Shielded gripper using magnetic force ctuation

Abstract

The present invention discloses a shielded gripper utilizing magnetic drive. The gripper of the present invention comprises a housing having an internal space and a cover made of a non-magnetic material, a finger located outside the cover for gripping an object, a driving motor located in the internal space, a moving part capable of linear movement in the internal space by driving the driving motor, an internal magnet fixedly coupled to the moving part and moving together with the moving part, and an external magnet fixedly coupled to the finger and positioned facing the internal magnet with the cover in between, and by driving the finger by driving the magnetic magnet and the external magnet, there is an effect of not needing to form an opening for the movement of the finger.

Description

Technology Field

[0001] The present invention relates to a shielded gripper utilizing magnetic drive, and more specifically, to a shielded gripper mounted on the arm of a robot used in industrial and medical fields. Background Technology

[0002] A robot arm is a multi-joint mechanism developed to perform various tasks in fields such as robotics or automation systems, and is used for industrial, medical, and research purposes. Robot arms are primarily used in manufacturing to automate repetitive tasks and improve productivity, and recently, they are also being widely utilized in the medical and service industries.

[0003] A gripper is mounted on the end-effector of a robot arm and performs the function of grasping and manipulating objects. It can be designed in various ways depending on the size, shape, material, etc. Grippers can be classified according to their actuation method into mechanical, pneumatic, electromagnetic, and attachment types (vacuum, suction); control precision and the components required for operation differ depending on the actuation method.

[0004] In particular, in the case of mechanical grippers, an opening must be formed for the movement of the fingers, which can lead to the problem of the internal structure being exposed to the external environment. There is a possibility that dust, contaminants, moisture, etc., may penetrate into the interior through this opening, which can lead to a decrease in the performance and durability of the gripper.

[0005] Furthermore, while various mechanisms such as belt drives and bidirectional ball screws can be used, these devices have limitations in that they are difficult to completely isolate from the external environment due to their structural characteristics. Therefore, it is important to resolve this issue of external exposure to maintain stable gripper operation. Prior art literature

[0006] Japanese Patent Publication No. 5149703 B2 (December 7, 2012) The problem to be solved

[0007] One objective of the present invention is to provide a shielded gripper using magnetic force drive that can prevent the exposure of an internal structure to the external environment through a gripping motion using a magnet. means of solving the problem

[0008] A shielded gripper using magnetic drive for one purpose of the present invention comprises a housing having an internal space and a cover made of a non-magnetic material, a finger located outside the cover for gripping an object, a driving motor located in the internal space, a moving part capable of linear movement in the internal space by driving the driving motor, an internal magnet fixedly coupled to the moving part and moving together with the moving part, and an external magnet fixedly coupled to the finger and positioned facing the internal magnet with the cover in between.

[0009] In one embodiment, the device further includes a pinion gear coupled to the drive motor and rotatable about its central axis, and the moving part may be provided as a rack gear having teeth formed thereon that mesh with the pinion gear and provided with a predetermined length.

[0010] In one embodiment, a plurality of the inner magnets and the outer magnets are arranged in a line along the direction of movement of the moving part, and the inner magnets and the outer magnets may be positioned with different polarities facing each other with the cover in between.

[0011] In one embodiment, the inner magnet and the outer magnet may each have an alternating N pole and S pole along the direction of movement of the moving part.

[0012] In one embodiment, the inner magnet and the outer magnet may each have the same size of the N pole and S pole facing each other.

[0013] In one embodiment, the cover further includes a main guide rail provided for a predetermined length along the direction of movement of the moving part in one area of ​​the cover and an auxiliary guide rail positioned facing each other at a predetermined distance from the main guide rail, and the finger may include a guide area to which the external magnet is coupled and a gripping area extending from the guide area and located above the main guide rail to grip the object. Effects of the invention

[0014] According to the present invention, by moving the finger using the interaction of magnets, there is no need to form an opening for the movement of the finger, thereby preventing external substances such as dust, contaminants, and moisture from penetrating into the interior of the gripper. In addition, structures exposed to the outside are minimized, making maintenance easier and enabling more stable operation. Brief explanation of the drawing

[0015] FIG. 1 is a drawing showing a shielded gripper using magnetic force driving according to one embodiment of the present invention. Figure 2 is a cross-sectional view along line AB of Figure 1. FIG. 3 is a partially exploded perspective view of the guide rail section, finger, and external magnet configuration of FIG. 1. FIG. 4 is a partially exploded perspective view of the drive motor, pinion gear, moving part, and internal magnet configuration of FIG. 1. FIG. 5 is a drawing showing an inner magnet and an outer magnet of a shielded gripper using magnetic force driving according to an embodiment of the present invention. FIG. 6 is a diagram showing a case in which a magnetic repulsion force is temporarily generated due to the relative displacement of an inner magnet and an outer magnet of a shielded gripper using magnetic force driving according to one embodiment of the present invention. FIGS. 7 and 8 are drawings illustrating the process of operation of a shielded gripper using magnetic force driving according to an embodiment of the present invention. Specific details for implementing the invention

[0016] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to ensure that the concept of the present invention is sufficiently conveyed to those skilled in the art.

[0017] In this specification, when a component is described as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. Additionally, in the drawings, the thicknesses of the films and regions are exaggerated for the effective description of the technical content.

[0018] Additionally, although terms such as first, second, third, etc., have been used to describe various components in the various embodiments of this specification, these components should not be limited by such terms. These terms are used merely to distinguish one component from another. Accordingly, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. Furthermore, in this specification, "and / or" is used to mean including at least one of the components listed before and after it.

[0019] In the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, components, or combinations thereof described in the specification, and should not be understood as excluding the existence or addition of one or more other features, numbers, steps, components, or combinations thereof. Additionally, in this specification, "connection" is used to include both indirectly connecting multiple components and directly connecting them.

[0020] Furthermore, in describing the present invention below, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0022] FIG. 1 is a drawing showing a shielded gripper using magnetic force drive according to one embodiment of the present invention, FIG. 2 is a cross-sectional view along line AB of FIG. 1, FIG. 3 is a partially exploded perspective view of the guide rail part (200), finger (300), and external magnet (800) configuration of FIG. 1, and FIG. 4 is a partially exploded perspective view of the drive motor (400), pinion gear (500), moving part (600), and internal magnet (700) configuration of FIG. 1.

[0023] Referring to FIGS. 1 to 4, the gripper of the present invention is mounted on the end effector of a robot arm and can grasp various shapes of objects. The gripper includes a housing (100), a guide rail section (200), a finger (300), a driving motor (400), a pinion gear (500), a moving section (600), an internal magnet (700), and an external magnet (800).

[0024] The housing (100) has an internal space and includes a cover (110). The housing (100) protects internal devices from external impact and can be formed to be easily fixed and installed on a robot arm or mounting frame.

[0025] In one embodiment, the housing (100) may be configured in a T-shape. The housing (100) may include a first region (120) extending horizontally for a predetermined length and a second region (130) extending vertically from the first region (120).

[0026] For convenience of explanation below, the length direction of the first region (120) is referred to as the first direction, the direction perpendicular to the first direction when viewed from above is referred to as the second direction, and the direction perpendicular to the first direction and the second direction is referred to as the third direction.

[0027] The cover (110) is formed on one side of the housing (100) to seal the internal space of the housing (100). According to an embodiment, the cover (110) is formed in a first region (120) of the housing (100). The cover (110) may be formed of a non-magnetic material. According to an embodiment, the non-magnetic material may be any one selected from stainless steel, aluminum, ceramic, PC, PEEK, titanium alloy, etc., or a combination thereof, but is not necessarily limited thereto.

[0028] The guide rail section (200) is formed on the cover (110) and is provided as a structure that serves to induce precise and accurate movement of the finger (300). The guide rail section (200) includes a main guide rail (210) and an auxiliary guide rail (220).

[0029] The main guide rail (210) is provided with a predetermined length in one area of ​​the cover (110), and its length direction is arranged in a first direction. According to an embodiment, the main guide rail (210) is arranged in a first direction in the central area of ​​the cover (110). The main guide rail (210) protrudes from the cover (110) at a predetermined height in a third direction. According to an embodiment, the main guide rail (210) may be formed as a linear structure having a width and height of a predetermined length.

[0030] The auxiliary guide rail (220) is positioned facing the main guide rail (210) at a predetermined distance in a second direction. The auxiliary guide rail (220) is provided with a predetermined length, and its length direction is positioned in a first direction. The auxiliary guide rail (220) is provided along the edge area of ​​the cover (110). The auxiliary guide rail (220) protrudes from the cover (110) at a predetermined height in a third direction. According to an embodiment, the auxiliary guide rail (220) may be formed in a linear structure having the same length and height as the main guide rail (210).

[0031] The above auxiliary guide rails (220) are provided as a pair and are provided on both sides of the main guide rail (210) at a predetermined distance apart, with the main guide rail (210) in between.

[0032] The finger (300) is located outside the cover (110). At least two fingers (300) are provided and combine to perform the function of gripping or placing an object. According to an embodiment, a pair of fingers (300) are provided. Each of the fingers (300) moves along the main guide rail (210) between the main guide rail (210) and the auxiliary guide rail (220).

[0033] The finger (300) includes a guide area (310) and a gripping area (320).

[0034] The guide area (310) is located between the main guide rail (210) and the auxiliary guide rail (220) and moves along the main guide rail (210). The guide area (310) is formed to have a width that substantially matches the gap between the main guide rail (210) and the auxiliary guide rail (220), thereby enabling precise movement.

[0035] The gripping area (320) extends from the guide area (310) and is located on the upper part of the main guide rail (210), and grips the object by making direct contact with the object. The gripping area (320) may have a flat plate-like shape, but is not necessarily limited thereto, and may be formed in various shapes suitable for gripping the object.

[0036] The external magnet (800) is fixedly coupled to the finger (300). The external magnet (800) is fixedly coupled to the finger (300) between the cover (110) and the finger (300). According to an embodiment, the external magnet (800) is fixedly coupled to the lower part of the guide area (310) of the finger (300) between the cover (110) and the guide area (310) of the finger (300).

[0037] The drive motor (400) is positioned in the internal space of the housing (100). According to an embodiment, the drive motor (400) may be positioned inside a second region (130) of the housing (100). The drive motor (400) acts as a power source for driving the finger (300). The drive motor (400) can generate rotational motion using electricity and may be designed to allow for precise speed control. If necessary, a cooling device may be additionally included to minimize noise and heat generation.

[0038] The pinion gear (500) is coupled with the drive motor (400) and rotates around its center axis through the output of the drive motor (400). The pinion gear (500) is provided as a spur gear having a predetermined diameter, and gear teeth are formed along its outer surface.

[0039] The moving part (600) is positioned in the internal space of the housing (100). According to an embodiment, the moving part (600) is positioned inside a first area (120). The moving part (600) is capable of linear movement in a first direction by the driving force of the driving motor (400) transmitted through the pinion gear (500).

[0040] In an embodiment, the moving part (600) may be provided with a predetermined length and may be provided as a rack gear (600) having teeth formed to mesh with the pinion gear (500). The rack gear (600) meshes with the pinion gear (500) to generate linear motion. The rack gear (600) may have a rod-shaped gear structure that extends in its longitudinal direction.

[0041] According to an embodiment, a pair of rack gears (600) are provided. A first rack gear (600) and a second rack gear (600) are positioned one on each side of the pinion gear (500), with the pinion gear (500) in between. Each of the rack gears (600) is capable of moving linearly in a first direction along a pair of guide rails coupled to the bottom surface of a first area. The first rack gear (600) and the second rack gear (600) mesh with the pinion gear (500), and can move linearly in a first direction along the guide rails by the rotation of the pinion gear (500).

[0042] The inner magnet (700) is fixedly coupled to the moving part (600). The inner magnet (700) is fixedly coupled to the moving part (600) between the cover (110) and the moving part (600). According to an embodiment, the inner magnet (700) is fixedly coupled to the upper surface of each of the rack gears (600) between the cover (110) and the rack gears (600).

[0044] Hereinafter, the inner magnet (700) and outer magnet (800) of a shielded gripper using magnetic force driving according to one embodiment of the present invention will be described in more detail.

[0046] FIG. 5 is a drawing showing an inner magnet (700) and an outer magnet (800) of a shielded gripper using magnetic force drive according to one embodiment of the present invention.

[0047] Referring to FIG. 5, the inner magnet (700) may be positioned facing the outer magnet (800) and the cover (110) between them. Each of the inner magnet (700) and the outer magnet (800) may be positioned with a minimum distance from the cover (110).

[0048] Each of the inner magnet (700) and the outer magnet (800) is arranged in a row along the first direction. The multiple inner magnets (700) and the outer magnets (800) may be positioned with different polarities facing each other with the cover (110) in between.

[0049] According to an embodiment, each of the plurality of inner magnets (700) and the outer magnets (800) may have alternating N and S poles arranged repeatedly along the first direction. Additionally, each of the plurality of inner magnets (700) and the outer magnets (800) may be provided such that the size of the N and S poles facing each other is the same. In this way, by maintaining a constant spacing and the same area for the N and S poles facing each of the plurality of inner magnets (700) and the outer magnets (800), the generation of unbalanced magnetic force between the magnets is prevented, and the balance of the magnetic field can be optimized. Thus, the present invention can optimize driving characteristics by controlling magnetic force through adjusting the size and spacing of the inner magnets (700) and the outer magnets (800).

[0050] According to an embodiment, the arrangement length of the inner magnets (700) may be formed to be longer than the arrangement length of the outer magnets (800). If the outer magnets (800) and the inner magnets (700) are of the same length, there is a possibility that the outer magnets (800) may deviate from the magnetic force of the inner magnets (700) at the end of the movement range of the moving part (600), causing unstable operation. Additionally, there is a possibility that an imbalance of magnetic force may occur due to external environmental factors (vibration, friction, etc.). Therefore, the inner magnets (700) may be formed to be longer than the outer magnets (800) so that the outer magnets (800) can move stably and smoothly up to the maximum movement range of the moving part (600).

[0051] The inner magnet (700) and the outer magnet (800) may be formed from various materials according to characteristics such as magnetic properties and durability. For example, the inner magnet (700) and the outer magnet (800) may be formed from a material selected from ferrite magnets, samarium-cobalt magnets (SmCo), neodymium magnets (NdFeB), Alnico magnets (Al-Ni-Co), etc. Preferably, the inner magnet (700) and the outer magnet (800) may be formed from the same material for uniform magnetic force. According to an embodiment, the inner magnet (700) and the outer magnet (800) may be formed from neodymium magnets (NdFeB).

[0053] FIG. 6 is a diagram showing a case in which a magnetic repulsion force is temporarily generated due to the relative displacement of an inner magnet (700) and an outer magnet (800) of a shielded gripper using magnetic force driving according to one embodiment of the present invention.

[0054] Referring to FIG. 6, the inner magnets (700) and the outer magnets (800) are positioned facing each other with opposite polarities, so an attractive force acts between them (Fig. 6a). In this state, if the moving part (600) moves or an external force is applied to the finger (300), the alignment between the inner magnets and the outer magnets (800) is misaligned, and a temporary magnetic repulsion may occur between the inner magnets (700) and the outer magnets (800) (Fig. 6b).

[0055] This repulsive force acts as a force that moves the outer magnet (800), and as the outer magnet (800) moves back to its original position due to the repulsive force, the outer magnets (800) and the inner magnets (700) can be realigned so that they face each other with different polarities.

[0056] As a result, the inner magnet (700) and the outer magnet (800) are positioned to return to their original positions where magnetic attraction acts (Fig. 6c).

[0057] Accordingly, the gripper of the present invention can return to its original alignment position by magnetic force even if the alignment between the inner magnet (700) and the outer magnet (800) is temporarily misaligned, thereby enabling stable operation.

[0059] FIGS. 7 and 8 are drawings illustrating the process of operation of a shielded gripper using magnetic force driving according to an embodiment of the present invention.

[0060] Referring to FIGS. 7 and 8, the gripper of the present invention controls the movement of the finger (300) based on the driving motor (400) and is configured to perform a stable gripping function using the magnetic interaction between the inner magnet (700) and the outer magnet (800).

[0061] In the initial state, the drive motor (400) of the present invention is in a stationary state, and the inner magnets (700) and the outer magnets (800) may be balanced in a position where they are aligned with opposite polarities. The finger (300) is in an open state and waiting in the initial position.

[0062] When the finger (300) initiates operation to grasp an object, the drive motor (400) first rotates the pinion gear (500) clockwise. Due to the rotation of the pinion gear (500), the first and second rack gears (600) meshed with it move linearly along the first direction. The first rack gear (600) moves to the right (one direction) along the first direction, and the second rack gear (600) moves to the left (opposite direction).

[0063] When the movement of the first and second rack gears (600) begins, the internal magnets (700) coupled with them also move in the same direction. At the same time, the external magnets (800) positioned between the cover (110) also move in the same direction along the movement direction of the internal magnets (700) through magnetic interaction.

[0064] As the external magnets (800) move, the finger (300) also moves in the same direction and moves stably along the guide rail (200) to grasp an object.

[0065] The drive motor (400) can operate until the finger (300) completely and stably grips an object. When the finger (300) is in a state of stably gripping an object, the drive motor (400) maintains a constant power generation amount.

[0066] When the finger (300) initiates an operation to place an object, the drive motor (400) rotates the pinion gear (500) counterclockwise. Accordingly, the first and second rack gears (600) engaged with the pinion gear (500) move to return to their original positions.

[0067] Specifically, the first rack gear (600) moves to the left, and the second rack gear (600) moves to the right. Accordingly, the internal magnets (700) coupled with them also move in the same direction as the rack gear (600), and at the same time, a plurality of external magnets (800) positioned with the cover (110) in between also move together along the direction of movement of the internal magnets (700) through magnetic interaction.

[0068] As the external magnets (800) return to their original positions, the fingers (300) also move away from each other and release the grasped object.

[0070] Although the present invention has been described in detail using preferred embodiments, the scope of the invention is not limited to specific embodiments and should be interpreted by the appended claims. Furthermore, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the invention. Explanation of the symbols

[0071] 100 housing 110 covers 120 First Zone 130 Second Area 200 guide rail section 210 Main Guide Rail 220 Auxiliary Guide Rail 300 fingers 310 Guide Area 320 retention area 400 drive motor 500 pinion gear 600 moving parts, rack gear 700 internal magnets 800 external magnets

Claims

Claim 1 A gripper comprising: a housing having an internal space and a cover made of a non-magnetic material; a finger located outside the cover for gripping an object; a driving motor located in the internal space; a moving part capable of linear movement in the internal space by driving the driving motor; an internal magnet fixedly coupled to the moving part and moving together with the moving part; and an external magnet fixedly coupled to the finger and positioned facing the internal magnet with the cover in between. Claim 2 A gripper according to claim 1, further comprising a pinion gear coupled to the drive motor and rotatable about its central axis, wherein the moving part is provided with a predetermined length and is provided as a rack gear having teeth formed to mesh with the pinion gear. Claim 3 A gripper according to claim 1, wherein a plurality of inner magnets and outer magnets are arranged in a line along the direction of movement of the moving part, and the inner magnets and outer magnets are arranged facing each other with different polarities with the cover in between. Claim 4 In paragraph 3, the gripper wherein each of the inner magnet and the outer magnet has an alternating N pole and S pole arranged repeatedly along the direction of movement of the moving part. Claim 5 In paragraph 4, the gripper, wherein each of the inner magnet and the outer magnet has an equal size of N and S poles facing each other. Claim 6 A gripper according to claim 1, further comprising: a main guide rail provided for a predetermined length along the direction of movement of the moving part in one area of ​​the cover; and an auxiliary guide rail positioned opposite each other at a predetermined distance from the main guide rail, wherein the finger moves along the main guide rail between the main guide rail and the auxiliary guide rail and includes a guide area to which the external magnet is coupled; and a gripping area extending from the guide area and located above the main guide rail and gripping the object.

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