KR-20260066601-A - Finger Tip Replacement System and Method for Replacing Finger Tips Using the Same

KR20260066601AKR 20260066601 AKR20260066601 AKR 20260066601AKR-20260066601-A

Abstract

A finger tip replacement system is disclosed. The finger tip replacement system includes a finger tip storage unit having a plurality of finger tip receiving spaces formed therein; a plurality of finger tips having different tools, each stored individually in the finger tip receiving spaces; and a gripper having a finger that can be selectively coupled with the finger tips.

Inventors

배지훈
이성온
이근후

Assignees

한양대학교 에리카산학협력단

Dates

Publication Date: 20260512
Application Date: 20250313
Priority Date: 20241104

Claims (13)

A finger tip storage section having multiple finger tip receiving spaces formed therein; A plurality of finger tips having different tools, individually stored in the above finger tip receiving spaces; and A finger tip replacement system comprising a gripper having a finger that can be optionally coupled with the above finger tips.
In Article 1, The above finger tip is, A finger tip body with an open rear end and an inner space formed; and It includes a first tip fastening portion provided within the finger tip body, and The above gripper is, A finger tip replacement system provided at the tip of the finger and comprising a finger coupling portion capable of being coupled to the first tip coupling portion.
In Article 2, The above finger fastening part A fastening rod that combines with the finger and protrudes forward of the finger by a predetermined length; A locking portion fixedly coupled to the front end of the fastening rod and having a diameter larger than that of the fastening rod; and A finger tip replacement system comprising a through hole formed inwardly into which the fastening rod is inserted, and a movable ring movable along the fastening rod in the section between the locking part and the finger.
In Paragraph 3, A finger tip replacement system in which the above-mentioned locking part is in the shape of a disc, the above-mentioned fastening rod is coupled to the center thereof, and the outer surface is provided as an inclined surface.
In Paragraph 3, The first tip connection part A pair of fastening blocks positioned facing each other with a fastening space in between and having fastening protrusions formed thereon; and It includes an elastic spring provided between the finger tip body and the fastening block, which provides elastic force to the fastening block, When the finger enters the inner side of the receiving space to a first depth, the fastening projection is fastened to the finger fastening portion between the locking portion and the moving ring, and A finger tip replacement system in which, when the finger enters the inner side of the receiving space at a second depth deeper than the first depth, the fastening projection is placed on the outer circumference of the moving ring.
In Article 2, The above finger tip is A finger tip replacement system further comprising a second tip fastening portion that is hinge-coupled to the finger tip body on the outer side of the finger tip body and has a coupling projection formed at its rear end that can be coupled with a coupling groove formed in the finger.
In Article 6, The above finger tip storage part A finger tip storage body in which the above finger tip receiving spaces are formed; A pair of push blocks positioned facing each other with the finger tip receiving space between them; and A push spring provided between the finger tip storage body and the push block, and which applies elastic force to the push block, wherein The above push block is a finger tip replacement system that rotates the second tip fastening part by pushing the tip end of the second tip fastening part by means of an elastic force transmitted from the push spring.
Finger; A fastening rod that combines with the finger and protrudes forward of the finger by a predetermined length; A locking portion fixedly coupled to the front end of the fastening rod and having a diameter larger than that of the fastening rod; and A gripper comprising a through hole formed inwardly into which the fastening rod is inserted, and a movable ring movable along the fastening rod in the section between the locking part and the finger.
In Article 8, A gripper having a disc-shaped locking portion, a fastening rod connected to the center thereof, and an outer surface provided as an inclined surface.
In Article 9, The above moving ring is a gripper having a diameter equal to or greater than the maximum diameter of the above locking part.
A method for replacing finger tips using a finger tip storage unit in which a plurality of receiving spaces are formed and finger tips are stored in said receiving spaces, A finger tip coupling step in which, while the finger tip is not coupled, the finger enters one of the receiving spaces and combines with a finger tip stored in one of the receiving spaces; and A finger tip replacement method comprising a finger tip separation step in which, while the finger tip is combined, the finger enters a receiving space among the above receiving spaces where the finger tip is not stored, and as it retracts, the combination of the finger tip and the finger is released.
In Article 11, In the finger tip coupling step, the finger enters into one of the receiving spaces to a first depth, and A finger tip replacement method in which, in the finger tip release step, the finger enters a second depth deeper than the first depth into a receiving space where the finger tip is not stored.
In Article 12, A fastening rod is coupled to the finger, and a locking portion having a diameter larger than that of the fastening rod is provided at the front end of the fastening rod, a movable ring is positioned between the finger and the locking portion, and the fastening rod is inserted through a through hole in the movable ring. At the finger tip above, a pair of fastening blocks are arranged facing each other with a fastening space in between, and an elastic spring transmits elastic force to the fastening blocks, and In the finger tip coupling step above, when the finger enters the first depth, the coupling projection of the coupling block is coupled between the locking part and the moving ring, and A finger tip replacement method in which, when the finger enters the second depth during the finger tip release step, the fastening projection of the fastening block is placed on the outer circumference of the moving ring.

Description

Finger Tip Replacement System and Method for Replacing Finger Tips Using the Same The present invention relates to a finger tip replacement system and a finger tip replacement method using the same, and more specifically, to a finger tip replacement system and a finger tip replacement method using the same that can easily replace a finger tip when gripping objects of various sizes or shapes or when replacing a finger tip according to the characteristics of the work. Conventional industrial robot grippers are designed to grasp and manipulate various objects, but they have limitations in terms of flexibility when the shapes or sizes of objects vary. In particular, grippers using a single type of finger tip struggle to accurately grasp irregular or microscopic objects and are restricted in utilizing various tools suited to specific tasks. Consequently, production sites face the problem of having to replace the entire gripper or use expensive multi-degree-of-freedom grippers to meet specific tasks. This approach not only incurs high costs but also has the disadvantages of reduced robot efficiency due to the increased weight of the gripper itself, as well as complex maintenance and management. Furthermore, conventional tool changer systems are expensive and heavy, and require separate power and hydraulic systems, which increases system complexity. Not only are installation and maintenance cumbersome, but slow job changeover speeds can also lead to reduced productivity. In particular, as the number of tool changers increases to perform various functions, cost and space issues arise, resulting in decreased production efficiency on the manufacturing floor and an increased burden of operating costs. FIG. 1 is a drawing showing a finger tip replacement system according to one embodiment of the present invention. Figure 2 is a cross-sectional view along line AB of Figure 1. FIG. 3 is an exploded perspective view showing the finger connection part and the finger tip. Figure 4 is a drawing showing a finger connection part and a finger tip that are cross-sectionally processed in the xz plane of Figure 3. Figure 5 is a drawing showing a finger tip cross-sectionally processed in the xy plane of Figure 3. Figure 6 is a cross-sectional view of the finger tip storage section along the CD line of Figure 1. Figure 7 is an enlarged view of area A of Figure 6. FIG. 8 is a perspective view showing the combined relationship of the push block, guide rod, and push spring of FIG. 7. FIGS. 9 to 12 are drawings for explaining a finger tip coupling step according to an embodiment of the present invention. FIGS. 13 to 17 are drawings for explaining a finger tip separation step according to an embodiment of the present invention. FIGS. 18 and FIGS. 19 are drawings showing tools according to various embodiments of the present invention. FIG. 20 is a drawing showing a moving ring according to another embodiment of the present invention. FIG. 21 is a drawing showing a finger tip storage body according to another embodiment of the present invention. 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 sufficiently convey the concept of the present invention to those skilled in the art. 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. 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. 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 ther