KR101472266B1

KR101472266B1 - Multi-axis gripper apparatus

Info

Publication number: KR101472266B1
Application number: KR20140045767A
Authority: KR
Inventors: 박경택; 김두형
Original assignee: 한국기계연구원
Priority date: 2014-04-17
Filing date: 2014-04-17
Publication date: 2014-12-10

Abstract

The multi-axis gripper device includes a connecting bar, a central unit and a plurality of gripper arms. One end of the connection bar is connected to an external robot arm (and effect). The other end of the connecting bar is fixed to the center of the central unit. The plurality of gripper arms radially extend from the center unit while maintaining a predetermined angle with respect to each other to simultaneously grip or adsorb the conveyed object.
Each of the gripper arms includes a three-axis drive structure having two linear motions and one rotational motion. The driving of each axis can be controlled manually, or the position can be automatically controlled when driven by a motor. Accordingly, the vacuum pad or the magnetic holder, which is a working tool, can be moved to a desired position by driving in accordance with a given position movement command from the controller.

Description

[0001] MULTI-AXIS GRIPPER APPARATUS [0002]

The present invention relates to a multiaxial gripper device, and more particularly, to a multiaxial gripper device capable of handling multiple shape products by operating multiple fingers in multiple axes.

Generally, a gripper device is applied to a transfer system using a robot or the like, and is used for gripping and transferring a material placed under the gripper. 1, the conventional gripper transport system 10 includes a robot arm 11 fixed to a robot arm 11 and a robot arm 11 extending from the robot body or a central control unit (not shown) And the gripper device 12 grips the object 14 through a suction unit 13 to which a suction force is applied through a vacuum pump or the like. Thereby transferring the transferred object 14 to a specific position.

Korean Patent Application No. 10-2009-0060286 discloses a technique capable of adjusting the rotation angle of the vacuum cup in the vacuum gripper device which acts as compressed air by making the rotating direction of the vacuum cup constant and controlling the rotation angle Korean Patent Application No. 10-2009-0106424 relates to a gripper transfer device using a magnetic magnet. In order to grip a complicated shape component, a three-axis joint gripper capable of rotating in three axes of X, Y, Cancer technology.

Recently, a gripper device has been developed which can perform multiaxial rotational motion or multi-axis linear motion transfer for easy conveyance of various complicated deliveries. However, since the structure of the gripper arm for this purpose is complicated, There is a problem that manufacturing and design costs increase.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a multi-axis gripper device which is designed with a relatively simple structure and is easy to grip a complicated shape product.

According to an embodiment of the present invention, a multi-axis gripper device includes a connecting bar, a center unit, and a plurality of gripper arms. One end of the connection bar is connected to an external robot arm (and effect). The other end of the connecting bar is fixed to the center of the central unit. The plurality of gripper arms radially extend from the center unit while maintaining a predetermined angle with respect to each other to simultaneously grip or adsorb the conveyed object.

In one embodiment, the engagement position of each of the gripper arms and the central unit is variable, so that the angles between the gripper arms can vary.

In one embodiment, a scale is formed in the central unit and a ruler is fixed at the end of each of the gripper arms, so that the relative position between the center unit and the gripper arms can be ascertained.

In one embodiment, the gripper arms may be coupled to rotate so that at least three of the gripper arms form an angle between each other and slide on the central unit.

In one embodiment, the rotational movement of each of the gripper arms and the center portion of the center unit may be manually fixed to each other by the fixing portion.

In one embodiment, the central unit includes a ring gear and a plurality of pinion gears, each of the gripper arms being coupled with the ring gear via the pinion gear, the gripper arms being rotated relative to the center unit .

In one embodiment, each of the gripper arms includes an extension extending in a first direction (X-axis) from the center unit, a linear movement on the extension along the first direction (X-axis) Vertical direction vertical movement mechanism unit extending in a direction perpendicular to the first direction (Z-axis), and a vertical vertical movement mechanism unit fixed to an end of the vertical axis to absorb the conveyed object, And may include an adsorbing portion moving along.

In one embodiment, each of the gripper arms may further include a driving unit for driving movement of the vertical vertical vertical movement mechanism and the suction unit.

In one embodiment, the extension may extend in a bar shape having a cross section.

According to the embodiments of the present invention, the plurality of gripper arms can be disposed at a predetermined angle to each other radially with respect to the center unit, and each gripper arm is perpendicular to the extending direction of the gripper arms and the extending direction of the gripper arms It is possible to grip or adsorb the object to be conveyed at an arbitrary position in the inward direction, so that the object to be conveyed in various shapes or at various positions can be effectively gripped or adsorbed. That is, the suction portions fixed to the gripper arms can be transported to arbitrary positions in three axial directions including a rotation axis with respect to the center unit, thereby effectively gripping or adsorbing the discharged articles.

In particular, since at least three gripper arms can be positioned relative to each other while maintaining an arbitrary angle about the center unit, the gripper arms can be positioned relatively more effectively than the three- .

On the other hand, the rotational movement of the gripper arms about the central unit is automatically controlled through the ring gear, the pinion gear and the motor, and the linear movement of each of the suction portions can be automatically controlled by the motor, It is possible to transfer to the target position.

1 is a front view schematically showing a gripper transport system according to a conventional embodiment.
2 is a perspective view illustrating a multi-axis gripper device according to an embodiment of the present invention.
FIG. 3 is an enlarged perspective view of the center unit of FIG. 2 in an enlarged manner.
4 is an enlarged perspective view of the first gripper arm of Fig. 2 in an enlarged manner.
5 is an enlarged perspective view of an enlarged central unit according to another embodiment of the present invention.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. The terms first, second, 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. The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

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

2 is a perspective view illustrating a multi-axis gripper device according to an embodiment of the present invention.

Referring to FIG. 2, the multi-axis gripper apparatus 20 according to the present embodiment includes a central unit 100, a plurality of gripper arms 200, 300, 400, 500, and a connecting bar 600.

The multi-axis gripper device 20 is connected to an external robot arm portion (not shown) through the connection bar 600 and is a device for transporting or transporting a conveyed object by gripping or sucking the conveyed object. In this case, the robot arm portion is controlled by a central control robot or the like to position the multi-axis gripper device 20 in a position close to the object to be delivered, and the multi-axis gripper device 20 is directly Or transports or transports the discharged material to a required position by ripping or sucking the discharged material.

The connecting bar 600 has a bar shape extending in one direction and has one end connected to the external robot arm and the other end fixed to the center of the upper surface of the central unit 100 do.

The center unit 100 includes a center plate 110 having a circular plate shape and the connecting bar 600 is fixed to the upper surface of the center plate 110 to form a length of the connecting bar 600 Is extended by the required distance according to the distance of travel.

A plurality of gripper arms are fixed on the circumference of the central unit 100. 2, four gripper arms of the first through fourth gripper arms 200, 300, 400, and 500 are shown fixed to the central unit 100. However, the gripper arms may have at least three different numbers . In the following description, however, four gripper arms are fixed for convenience of explanation.

Although the four gripper arms are arranged perpendicular to each other in FIG. 2, each of the gripper arms may be independently rotated and disposed at an arbitrary position with respect to the center unit 100, The angle formed by each of the gripper arms may be variously changed.

That is, in the present embodiment, since the gripper arms rotate independently of each other with respect to the center unit 100 and can be positioned at an arbitrary position, gripping or adsorption is performed at an optimal position according to the shape and position of the object to be delivered can do.

More specifically, FIG. 3 is an enlarged perspective view of the central unit of FIG. 2 in an enlarged manner.

3, the central unit 100 includes a central plate 110 having a circular plate shape and includes a first connection part 202 connected to the first gripper arm 200, a first connection part 202 connected to the first gripper arm 200, A first scale 111 formed on the circumferential surface of the center plate 110 adjacent to the first scale 111 and a first opening 112 formed inside the first scale 111. In this case, the first fixing part 121 fixes the center plate 110 and the first gripper arm 200 through the first opening 112.

In the present embodiment, the first fixing part 121 can be loosened and tightened so that the first gripper arm 200 can be moved to an arbitrary position within the opening range of the first opening part 112 And then the first gripper arm 200 can be fixed to the first fixing portion 121. Thus, the position of the first gripper arm 200 can be varied.

In this case, a first scale 203 is fixed to an end of the first gripper arm 200 so as to face the first scale 111, so that the first gripper arm 200 is inserted into the center plate 110 ) Can be measured numerically.

Similarly, the central unit 100 includes a second connecting portion connected to the second gripper arm 300, a second graduation 113 formed on the circumferential surface of the center plate 110 adjacent to the second connecting portion, And a second opening 114 formed in the inside of the second graduation 113. A second fixing portion 122 is formed on the center plate 110 and the second gripper arm 300 ).

The coupling and positional change between the second gripper arm 300 and the center plate 110 are the same as those of the first gripper arm 100 and the center plate 110, .

Similarly, the center unit 100 includes a third connection part connected to the third gripper arm 400, a third graduation 115 formed on the circumferential surface of the center plate 110 adjacent to the third connection part, And a third opening 116 formed inside the third graduation 115. A third fixing portion 123 is formed on the center plate 110 and the third gripper arm 400 ).

The center unit 100 includes a fourth connection part 502 connected to the fourth gripper arm 500 and a fourth connection part 502 formed on the circumferential surface of the center plate 110 adjacent to the fourth connection part 502. [ And a fourth opening 118 formed on the inside of the fourth graduation 117. The fourth fixing part 124 is connected to the center plate 110 through the fourth opening 118, The fourth gripper arm 500 is fixed.

Further, the coupling and the positional change of the third and fourth gripper arms 400 and 500 and the center plate 110 are controlled by the coupling and position change of the first gripper arm 100 and the center plate 110, The description is omitted.

4 is an enlarged perspective view of the first gripper arm of Fig. 2 in an enlarged manner. 4 is a perspective view of the first gripper arm of FIG. 2 centered on the vertical vertical movement mechanism.

In this embodiment, each of the first, second, third and fourth gripper arms 200, 300, 400, 500 is only different in position fixed to the central unit 100, Since the relationships are the same, the first gripper arm 200 will be mainly described below.

2 and 4, the first gripper arm 200 includes a first extension portion 201, a first drive motor portion 210, a first drive portion connection line assisting mechanism portion 221, Vertical second vertical movement mechanism unit 230 and first suction unit 240. The first vertical axis vertical movement mechanism unit 230 and the first suction unit 240 are disposed independently of the second gripper arm 300 at a first angle A between them.

In this case, the first inter-angle (A) is variable and independently variable. Similarly, a second angle B between the second gripper arm 300 and the third gripper arm 400, a third angle B between the third gripper arm 400 and the fourth gripper arm 500, The fourth angle (D) between the angle (C) and the fourth gripper arm (500) and the first gripper arm (200) is also variable.

The first extension part 201 is coupled to the circumferential surface of the center plate 110 of the center unit 100 and extends in the first direction (X axis). In this case, the first direction (X-axis) arbitrarily indicates the direction in which the first extension part 201 extends in FIG. 2. As described above, the first extension part 201 includes the center plate 110 (An XY plane formed by a first direction (X-axis) and a second direction (Y-axis) perpendicular to the first direction (Y-axis)) depending on the coupling position with the first direction Axis) are also independently variable.

The first extension part 201 extends in a bar shape and is linearly guided along the first extension part 201. The first drive motor part 210, 220 and the first vertical axis vertical moving mechanism 230 are coupled on the first extension 201. [

The first vertical vertical up-and-down movement mechanism unit 230 extends in the third direction (Z-axis), which is a vertical axis, in both the first and second directions from the first extension unit 201, The portion 240 is fixed.

The first fixed frame 220 supports the first vertical vertical vertical movement mechanism 230. That is, the first vertical axis vertical moving mechanism 230 is moved in the third direction (Z axis) according to the driving of the first driving motor unit 210, 1 vertical-vertical up-and-down movement mechanism unit 230 in the third direction (Z-axis).

In this case, the first vertical vertical up-and-down moving mechanism 230 may be a linear operation mechanism such as a ball screw and perform a vertical up-and-down linear motion in the third direction (Z-axis).

The first vertical axis vertical moving mechanism 230 and the first fixed frame 220 are fixed to the first driving line connection line assisting mechanism 221 so that the first vertical driving motor 230 The linear movement operation is guided by the first extension part 201 and is transported in the first direction (X axis).

Alternatively, the first fixing frame 220 is not fixed to the first driving part connection line assisting mechanism 221 but is formed of a linear moving mechanism such as a separate ball screw, and the first vertical frame vertical moving mechanism 230 are fixed, the first extending portion 201 guides the linear movement operation and can perform linear motion.

That is, the first adsorption unit 240 fixed to the end of the first vertical axis vertical up-and-down movement mechanism unit 230 moves in the first direction (X axis) and the second direction (Y-axis) in the first direction (Z-axis) and in the third direction (Z-axis) so as to be positioned at an arbitrary position.

Accordingly, when the first adsorption unit 240 adsorbs the object to be adsorbed, the first adsorption unit 240 may be disposed in the vicinity of the first adsorption unit 240 in consideration of the surface shape of the object, (Y axis) in the first direction (X axis) and the third direction (Z axis).

The second to fourth gripper arms 300, 400, and 500 have the same structure as that of the first gripper arm 200. Therefore, the second gripper arm 300, which is fixed to the second gripper arm 300, The suction portion 340 is also located at an arbitrary position in the extending direction (X axis) and the third direction (Z axis) of the second gripper arm 300 and in the direction of the second angle of intersection (Y axis) Lt; / RTI >

The third gripper arm 400 fixed to the third gripper arm 400 also has a third gripper arm 400 extending in the extending direction (X axis) and the third direction (Z axis) of the third gripper arm 400, The fourth suction unit 540 fixed to the fourth gripper arm 500 is also moved in the direction X of the fourth gripper arm 500 Axis and the third direction (Z-axis) and in the direction of the fourth intervening angle (Y-axis).

As described above, the first to fourth adsorption units 240, 340, 440, and 540 are disposed on the extension direction (X axis) of the first to fourth gripper arms 200, 300, 400, The first to fourth gripper arms 200, 300, 400, and 500 can be moved to any position in the direction (Z-axis) and in the direction of the fourth intervening angle (D) It is possible to set the optimum suction position in consideration of the surface shape of the object to be delivered and the position of the object to be conveyed. Thus, the gripping and conveying of the conveyed matter in various forms or at various positions can be easily performed.

5 is an enlarged perspective view of an enlarged central unit according to another embodiment of the present invention.

The central unit 700 according to the present embodiment includes first to fourth fixing portions 121, 122 and 123 between the center plate 710 and the first to fourth gripper arms 200, 300, 400, , 124, and is coupled by a gear portion including a ring gear and a pinion gear, the same reference numerals as those of the central unit 100 described with reference to Figs. Use and duplicate explanation is omitted.

5, the center unit 700 includes a center plate 710, and a gear portion 720 including a ring gear 721 and a pinion gear 722 is disposed inside the center plate 710, .

The pinion gear 722 is coupled to an end of each of the first to fourth gripper arms 200, 300, 400 and 500 and the ring gear 721 is located at the center of the center unit 700 The first to fourth gripper arms 200, 300, 400, and 500 are rotated to an arbitrary position in the center unit 700 through the gear engagement of the pinion gear 722 and the ring gear 721, Movement becomes possible.

The first to fourth gripper arms 200, 300, 400, 500 and the first to fourth gripper arms 200, 300, 400, 500 through the gears of the gear portion 720, 400, and 500 are automatically controlled through a separate control unit so that the positions of the first to fourth gripper arms 200, 300, 400, and 500 can be automatically changed.

However, the scale 203 and the scale 202 for identification of the movement position may be formed by separate devices.

According to the embodiments of the present invention as described above, the plurality of gripper arms can be radially arranged at an angle to each other with respect to the center unit, and each of the gripper arms can be disposed in the extending direction (X-axis) It is possible to grip the object to be fed at an arbitrary position in the direction (Y axis) of the angle (A) between the gripper arms, in a direction (Z axis) perpendicular to the extending direction of the gripper arms (X axis) Or to effectively grip the deliveries at various locations. That is, the suction units fixed to the gripper arms can be transported to arbitrary positions in the three-axis directions including the rotation axis with reference to the center unit, so that the gripping of the discharged articles can be effectively performed.

In particular, at least three gripper arms can be relatively positioned while maintaining an arbitrary angle of view about the center unit, so that it is possible to transfer to a target position that is simpler and more effective than the three-axis transport structure of conventional gripper arms.

On the other hand, the rotation transfer of the gripper arms to the center unit of the center unit can manually determine the position of the gripper arm in the case of the sliding type rotary motion, and the automatic position control by the controller in the case of the ring gear and pinion gear drive type And the transfer of each of the suction portions can be automatically controlled, so that it is possible to transfer to the target position quickly and accurately.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims. It can be understood that it is possible.

The multi-axis gripper device according to the present invention has industrial applicability that can be used in a gripper-based transfer system.

20: multi-axis gripper device 100: central unit
110: center plate 111: first graduation
112: first opening portion 121: first fixing portion
200: first gripper arm 201: first extension part
202: first connection part 203: first scale
210: first drive motor unit 220: first fixed frame
221: first driving section connection line auxiliary mechanism section
230: First Vertical Vertical Vertical Vertical Moving Mechanism
240: first suction portion 300: second gripper arm
400: third gripper arm 500: fourth gripper arm
600: connecting bar 601: central fixing part

Claims

A connection bar whose one end is connected to an external robot arm (and effect);
A central unit having the other end of the connecting bar fixed to the center; And
And a plurality of gripper arms extending radially from the central unit and gripping or sucking the delivered material at the same time,
Each of the gripper arms
An extension extending from the center unit in a first direction (X axis);
A vertical vertical up-and-down movement mechanism that is linearly moved on the extension along the first direction (X-axis) and extends in a direction (Z-axis) perpendicular to the first direction; And
And a suction unit that is fixed to an end of the vertical axis and sucks the object to be conveyed and moves along the vertical axis vertical up-and-down movement mechanism in a direction perpendicular to the first direction.

The method according to claim 1,
Wherein the engaging position of each of the gripper arms and the central unit is variable such that angles between the gripper arms change.

3. The method of claim 2,
Wherein a scale is formed in the center unit and a ruler is fixed to an end of each of the gripper arms to confirm a relative position between the center unit and the gripper arms.

The gripper according to claim 2,
At least three or more of which are angled to each other and are slidably coupled to the center unit and are rotatably coupled.

3. The method of claim 2,
And the rotational movement of each of the gripper arms and the central part of the center unit is manually fixed to each other by the fixing unit.

3. The method of claim 2,
Wherein the center unit includes one ring gear and a plurality of pinion gears,
Each of said gripper arms being coupled to said ring gear via said pinion gear such that said gripper arms are rotated relative to said center unit.

delete

2. The apparatus of claim 1, wherein each of the gripper arms comprises:
Further comprising a driving unit for driving movement of the vertical vertical vertical moving mechanism and the suction unit, respectively.

2. The apparatus of claim 1,
And extends in a bar shape having a cross section of 'C'.