KR100798642B1 - Hand device for robot - Google Patents

Abstract

The present invention relates to a hand device for a robot, comprising: a rotating cylinder (210) installed at an end of an arm (110), a bracket (220) installed at one end of a rotating cylinder (210), and one end of a bracket (220). The gripper assembly 230 is installed to hold and release the object, the shock absorbing means 250 that can absorb the shock when the object is gripped by the gripper assembly 230, and the gripper assembly 230 to grip the object Characterized in that it comprises a gripping check means 260 that can be confirmed. Therefore, the gripper assembly of the hand device is automatically replaced, thereby increasing productivity, and by adding flexibility to the gripper assembly, there is an effect of preventing product damage when gripping an object.

Description

Hand Device for Robots {HAND DEVICE FOR ROBOT}

1 illustrates a robot hand apparatus for attaching a shock absorber to a shock absorber by automatically supplying a shock absorber bracket.

2 is an overall schematic diagram of a robot according to the present invention;

3 is a hand device for a robot according to the present invention,

4 is a plan view of a gripper assembly according to the present invention;

5 is a cross-sectional view taken along the line A-A of FIG.

FIG. 6 is a cross-sectional view taken along the line B-B in FIG. 4.

<Description of the code | symbol about the principal part of drawing>

100: robot body 110: arm

200: hand device 210: rotary cylinder

220: bracket 222, 231: replacement jig

230: gripper assembly 232: gripper

233 finger 240 upper support plate

242: through hole 244: guide ball

245: bush 250: shock absorbing means

252: connecting rod 254: spring                 

260: holding check means 261: lower support plate

262: sensing pin 263: sensing rod

264: spring 270: detection sensor

The present invention relates to a hand device for a robot, and more particularly, to a hand device for a robot for holding a target work that is changed from time to time during the same repetitive work.

In general, robots are designed to perform high-efficiency tasks on a simple, repetitive and difficult basis for human beings, and are being applied to industrial fields as well as medical, military, space, and agriculture in recent years. to be.

Industrial robots deployed in industrial sites are widely used in the fields of welding, assembly, painting and inspection, as well as machine tools and transportation. In the case of the transport robot used in the transport field, a hand device is designed and used in consideration of the working environment and the size and weight of the transport object to easily grasp and transport the transport object.

1 shows a robot hand apparatus for gripping and attaching a shock absorber bracket to a shock absorber. The hand apparatus installed at the end of a robot arm, which is not shown, includes a rotary cylinder 2. , And a bracket 3 having both sides at one end of the rotating cylinder 2, and a gripper 5 installed as a connecting block 4 at each side of the bracket 3.

The mounted gripper 4 picks up an object, that is, a bracket which is automatically supplied by the operation of the cylinder, and attaches it to the shock absorber 1.

However, in general, the automatic supply of the bracket may fluctuate from time to time in the dimensions and shape of the product, and therefore, in order to properly grasp the object to be changed, the gripper has to be manually replaced every time from the connecting block. There is a problem that a lot of trouble occurs during automatic supply because there is no device that can absorb the shock generated during gripping.

The present invention is to solve the conventional problems as described above, the replacement of the gripper assembly of the hand can be made automatically, adding a flexibility to the gripper assembly can supply the product like a human hand sense the hand device The purpose is to provide.

In order to achieve the above object, the present invention is a robot hand device installed on the arm of the robot main body, the rotation cylinder is provided on the end of the arm, the bracket is provided on one end of the rotation cylinder, and installed on one end of the bracket And a gripper assembly for holding and releasing an object, a shock absorbing means for absorbing a shock when the object is gripped by the gripper assembly, and a gripping check means for checking a grip state of the object in the gripper assembly. To provide.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic view of the robot according to the present invention, Figure 3 is a hand device for a robot according to the present invention, Figure 4 is a plan view of the gripper assembly according to the present invention, Figure 5 is a cross-sectional view taken along line AA of Figure 4, 6 is a cross-sectional view taken along line BB of FIG. 4.

As shown in FIG. 2, a robot body 100 having a bottom surface fixed thereto, an arm 110 rotated about the robot body 100, and a hand device 200 installed at an end of the arm 110. It consists of.

As shown in FIG. 3, the hand device 200 has a rotation cylinder 210 installed at an end of the arm 110, a bracket 220 installed at one end of the rotation cylinder 210, and a bracket 220. At one end of the gripper assembly 230 capable of gripping and releasing an object is installed. And the gripper assembly 230 is characterized in that the shock absorbing means 250 that can absorb the shock when holding the object, the gripper assembly 230 is provided with a gripping confirmation means 260 to check the gripping state of the object It is done.

Here, the bracket 220 installed at one end of the rotating cylinder 210 is a trapezoidal shape in which one side of the parallel long side is installed on the rotary cylinder 210, the gripper assembly 230 is installed on each of the oblique sides.

The gripper assembly 230 is provided with a rectangular upper support plate 240 having a predetermined thickness. A gripper 232 extending in the longitudinal direction is installed at the center of the lower surface of the upper support plate 240, and the upper support plate 240 is provided. The shock absorbing means 250 is installed between the bracket and the bracket 220, and the gripping check means 260 is connected to the upper support plate 240 and positioned at the center of the gripper 232.

Typically, the gripper 232 is a device that repeats the pair of fingers 233 is pinched and opened by an internal cylinder (not shown).

And Figure 5 shows the shock absorbing means 250 with reference to Figure 4, the shock absorbing means 250 is composed of a connecting rod 252 and a spring 254, at least two connecting rods 252 Is installed, preferably installed at each corner of the upper support plate 240.

One end of the connecting rod 252 is fixedly installed to the bracket 220 with a bolt B, and the other end of the connecting rod 252 is inserted into the through hole 242 of the upper supporting plate 240 to have a lower surface of the upper supporting plate 240. It is fastened to the nut (N) and the bolt (B) that is fixed to. At this time, the inner diameter of the through hole 242 is formed larger than the diameter of the connecting rod 252 is enabled to move up and down the gripper assembly 230 is installed as hanging on the connecting rod 252.

In addition, a spring 254 is installed on an outer circumferential surface of the connecting rod 252 located between the bracket 220 and the upper support plate 240 to absorb the impact of the gripper assembly 230.

And Figure 6 shows the gripping check means 260, the rectangular lower support plate 261 located between the pair of fingers 233 is integrally provided with a sensing pin 262 protruding downward in the center, One end is fixed to both sides of the lower support plate 261, the other end is provided with a plurality of sensing rods 263 penetrating through the guide hole 244 of the upper support plate 240.

The bush 245 is inserted into the guide hole 244 to allow the sliding movement of the sensing rod 263 to be penetrated, and the head portion is formed at the end of the sensing rod 263 penetrated to the guide hole 244. 263b is formed to prevent the separation from the lower side, and the stepped portion 263a having a reduced diameter is formed at the middle of the sensing rod 263, and the bush 245 of the stepped portion 263a and the guide hole 244 is formed. The spring 264 that is supported and compressed is installed.

And a detection sensor 270 that can detect whether the detection rod 263 is retracted on both sides of the upper support plate 240 is further installed.

In addition, an iron replacement jig 222 is installed at one end of the bracket 220, and a yaw type replacement jig 231 is installed at one end of the gripper assembly 230 to hold and hold. Depending on the object, the gripper assembly 230 is not shown, but is configured to automatically replace with a separate robot.

The action of the robot hand device according to the present invention configured as described above is as follows.

First, a gripper assembly 230 suitable for an object to be gripped is installed at one end of the bracket 220 in which the replacement jig 222 is installed.

In this state, the object to be automatically supplied by the rotation operation of the arm 110, etc. is held by the hand device. The finger 233 of the gripper 232 is held as much as possible when the object is gripped and reduced to grip the object. At this time, the gripper is transmitted to the gripper 232 and the upper support plate 240, and the impact is the upper support plate. 240 is absorbed by compressing spring 254 along connecting rod 252.

After the shock is buffered, the upper support plate 240 is brought to its original position by the restoring force of the spring 254.                     

At the same time, when the object is properly gripped by the finger 233 of the gripper 232, the sensing pin 262 is retracted by the object like the lower support plate 261 and connected with the lower support plate 261. The sensing rod 263 moves upward while compressing the spring 264 along the bush 245 of the guide hole 244.

At this time, by detecting whether the detection rod 263 is retracted by the detection sensor 270 determines that the object is properly gripped by the gripper 232 to perform the next operation.

On the other hand, when the object is not properly gripped by the finger 233 of the gripper 232, the retraction of the detection pin 262 of the lower support plate 261 is not made, and thus a signal is not detected by the detection sensor 270. The robot's next process is stopped and retried to grasp the object.

On the other hand, if the heterogeneous object is supplied, separate the replacement jig 231 of the gripper assembly 230 from the replacement jig 222 of the bracket 220 as a separate robot not shown, and the gripper assembly suitable for the type of object ( 230).

As such, the present invention has added flexibility by installing the shock absorbing means 250 in the gripper assembly 230, by holding the gripping check means 260 to reduce the failure rate, automatically according to the heterogeneous object of the gripper assembly 230 Replaceable, resulting in improved productivity.

Although the present invention has been illustrated and described with respect to certain preferred embodiments, the present invention is not limited to the above-described embodiments, and a person skilled in the art to which the present invention pertains has the present invention set forth in the claims below. Various modifications may be made without departing from the spirit of the invention.

As described above, the robot hand device of the present invention automatically improves the gripper assembly of the hand device, thereby improving productivity, and adding flexibility to the gripper assembly, thereby preventing damage to the product during gripping an object. have.

Claims (5)

delete A hand device for a robot installed on an arm of a robot body, comprising: a rotating cylinder provided at an end of the arm, a bracket provided at one end of the rotating cylinder, and a gripper provided at one end of the bracket to grip and release an object. An assembly, a shock absorbing means mounted on the gripper assembly to absorb shock when the object is gripped, and a grip checking means mounted on the gripper assembly to check the holding state of the object, The shock absorbing means, A connecting rod having one end fixed to the bracket is installed, The other end of the connecting rod is fixed to the gripper assembly is installed to enable the vertical movement of the gripper assembly, The hand device for a robot, characterized in that the spring is installed on the connecting rod between the bracket and the gripper assembly to absorb the shock. A hand device for a robot installed on an arm of a robot body, comprising: a rotating cylinder provided at an end of the arm, a bracket provided at one end of the rotating cylinder, and a gripper provided at one end of the bracket to grip and release an object. An assembly, a shock absorbing means mounted on the gripper assembly to absorb shock when the object is gripped, and a grip checking means mounted on the gripper assembly to check the holding state of the object, The gripping check means, In the center of the gripper assembly is installed a lower support plate which is integrally formed with a sensing pin protruding downward, One end is fixed to the lower support plate, the other end is provided with a sensing rod penetrately penetrates the gripper assembly, The spring is compressed when the sensing rod slides to assist the return of the sensing rod. When the object is gripped by the gripper, the hand device for a robot that can check the seating state of the object gripped by the gripper according to whether the sensing pin and the sensing rod retracted. The method of claim 3, wherein A detection device is further installed on both upper sides of the gripper assembly to determine whether the sensing rod is retracted. The method of claim 2 or 3, An iron replacement jig is installed at one end of the bracket, Yaw type replacement jig is installed at one end of the gripper assembly, A hand device for a robot capable of automatically replacing the gripper assembly in accordance with the object to be gripped.

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