 publication Critical patent/WO2023172091A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the present invention relates to a rotary multi-point gripper for material transfer. More specifically, it provides a grip module disposed on a transfer robot arm to grip or release the transfer object, wherein the grip module has a plurality of contact points on the transfer object. It relates to a rotary multi-point gripper for material transfer that improves transfer stability by supporting the transfer object in contact and improves the operation reaction speed by improving the structure of the movable means for moving the grip module.
  • a representative transfer device used in the movement, transfer, and rotation process of materials in various manufacturing fields is a transfer robot arm that operates by applied power and signals.
  • This transfer robot arm has a plurality of joints coupled to each other so that they can move and rotate by gripping the transfer object. Additionally, a gripper capable of gripping a transfer object is disposed at the end of the joint.
  • the movable part for controlling the position of the gripper uses hydraulic or pneumatic pressure or connects a plurality of cylinders to each gripper to control the position and operation of the gripper.
  • the prior art provides inexpensive and simple structural characteristics by operating the gripper in a rack and pinion manner. That is, the prior art consists of a left and right rotation drive body each including a pinion gear engaged with both sides of one rack gear and capable of rotating at a certain angle according to the up and down movement of the rack gear.
  • the gap between the left and right material gripper arms formed symmetrically at the lower part of the left and right rotation actuators narrows or moves away from each other, and the gripper arm You grip this object to transport it or release it to eject it.
  • the prior art made as described above has the advantage of being able to be manufactured at a low cost by improving the structure, as well as improving the convenience of maintenance, but its intended use is limited because it is installed in a gantry with limited directions in which the transfer object can be accessed.
  • it is configured to transport only objects that are large in volume and heavy in weight, and on the contrary, there is a problem in that it is difficult to transport objects that are small in volume and light in weight precisely and quickly.
  • Republic of Korea Patent No. 10-1162317 proposes a ‘robot hand assembly with a three-point gripping structure.’
  • the prior art adopts a three-point support method in clamping a plurality of cutters and spacers with a robot hand for replacing the cutting tool of a slitting machine to maintain high-speed stability of the robot movement, and the gripping force of the three fingers is applied to the cutter. This is to prevent deformation of the cutter and spacer by distributing it evenly on the cutter and spacer.
  • the present invention was proposed to solve the above problems. It grips or releases the transfer object, but maintains transport stability by contacting the transport object with multiple contact points, and improves the operation structure of the grip finger in contact with the transport object.
  • the purpose is to provide a rotary multi-point gripper for material transfer that can increase economic efficiency through low production costs and reduce maintenance costs.
  • the present invention improves the reaction speed by improving the structure of the movable module for controlling the position of the grip finger, shortens the time required for the transfer process using the gripper, and can be used in various manufacturing processes, increasing usability.
  • the purpose is to provide a rotary multi-point gripper for wide material transfer.
  • the present invention includes: a case in which an arrangement space is formed inside and one side of the arrangement space is open;
  • a cover coupled to close the opening of the case
  • a movable module disposed to be movable in the horizontal direction in the arrangement space and including a driving bar coupled to the driving means, and a driving gear rotating in engagement with the driving bar;
  • a grip module coupled to the movable module to grip or release the transfer object.
  • the movable module includes a movable gear coupled to the drive gear and having a gear mount for engagement formed on an outer peripheral surface, and a plurality of movable modules arranged radially with respect to the movable gear, each of which is rotatable by engaging with the gear mount for engagement of the movable gear. It is characterized by including an arranged driven gear.
  • the grip module includes a coupler each coupled to the plurality of driven gears, a fixed bar in the form of a bar extending in the longitudinal direction, and a grip finger disposed at one end of the fixed bar in the longitudinal direction and in contact with the conveyed object. It is characterized by including.
  • the driving means is characterized by being composed of either a cylinder or an electric motor operating by hydraulic or pneumatic pressure, an electronic solenoid, or an electric motor using electricity.
  • the grip module is further provided with a non-slip coating layer at the area in contact with the transfer object, and the non-slip coating layer includes 60 to 70 parts by weight of tyrene-butadiene (SBR) rubber or nitrile-butadiene (NBR) rubber, and 5 parts by weight of a non-slip agent. It is formed by mixing to 10 parts by weight and other additives, and the non-slip agent is characterized by mixing silicon nitride (Si3N4) powder and silicon carbide (SiC) powder at a weight ratio of 6:4.
  • Si3N4 silicon nitride
  • SiC silicon carbide
  • the present invention achieved as described above can reduce the time required for the transfer process by improving the movement stability of the transfer object and improving the reaction speed, and can be manufactured in various sizes, which has the effect of wide utilization.
  • the present invention improves the operation speed of the grip finger and improves the structure of the movable module to maintain the gripping state of the conveyed object, thereby increasing operation speed and operation stability, and improving economic efficiency by reducing manufacturing and maintenance costs. It works.
  • Figure 1 is an exemplary diagram showing a rotary multi-point gripper for material transfer according to the present invention.
  • Figure 2 is an exemplary diagram showing the operating state of the rotary multi-point gripper for material transfer according to the present invention.
  • Figure 3 is an exemplary view showing the rear of a rotary multi-point gripper for material transfer according to the present invention.
  • Figure 4 is an exemplary view showing the interior of a rotary multi-point gripper for material transfer according to the present invention.
  • Figure 5 is an exemplary view showing the inside of the rotary multi-point gripper for material transfer according to the present invention with the grip finger in a rotated state.
  • Figure 6 is an exemplary diagram showing a state in which the grip fingers are spaced apart from each other in the rotary multi-point gripper for material transfer according to the present invention.
  • Figure 7 is an exemplary diagram showing a state in which grip fingers are close to each other in the rotary multi-point gripper for material transfer according to the present invention.
  • the rotary multi-point gripper 1 for material transfer includes a case 10, a driving means 30, a driving bar 41, and a movable It is provided with a module 40 and a grip module 50.
  • the case 10 is formed with an arrangement space 11 inside, and one side of the arrangement space 11 is open.
  • the driving means 30 is coupled to close the opening of the case 10.
  • the driving means 30 is operated by applied power and signals.
  • the drive bar 41 is arranged to be movable in the horizontal direction in the arrangement space 11 and is coupled to the drive means 30.
  • the movable module 40 includes a drive gear 42 that rotates in engagement with the drive bar 41.
  • the grip module 50 is coupled to the movable module 40 and includes a grip or release object to be transported.
  • the case 10 is made in the form of a box with an arrangement space 11 formed inside, one side of the arrangement space 11 is open to communicate with the outside, and one side wall of the plurality of side walls forming the enclosure has a structure described later.
  • An inlet hole (not shown in the drawing) into which a part of the driving means 30 is inserted is formed.
  • spacer blocks 12 are disposed in the arrangement space 11 of the case 10.
  • the spacer block 12 is used to ensure operational stability of the movable module 40 disposed in the placement space.
  • the shape and size of the case 10 can be changed into various shapes and sizes depending on the position where the rotary multi-point gripper 1 for material transfer according to the present invention is placed and the robot arm for transfer combined, as shown in the drawing.
  • it is not limited to the shape and size shown. That is, the case 10 is shown in the drawing as having a square enclosure shape, but various modifications such as circular or triangular are possible.
  • a coupling means for coupling with a transfer robot arm may be further disposed on the outer surface of the case 10.
  • This coupling means may be composed of either a female socket or a male socket and be coupled to a corresponding socket provided on the transfer robot arm, or may be configured to enable coupling and separation using magnetic force.
  • the cover 20 is coupled to one open side of the case 10 to close the open portion. After the components are placed in the arrangement space 11 of the case 10, the cover 20 closes the arrangement space 11 from the outside to block external foreign substances and moisture from entering.
  • an operation hole 21 may be formed in the cover 20 in which the coupler 51 constituting the grip module 50, which will be described later, is rotatably disposed. Additionally, a seal or packing for sealing may be placed on the cover 20 at the area where the cover 20 and the case 10 come into contact with each other.
  • the driving means 30 operates by applied power and signals to operate the movable module 40, which will be described later.
  • the driving means 30 may be disposed outside the case 10.
  • This driving means 30 is used to move the driving bar 41 of the movable module 40, which will be described later, in the horizontal direction with respect to FIG. 3.
  • the driving means 30 may be made of either a hydraulic or pneumatic cylinder operated by applied power and signals, an electronic solenoid, or an electric motor using electricity.
  • the driving means 30 is disposed in the inlet hole formed in the case 10, and sealing or packing to maintain airtightness is further disposed at the disposed portion.
  • the movable module 40 includes a drive bar 41 movable in the horizontal direction in the arrangement space 11 of the case 10, and a drive gear 42 that rotates in engagement with the drive bar 41. Included here, the moving direction of the driving bar 41 is horizontal with respect to FIG. 3 and may be vertical or diagonal along the direction in which the case 10 is disposed.
  • the moving direction of the driving bar 41 connects the rear end and the front end. It's a direction.
  • the driving bar 41 is formed in the form of a bar extending in the longitudinal direction, and gear mountains are formed continuously along the longitudinal direction on one surface to engage the driving gear 42.
  • the driving gear 42 is a circular pinion gear rotatably disposed in the arrangement space 11 of the case 10, and the driving bar 41 engages with a gear mountain formed on the outer peripheral surface.
  • the movable module 40 configured as described above rotates the driving gear 42 while moving the driving bar 41 in the horizontal direction, and the grip module 50, described later, coupled to the driving gear 42, is the driving gear. Depending on the direction of rotation of (42), the conveyed object is gripped or released while approaching or spaced apart from each other.
  • the movable module 40 includes a movable gear 43 and a driven gear 44.
  • the movable gear 43 is coupled to the driving gear 42 in order to control the rotational speed and rotational force of the driving gear 42 and increase the convenience of coupling the grip module 50, which will be described later, and a gear mountain for engagement is formed on the outer peripheral surface. do.
  • a plurality of driven gears 44 are arranged radially with respect to the movable gear 43, and each is coupled to the meshing gear mountain of the movable gear 43.
  • the movable gear 43 is coupled to a rotation shaft 421 that rotatably supports the drive gear 42 and rotates in conjunction with the rotation of the drive gear 42, and a coupling gear mountain is formed on the outer peripheral surface.
  • This movable gear 43 is formed to have a relatively large diameter compared to the diameter of the drive gear 42, and converts the rotation speed of the drive gear 42 into rotational force to form a plurality of driven gears 44 coupled to the outer peripheral surface. Rotate .
  • the driving gear 42 rotates by receiving power from the driving means 30, and the movable gear 43 coupled to the same rotation axis 421 as the driving gear 42 is connected to the driving gear 42. rotated at the same time. At this time, the movable gear 43 rotates while converting the rotation speed of the drive gear into rotational force.
  • the rotational speed of the drive gear 42 can be converted into the rotational force of the movable gear 43 to obtain a strong rotational force even with a small force, so that the size of the case 10 can be minimized. .
  • a plurality of the driven gears 44 are arranged radially around the rotation axis 421 of the movable gear 43, and each of them is engaged and coupled to the movable gear 43.
  • a grip module 50 which will be described later, is disposed on each of the plurality of driven gears 44, and as the driven gear 44 rotates, the grip modules 50 approach or are spaced apart from each other.
  • the arrangement angle of the plurality of driven gears 44 is arranged so that the spaced angle between them is 120° so that their rotations do not interfere with each other.
  • the movable module 40 configured as described above rotates the engaged drive gear 42 while the drive bar 41 coupled to the drive means 30 moves in the horizontal direction, and the rotation shaft 421 is the same as the drive gear 42.
  • the movable gears 43 coupled by ) rotate in conjunction with each other, and a plurality of driven gears 44 arranged to engage with the movable gears 43 at spaced apart positions rotate.
  • Such a movable module 40 can generate a strong rotational force while reducing the overall volume, and through this, the grip force of the grip module 50 disposed on each of the plurality of driven gears 44 can be increased.
  • the movable module 40 can provide a strong grip even with a reduced overall volume, so it can be used in precision manufacturing processes and has the advantage of being able to grip and release heavy transport objects.
  • the grip module 50 is displaced by the operation of the movable module 40 and grips the transfer object or discharges the grasped transport object.
  • the grip module 50 includes a coupler 51, a fixing bar 52, and a grip finger 53.
  • the coupler 51 is each coupled to the plurality of driven gears 44.
  • the fixing bar 52 extends long from the coupler 51 in the radial direction of the driven gear 44.
  • the grip fingers 53 are disposed at one end of the fixing bar 52 in the longitudinal direction and come into contact with the transfer object.
  • three grip modules 50 are shown arranged at an angular distance of 120°, but this is only one embodiment and at least three to five grip modules 50 can be arranged at a predetermined angle from each other. there is.
  • the arrangement number and arrangement angle of the driven gears 44 constituting the movable module 40 may be changed corresponding to the arrangement number and arrangement angle of the grip module 50.
  • the coupler 51 is coupled to each of the plurality of driven gears 44, and protects the driven gear 44 from foreign matter or moisture and simultaneously receives rotational force from the driven gear 44.
  • This coupler 51 is coupled to surround one surface of the driven gear 44 and is rotatably disposed on the operating hole 21 formed in the cover 20.
  • the fixing bar 52 is integrally fixed to each coupler 51 through a coupler bolt, and has the shape of a bar extending in the longitudinal direction.
  • the fixing bars 52 are arranged so that the mutually spaced angle is 120°, and grip fingers 53 that come into contact with the conveyed object are disposed at one end of each in the longitudinal direction.
  • the grip fingers 53 are disposed at one end of the fixed bar 52 in the longitudinal direction, and when the coupler 51 rotates in conjunction with the rotation of the driven gear 44, they come close to or are spaced apart from each other to grip or grip the conveyed object. Release it.
  • grip fingers 53 are made in a cylindrical shape as shown in the drawing, and one end is coupled to the fixing bar 52.
  • the grip fingers 53 are coupled to the fixing bar 52 so that they cannot rotate so that the conveyed object can be moved. Prevents unnecessary rotation of the conveyed object during the process of gripping or releasing it.
  • the grip finger 53 may be further provided with a non-slip coating layer 54 to increase transport stability by preventing slipping of the transport object in contact.
  • the non-slip coating layer 54 is applied to the grip finger 53 to prevent malfunctions such as slipping or deformation when the grip finger 53 receives rotational force due to the operation of the movable module 40 and pressure is applied to grip the conveyed object. ) is formed on the surface using a rubber composition.
  • Any rubber composition that has anti-slip properties can be used.
  • the surface of the grip finger 53 is formed using a rubber composition consisting of 60 to 70 parts by weight of styrene-butadiene (SBR) rubber or nitrile-butadiene (NBR) rubber, 5 to 10 parts by weight of a non-slip agent, and other additives.
  • SBR styrene-butadiene
  • NBR nitrile-butadiene
  • a coating layer was formed through dip coating to have an average thickness of 50 to 80 ⁇ m.
  • silicon nitride (Si3N4) powder and silicon carbide (SiC) powder were mixed and used as the non-slip agent at a weight ratio of 6:4. In this case, it was found that the addition of the non-slip agent improved the anti-slip properties and ensured the durability of the coating layer.
  • additives used in typical rubber compositions can be used in appropriate amounts, including 2 to 5 parts by weight of silica as a filler, 2 to 5 parts by weight of sulfur as a crosslinking agent, and 1 to 2 parts by weight of tetramethyl thiuram disulfide as a crosslinking accelerator. You can use it.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Advancing Webs (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention concerne un dispositif de préhension multipoint rotatif destiné au transport de matériau, et, plus particulièrement, un dispositif de préhension multipoint rotatif destiné au transport de matériau, qui fournit un module de préhension agencé sur un bras de robot pour un transport, permettant de saisir ou de libérer un objet à transporter, le module de préhension supportant l'objet à transporter qui se trouve en contact avec ce dernier au niveau d'une pluralité de points de contact, augmentant ainsi la stabilité, et la structure d'un moyen de fonctionnement permettant de faire fonctionner le module de préhension étant améliorée, améliorant ainsi la vitesse de réaction des mouvements. À cette fin, la présente invention comprend : un boîtier qui présente un espace d'agencement à l'intérieur avec un côté de l'espace d'agencement ouvert ; un couvercle accouplé pour fermer la zone ouverte du boîtier ; un moyen d'entraînement qui fonctionne au moyen d'une alimentation électrique appliquée et de signaux ; un module de fonctionnement comprenant une barre d'entraînement qui est agencée pour être horizontalement mobile dans l'espace d'agencement et qui est accouplée au moyen d'entraînement, et un engrenage d'entraînement qui tourne en venant en prise avec la barre d'entraînement ; et un module de préhension qui est accouplé au module de fonctionnement et qui saisit ou qui libère un objet à transporter.
PCT/KR2023/003256 2022-03-11 2023-03-09 Dispositif de préhension multipoint rotatif destiné au transport de matériau WO2023172091A1 (fr)

Applications Claiming Priority (2)

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KR10-2022-0030417 2022-03-11
KR1020220030417A KR102442293B1 (ko) 2022-03-11 2022-03-11 소재 이송용 회전형 다점식 그립퍼

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Publication number Priority date Publication date Assignee Title
KR102442293B1 (ko) * 2022-03-11 2022-09-13 원수경 소재 이송용 회전형 다점식 그립퍼
CN117428803B (zh) * 2023-12-08 2024-02-23 蓬莱金创精密铸造有限公司 一种壳模生产用的翻转机械手

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4598942A (en) * 1984-07-23 1986-07-08 Westinghouse Electric Corp. Force-controlled gripper with adaptive accommodation
KR100943240B1 (ko) * 2009-08-17 2010-02-18 이영태 물건의 파지가 용이한 로봇손
US20110089709A1 (en) * 2009-10-20 2011-04-21 Nexus Biosystems, Inc. Gripper Apparatus and Method for Containers of Different Sizes
KR101687256B1 (ko) * 2016-07-11 2016-12-19 (주)로빅 롱 스트로크형 전동 3조 그립퍼
KR20210138953A (ko) * 2020-05-13 2021-11-22 전남대학교산학협력단 로봇의 엔드 이펙터
KR102442293B1 (ko) * 2022-03-11 2022-09-13 원수경 소재 이송용 회전형 다점식 그립퍼

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101162317B1 (ko) 2012-02-08 2012-07-04 (주) 대화산기 3점 방식 그리핑 구조를 구비한 로봇 핸드 어셈블리
KR20140055277A (ko) 2012-10-31 2014-05-09 주식회사 맥스로텍 랙·피니언식 그립퍼 구동수단

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4598942A (en) * 1984-07-23 1986-07-08 Westinghouse Electric Corp. Force-controlled gripper with adaptive accommodation
KR100943240B1 (ko) * 2009-08-17 2010-02-18 이영태 물건의 파지가 용이한 로봇손
US20110089709A1 (en) * 2009-10-20 2011-04-21 Nexus Biosystems, Inc. Gripper Apparatus and Method for Containers of Different Sizes
KR101687256B1 (ko) * 2016-07-11 2016-12-19 (주)로빅 롱 스트로크형 전동 3조 그립퍼
KR20210138953A (ko) * 2020-05-13 2021-11-22 전남대학교산학협력단 로봇의 엔드 이펙터
KR102442293B1 (ko) * 2022-03-11 2022-09-13 원수경 소재 이송용 회전형 다점식 그립퍼

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