KR101641204B1 - Variable passive compliance gripper with displacement measurement function - Google Patents

Variable passive compliance gripper with displacement measurement function Download PDF

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Publication number
KR101641204B1
KR101641204B1 KR1020160039999A KR20160039999A KR101641204B1 KR 101641204 B1 KR101641204 B1 KR 101641204B1 KR 1020160039999 A KR1020160039999 A KR 1020160039999A KR 20160039999 A KR20160039999 A KR 20160039999A KR 101641204 B1 KR101641204 B1 KR 101641204B1
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KR
South Korea
Prior art keywords
gripper
displacement
balloon
legs
upper structure
Prior art date
Application number
KR1020160039999A
Other languages
Korean (ko)
Inventor
김휘수
박찬훈
박동일
도현민
최태용
윤동원
경진호
손영수
Original Assignee
한국기계연구원
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Priority to KR1020160039999A priority Critical patent/KR101641204B1/en
Application granted granted Critical
Publication of KR101641204B1 publication Critical patent/KR101641204B1/en
Priority to PCT/KR2017/003111 priority patent/WO2017171303A1/en
Priority to US16/083,760 priority patent/US10987816B2/en

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    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a variable passive compliance gripper with a displacement measurement function which appropriately deals with an error of a position and processing tolerance for a workpiece, enables assembly instructions to be easy, and improves an assembly speed and assembly quality by measuring displacement in accordance with deformation of the gripper when being assembled to correct a target moving route and a target position of a robot; and to control a compliance. According to the present invention, the variable passive compliance gripper with a displacement measurement function comprises: a variable passive compliance unit; a balloon; a displacement measurement means; and a gripper mounting unit.

Description

≪ Desc / Clms Page number 1 > Variable passive compliance gripper with displacement measurement function &

The present invention overcomes the positional errors and machining tolerances that may occur between objects to be assembled in an assembling work environment by an automation device such as a robot, The present invention relates to a variable passive rigidity gripper capable of performing displacement measurement.

Many parts of the production process are automated by robots, but assembly work is very difficult and automation by robots is difficult. That is, if the actual assembly target parts exactly coincide with the geometric information in the drawing, these assembly target parts are fixed at the correct position of the work table, and another part is correctly gripped at the correct position of the gripper of the robot, By ensuring that the position and posture are precisely controlled, the assembly operation of these two parts can be automated. However, in reality, since the parts to be assembled are different from the sizes of the drawings, there is an error in the fixed position, so that it is difficult to realize the assembly by only the position control of the robot.

As such, it is difficult to precisely perform the assembly operation by only the position control of the robot. Therefore, various assembly robots based on the force control based on the reaction force generated in the assembly operation are being studied.

However, in the assembly method based on the force control, a force sensor is installed at the end of the robot to measure the assembly reaction force acting at the time of assembly, and then the assembly operation is performed by controlling the movement of the entire robot to control the assembly reaction force. In this method, a very expensive 6-DOF force-moment sensor is required, and since the whole robot moves and performs assembly, the inertia is large (inertia of the robot rather than inertia of the gripper is large). In addition, since the active force control method is used, if there is an unexpected situation during the assembling operation, there is a possibility of divergence of the control algorithm and there is a disadvantage in terms of safety. In addition, there is a problem that it is very difficult to teach the assembling work because it is difficult to operate the robot so that the robot is positioned at the precise position necessary for assembling when the assembly work is first taught.

An additional manual compliance device (RCC-Remote Compliance Center) has been developed and used at the end of the robot to solve the problem of the assembly control method of the active force control method of the robot. Since the manual compliance device or the manual rigidity device ensures the compliance required for assembly even when the position of the robot is misaligned with respect to the position of the workpiece, the gripping force generated by the gripper and the workpiece, There is a great advantage that it is assembled without occurrence. However, there is a problem that the robot controller can not accurately know the actual position of the robot end because the displacement of the gripper end necessarily caused by the compliance can not be measured. This is a more serious problem because the controller does not know the deflection of the gripper end due to gravity, especially in the horizontal orientation (assembly in the direction perpendicular to gravity), which causes vertical orientation (assembly in the direction parallel to gravity) There is a problem in that it is possible. In other words, due to the compliance, the end displacement is naturally generated. Since the end displacement can not be measured, the robot controller can not cope with this problem. This is a great obstacle to the range of the manual compliance device, It becomes a stumbling block.

JP 1994-005828 (1994.01.25.)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems as described above, and it is an object of the present invention to provide an apparatus and a method for assembling a vehicle, The resulting gripper displacement is measurable and its information is used during the assembly process. If necessary, the stiffness can be appropriately changed to effectively cope with various assembly situations, thereby improving the assembly speed and the quality of assembly. And to provide a variable manual rigidity gripper capable of measurement.

In order to accomplish the above object, there is provided a variable passive rigidity gripper according to the present invention, comprising: an upper structure; a lower structure spaced apart from the upper structure; and a lower structure coupled to the upper structure and the lower structure, A variable passive stiffening portion including a plurality of legs formed to be stretchable; An elastic material balloon disposed between the upper structure and the lower structure and capable of adjusting air pressure; Displacement measuring means provided at the variable passive stiff portion for measuring displacement of the substructure due to deformation of the variable passive stiffness portion; And a gripper mount formed on the lower structure, the gripper mount being mountable with a gripper portion for gripping the component; And a control unit.

Further, the displacement measuring means is provided in each of the legs, and is capable of measuring a displacement caused by the linear expansion and contraction of the leg.

Further, the lower structure is formed to have six degrees of freedom.

Further, the legs are formed so as to be linearly expandable and contractible, and the legs are coupled to each other by a joint capable of providing three degrees of freedom to the upper structure or the lower structure.

In addition, an upper surface of the upper structure and an upper surface of the lower structure are respectively formed with an anchor groove, and the upper and lower sides of the balloon are inserted into the anchor grooves and closely contacted with each other.

Also, the upper structure may have an inlet / outlet flow path through which compressed air can be injected and discharged, and a balloon is connected to the inlet / outlet flow path.

The gripper controller calculates the position of the lower end of the gripper portion based on the displacements measured by the displacement measuring means and outputs the position of the lower end of the gripper portion to the robot controller in accordance with the calculated displacement of the lower end of the gripper portion. And a target movement path and a target position of the robot can be provided.

The gripper controller may further include a gripper controller to which the balloon is connected, wherein the gripper controller includes a stiffness adjusting unit capable of adjusting the stiffness of the balloon.

The variable manual rigidity gripper capable of measuring displacement according to the present invention can provide manual rigidity that can appropriately cope with a positional error and a machining tolerance of a workpiece during assembly and can be applied to various assembling operations. So that it is possible to easily grasp the assembled state and to provide appropriate rigidity to each assembling environment and to apply it to various assemblies such as a vertical direction and a horizontal direction.

In addition, unlike existing assembly systems that require expensive force control based robots, it is highly applicable to various robots such as position control based robots, and it is possible to construct an assembly system that is easy and quick without a separate complex force control algorithm have.

In addition, the present invention has an advantage of improving the assembling speed and assembling quality by correcting the path of the robot by providing the corrected assembling position to the robot so as to not only grasp the assembling state at the assembling work but also perform the assembling smoothly.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a state in which a variable manual rigidity gripper capable of measuring a displacement of the present invention is mounted on an arm of a robot. Fig.
2 and 3 are an assembled perspective view and an exploded perspective view showing a variable passive rigidity gripper capable of displacement measurement of the present invention.
4 is an exploded perspective view of a Stewart platform according to the present invention;
5 and 6 are a perspective view and a front view showing a state where the Stewart platform and the balloon according to the present invention are assembled.
7 is a schematic view showing a displacement according to linear expansion and contraction of a leg according to the present invention;
8 and 9 are front views showing a state in which the first part is inserted and assembled into the insertion hole of the second part while the passive rigidity gripper capable of displacement measurement of the present invention is deformed.
10 to 13 are a perspective view and a front view showing a state in which the lower structure is deformed in a state where the upper structure according to the present invention is fixed.

Hereinafter, a variable passive rigidity gripper capable of measuring displacement according to the present invention will be described in detail with reference to the accompanying drawings.

First, the variable passive rigidity gripper 1000 capable of measuring the displacement of the present invention can be coupled to the end portion of the arm 2100 of the robot 2000 as shown in FIG. 1. For example, the variable passive rigidity gripper 1000 can be gripped with the gripper portion 300 It can be used to move to a desired position and insert it into a part to be assembled and assemble.

[Example]

2 and 3 are an assembled perspective view and an exploded perspective view showing a variable passive rigidity gripper capable of measuring displacement according to the present invention, FIG. 4 is an exploded perspective view showing a Stuart platform according to the present invention, and FIGS. FIG. 2 is a perspective view showing a stewart platform and a balloon according to a first embodiment of the present invention;

As shown in the figure, the variable passive rigidity gripper 1000 capable of measuring displacement according to the present invention includes an upper structure 110, a lower structure 120 disposed below the upper structure 110, 110) and a variable passive stiffening portion (100) including a plurality of legs (130) connected at both ends to a lower structure (120) and formed to be retractable; An elastic balloon 200 disposed between the upper structure 110 and the lower structure 120 and capable of adjusting air pressure; Displacement measuring means (132) installed at the variable passive stiffness portion (100) and capable of measuring displacement of the substructure (120) according to deformation of the variable passive stiffness portion (100); And a gripper mounting portion 122 formed on the lower structure 120 and to which a gripper portion 300 for gripping a component can be mounted; . ≪ / RTI >

First, the variable passive stiffening portion 100 may be a Stuart platform, for example. In the following, the variable passive stiffening portion will be referred to as a Stuart platform 100. And a gripper unit 300 mounted on the gripper mounting unit 122. Hereinafter, the gripper unit 300 will be described.

The Stewart platform 100 may largely consist of an upper structure 110, a lower structure 120, and a plurality of legs 130. The upper structure 110 may be formed in a disc shape and the upper structure 110 may be coupled to an end of the arm 2100 of the robot 2000. The upper structure 110 is formed with a plurality of coupling holes formed on the upper surface thereof with female threads, and can be firmly coupled to the end of the arm 2100 by fastening means. The lower structure 120 may be formed in a disc shape, and a gripper unit 300 may be coupled to a lower surface of the lower structure 120 to hold a component to be assembled. The leg 130 is connected to the upper structure 110 and the lower structure 120. The upper end of the leg 130 is connected to the lower surface of the upper structure 110 and the lower end is connected to the upper surface of the lower structure 120 . The legs 130 are formed to be expandable and contractible so that the lower structure 120 can be freely moved and rotated while the upper structure 110 is fixed. The leg 130 may be disposed between the upper structure 110 and the lower structure 120 and may be disposed inside the upper portion of the upper structure 110 and the lower portion of the lower structure 120. That is, the legs 130 may be disposed within the diameter range of the upper structure 110 and the lower structure 120, but may be disposed outside the center within the diameter range. The legs 130 may be formed in six, for example, and the adjacent legs 130 may be inclined in opposite directions to each other. That is, the two neighboring legs 130 may be connected to the upper structure 110 so that upper ends thereof are adjacent to each other, and connected to the lower structure 120 so that lower ends thereof are adjacent to each other. Thus, the Stewart platform 100 structure can be formed by the superstructure 110, the substructure 120, and the plurality of legs 130. In addition, when the upper structure 110, which is one side of the Stewart platform 100, is fixed, the lower structure 120, which is the other side, has compliance so that it can be deformed in two or more degrees of freedom when an external force is applied, It can be formed to have a passive stiffness that can be restored to its original position by elasticity. Here, the manual stiffness means that the other side can be deformed based on the fixed side when an external force is applied, and can be restored to its original position by elasticity when the external force acting is removed. The degree of freedom of 2 degrees or more may be, for example, a degree of freedom that can be transformed in the horizontal direction of the x axis and the y axis, and the z axis direction, the θ X direction, the θ Y direction, the θ Z direction, Can be added. Compliance is a material constant that indicates the ratio of the bending and the deformation force, and may be an amount that indicates the degree to which the other movable member can be deformed (moved or rotated) by an external force.

The balloon 200 may be a spherical balloon made of an elastic material and may be formed so that compressed air can be supplied to or discharged from the balloon to control the pneumatic pressure inside the balloon. At this time, as the compressed air is supplied or discharged, the balloon 200 may be expanded or contracted to change the volume. When the compressed air is supplied, the pressure inside the balloon is increased and when the compressed air is discharged, the pressure inside the balloon may be lowered. The balloon 200 may be disposed inside the Stewart platform 100. That is, a balloon 200 is disposed between the upper structure 110 and the lower structure 120 forming the structure of the Stewart platform 100 so that the upper and lower sides of the balloon 200 can be in close contact with each other, 130, respectively. The balloon 200 is spaced apart from the legs 130 so that the balloon 200 is not contacted with the legs 130 even when the balloon 200 is inflated.

The displacement measuring means 132 is installed on the variable passive stiffness portion 100 and can measure the displacement of the substructure 120 due to the deformation of the variable passive stiffness portion 100. That is, when the stuart platform 100 is deformed while the upper structure 110 is coupled to the end of the arm 2100 of the robot 2000, the relative position of the lower structure 120 is changed ) Can be measured. At this time, the displacement measuring means 132 can measure a displacement of two degrees of freedom or more when the Stewart platform 100 is deformed to more than two degrees of freedom. In this case, the displacement measuring means 132 may be a linear variable differential transformer (LVDT), for example. The number and type of the displacement measuring means 132 may be varied according to the number of degrees of freedom in which the manual rigid portion 100 is deformed.

The gripper portion 300 is a portion capable of holding a component to be assembled and includes a finger block 310 coupled to a gripper mounting portion 122 formed on a lower surface of the lower structure 120, And a pair of fingers 320 formed to catch the component. At this time, the fingers 320 may be formed in a structure that can be opened or closed to hold or place the components. For example, as shown in the figure, the fingers 320 may be combined with the structure capable of sliding along the finger blocks 310 . In addition, the finger block 310 may be provided with an actuator to open or close the pair of fingers 320, or may be configured to operate the fingers 320 in various structures.

8 and 9, the first part 10 to be inserted into the finger 320 is inserted into the insertion hole 21 of the fixed second part 20, The insertion of the first part 10 into the insertion hole 21 causes a positional error between the first part 10 and the insertion hole 21 or an error in the direction in which the central axis does not coincide, The lower structure 120 is bent with respect to the upper structure 110 by an angle alpha as shown in FIG. 3, and the gripper portion 300 and the lower structure 120 are moved in the horizontal direction together, (300) may be inserted in a folded state or twisted about a vertical axis. At this time, if the gripper unit 300 is deformed due to an assembly error or the like, the position of the lower end of the gripper unit 300 can be calculated using the values measured by the displacement measuring units 132, It is possible to determine whether or not the gripper unit 300 is deformed.

Accordingly, the variable manual rigidity gripper capable of measuring the displacement according to the present invention can improve the assembly speed and assembly quality by grasping the assembled state by using the displacement measuring means during the assembling operation using the robot and correcting the path of the assembled position of the robot . Further, the applicability to various robots is high, and it is possible for the user to make safe and easy assembly teaching.

The variable passive rigidity gripper according to the present invention is disposed inside the Stewart platform 100 so as to be inserted between the upper structure 110 and the lower structure 120, The stiffness of the gripper 300 depends on the internal pressure of the balloon 200 tightly attached to the balloon 200. Therefore, if the rigidity is increased by increasing the pressure of the balloon 200, the compliance is lowered. In contrast, if the pressure of the balloon 200 is lowered to reduce the rigidity, the position and direction of the gripper portion can be easily changed even when the position error is large due to high compliance. Here, compliance is a material constant indicating the ratio of the bending and the deforming force, which is an amount indicating the degree to which the lower structure 120 movable with respect to the fixed upper structure 110 is easily deformed (moved or rotated) by an external force .

Accordingly, since the rigidity of the gripper can be adjusted by adjusting the air pressure of the balloon 200, the manual rigid gripper 1000 capable of measuring the displacement of the present invention can be used as an assembly robot for assembling components with large assembly errors, And can be applied to various assemblies such as a vertical direction and a horizontal direction. Further, since the assembly can be easily performed even when the assembly error is large, there is an advantage that the user can safely and easily assemble teaching even when the user is unable to adjust the position with the naked eye.

[Detailed Embodiment]

The displacement measuring means 132 may be installed on the legs 130 to measure a displacement of the leg 130 in accordance with linear expansion and contraction.

That is, as shown, the legs 130 are each provided with a displacement measuring means 132 to measure the displacement of each leg 130, and thus the displacement of the legs 130 can be used to measure the displacement of the legs 130 And the position of the lower end of the gripper unit 300 can be known. At this time, the displacement measuring means 132 may be inserted into the legs 130 to measure the displacement of the legs 130 due to linear expansion and contraction. The displacement measuring means 132 may be provided outside the legs 130 or the displacement measuring means 132 itself may be formed by the legs 130. The displacement measuring means 132 may be a linear variable differential transformer (LVDT). The LVDT is a type of an electrical transducer for measuring a linear distance difference. Three solenoid coils are disposed in the form of a tube. And the other two are located outside, and a cylinder-shaped magnetic core moves along the center of the tube to indicate the position of the object to be measured. Alternatively, the displacement measuring means 132 may be formed of an encoder, a potentiometer, or the like to measure a change in length of the leg 130 as it is stretched or shrunk.

In addition, the lower structure 120 may be formed to have six degrees of freedom.

That is, 10 to 13 and the lower structure (120) for containing the gripper unit 300, the three-dimensional axis direction of X, Y, Z axis is θ X a rotational direction around the axis movement and three dimensional in the direction as shown, the Stewart platform 100 can be formed so that rotation in the directions of? Y ,? Z is possible. Thus, the assembly can be assembled while the gripper is moved in the axial direction due to an assembly error or the like when the component is assembled and the position is corrected, or the angle at which the assembly is rotated about the axis is corrected.

The legs 130 can be linearly expanded and contracted. The legs 130 can be coupled to the upper structure 110 or the lower structure 120 at joints to provide three degrees of freedom.

That is, the legs 130 may be formed in a structure such that they can be linearly reduced or extended in a linear manner, such as a linear actuator. For example, even if the legs 130 are formed in a structure that can be linearly expanded or contracted within a specific stroke range such as a hydraulic or pneumatic cylinder 7 due to expansion and contraction. The legs 130 may include elastic means and may be formed so as to be linearly expanded and contracted by an external force and then returned to their original length by elasticity when an external force is removed. Further, it is preferable that the legs 130 are formed in a shape that linearly changes in length linearly by an external force. For example, the legs 130 are formed at both ends of a spherical ball so that the ball is inserted into the upper structure 110 or the lower structure 120 to be freely rotated The ball joint 131 can be coupled to the ball joint 131. [ At this time, in addition to the ball joint 131, the ball joint 131 may be combined with an elastic body that can be freely bent without being separated from the joined state, or may be combined in various forms. Here, since the elastic force of the balloon 200 acts to expand the gap between the upper structure 110 and the lower structure 120, the legs 130 are positioned at the maximum length The upper structure 110 and the lower structure 120 may be in parallel with each other.

The upper and lower structures 120 and 120 are respectively provided with guide grooves 111 and 121 so that the upper and lower sides of the balloon 200 are inserted into the guide grooves 111 and 121, And can be inserted and adhered to each other.

That is, as shown in FIGS. 4 to 6, the upper and lower sides of the balloon 200 are inserted into close contact with the placement grooves 111 and 121 to allow the Stewart platform 100 to receive an external force due to the elasticity of the balloon 200 It can be easily restored to its original state. Since the position of the balloon 200 can be fixed, even if a change in the structure of the Stewart platform 100 or a change in the air pressure of the balloon 200 occurs, the legs 130 may not contact the balloon 200 , A more free modification of the Stewart platform 100 may be possible.

In addition, the upper structure 110 may have an inlet / outlet flow passage 112 through which the compressed air can be injected and discharged, and the balloon 200 may be connected to the inlet / outlet flow passage 112.

That is, as shown, the inlet / outlet flow path 112 may be connected so that compressed air is supplied to the balloon 200 or air is discharged from the balloon 200. For example, the inlet / outlet flow path 112 may be formed as a pipe to be connected to the balloon 200 and connected thereto. The balloon 200 and the inlet / outlet flow path may be formed separately or integrally. The upper structure 110 may have grooves to allow the inlet / outlet flow path 112 to be disposed therein. The balloon 200 may be coupled to the inlet / outlet flow path 112 by forming an inlet / outlet flow path 112 in the form of a hole in the upper structure 110 itself. To the inlet / outlet flow path 112, a one-touch fitting or a quick coupling for connection such as a pneumatic hose may be coupled to the end portion. In FIG. 3, holes or the like through which the compressed air is supplied or discharged to the balloon 200 are not shown. However, the balloon 200 may be provided with a hole or a tube to be connected to the inlet / outlet flow path 112. Here, the passive stiffness member may be a variable passive stiffness portion including the inlet passage 112 connected to the variable stiffness device 200 formed or coupled to the upper structure 110 of the Stewart platform 100. That is, the passive stiffening portion formed to be able to control the elasticity of the variable stiffener 200 through the inlet / outlet passage 112 may be an example of the variable passive stiffening portion.

The gripper controller 400 further includes a gripper controller 400 coupled to the displacement measuring means 132 to detect the position of the lower end of the gripper 300 through displacements measured by the displacement measuring means 132 And the target movement path and the target position of the robot can be provided to the robot controller 2200 according to the calculated displacement of the lower end of the gripper unit 300.

That is, when the Stewart platform 100 is deformed due to an assembly error at the time of insertion for assembling the parts, the displacement measuring means 132 is connected to the gripper controller 400, and displacement occurs at the lower end of the gripper unit 300, At this time, the position of the lower end of the gripper unit 300 can be calculated by the gripper controller 400 using the values measured by the displacement measuring units 132. Using the position value of the lower end of the gripper unit 300, The position of the robot 2000 can be controlled to correct the position. In other words, when there is an assembly error, since the first component 10 is inserted in a state where the gripper portion 300 is deformed, the degree of deformation of the gripper portion 300 is measured using the displacement measuring means 132, The position of the robot 2000 can be controlled by the gripper controller 400 so as to come to the correct insertion position. The gripper controller 400 is connected to a robot controller 2200 for controlling the movement path and position of the robot 2000 and detects the displacement of the lower end of the gripper unit 300 calculated by the displacement calculating unit of the gripper controller 400 The target moving path and the target position of the robot 2000 can be provided to the robot controller 2200. [

The gripper controller 400 may further include a gripper controller 400 to which the balloon 200 is connected. The gripper controller 400 may include a rigidity adjuster that can adjust the rigidity of the balloon 200.

In addition, the gripper controller 400 may adjust the pneumatic pressure of the balloon 200 according to the displacements measured by the displacement measuring means 132. That is, displacement measuring means 132 are connected to the gripper controller 400 so that when the gripper portion 300 is deformed due to an assembling error or the like at the time of insertion for assembling the components, the values measured by the displacement measuring means 132 The gripper controller 400 can calculate the position of the lower end of the gripper unit 300 and can determine whether the gripper unit 300 is deformed to such an extent that the part can be inserted smoothly. Thus, if it is determined that there is an assembly error that can not be smoothly inserted, the gripper controller 400 lowers the air pressure of the balloon 200 to increase the compliance and controls the gripper unit 300 to be easily deformed, The gripper portion 300 is deformed and smooth parts can be assembled. In addition, if the gripper unit 300 is deformed or is small even if it is not assembled or assembled, the air pressure of the balloon 200 is increased to lower the compliance, so that the gripper unit 300 is not easily deformed, ) Can be reduced.

The stiffness of the balloon 200 can be adjusted according to the displacement of the lower end of the gripper unit 300.

The gripper controller 400 may be disposed on the upper side of the upper structure 110. The upper structure 110 may be formed as a container having a hollow interior and an opened upper side, (400) can be positioned. Alternatively, the gripper controller 400 may be installed separately and connected to the displacement measuring means 132 or the balloon 200, and the gripper controller 400 may be integrally formed with the robot controller 2200, .

 A flexible material cover 140 may be coupled to the peripheral surfaces of the upper structure 110 and the lower structure 120 so as to surround the outer sides of the legs 130. At this time, the cover 140 may be formed in various shapes such as a mesh or an elastic material.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It goes without saying that various modifications can be made.

1000: Variable manual stiffness gripper
100: variable passive stiffness
110: upper structure 111:
112: inlet / outlet port
120: Lower structure 121:
122: Gripper mounting part
130: leg 131: ball joint
132: displacement measuring means
140: cover
200: Balloon
300:
310: finger block 320: finger
400: Gripper controller
2000: robot 2100: arm
2200: Robot controller
10: first part 20: second part
21: Insertion hole

Claims (8)

A variable passive stiffening portion including an upper structure, a lower structure spaced apart from the lower structure of the upper structure, and a plurality of legs connected at both ends to the upper structure and the lower structure to be stretchable;
An elastic material balloon disposed between the upper structure and the lower structure and capable of adjusting air pressure;
Displacement measuring means provided at the variable passive stiff portion for measuring displacement of the substructure due to deformation of the variable passive stiffness portion; And
A gripper mount formed on the lower structure, the gripper mount being mountable with a gripper portion for gripping the component; And a variable manual gripper gripper.
The method according to claim 1,
Wherein the displacement measuring means is provided to each of the legs to measure displacement according to linear expansion and contraction of the leg.
The method according to claim 1,
Wherein the lower structure is formed to have six degrees of freedom.
The method of claim 3,
Wherein the legs are formed to be linearly expandable and contractible, and the legs are joined at joints capable of providing three degrees of freedom to the upper structure or the lower structure at both ends thereof.
The method according to claim 1,
Wherein the upper and lower structures of the upper structure and the lower structure are respectively formed with an anchor groove and the upper and lower sides of the balloon are inserted into the anchor grooves and are closely contacted with each other.
The method according to claim 1,
Wherein the upper structure is formed with an inlet / outlet flow path through which compressed air can be injected and discharged, and a balloon is connected to the inlet / outlet flow path.
The method according to claim 1,
Further comprising a gripper controller to which said displacement measuring means is connected,
The gripper controller calculates the position of the lower end of the gripper portion based on the displacements measured by the displacement measuring means and provides a target movement path and a target position of the robot to the robot controller according to the calculated displacement of the lower end of the gripper portion. Variable manual stiffness gripper capable of measuring displacement.
The method according to claim 1,
And a gripper controller to which the balloon is connected,
Wherein the gripper controller includes a stiffness adjusting part capable of adjusting the stiffness of the balloon.
KR1020160039999A 2016-04-01 2016-04-01 Variable passive compliance gripper with displacement measurement function KR101641204B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020160039999A KR101641204B1 (en) 2016-04-01 2016-04-01 Variable passive compliance gripper with displacement measurement function
PCT/KR2017/003111 WO2017171303A1 (en) 2016-04-01 2017-03-23 Passive stiffness gripper
US16/083,760 US10987816B2 (en) 2016-04-01 2017-03-23 Passive stiffness gripper

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KR20180060052A (en) * 2016-11-28 2018-06-07 한국기계연구원 Assembly teaching method using passive compliance gripper
CN110253562A (en) * 2019-06-04 2019-09-20 广东省智能制造研究所 A kind of quadruped robot flexible spinal based on pneumatic muscles
KR20200048950A (en) 2018-10-31 2020-05-08 한국기계연구원 Gripper for an irregular object
KR102420427B1 (en) 2021-01-27 2022-07-13 최성희 Gripper for robot capable of the precise measurement
WO2023198844A1 (en) * 2022-04-14 2023-10-19 Rheinisch-Westfälische Technische Hochschule (Rwth) Aachen Tool change system for a robot

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Publication number Priority date Publication date Assignee Title
KR20180060052A (en) * 2016-11-28 2018-06-07 한국기계연구원 Assembly teaching method using passive compliance gripper
KR102048820B1 (en) * 2016-11-28 2019-11-26 한국기계연구원 Assembly teaching method using passive compliance gripper
KR20200048950A (en) 2018-10-31 2020-05-08 한국기계연구원 Gripper for an irregular object
CN110253562A (en) * 2019-06-04 2019-09-20 广东省智能制造研究所 A kind of quadruped robot flexible spinal based on pneumatic muscles
CN110253562B (en) * 2019-06-04 2024-05-17 广东省智能制造研究所 Flexible backbone of quadruped robot based on pneumatic muscle
KR102420427B1 (en) 2021-01-27 2022-07-13 최성희 Gripper for robot capable of the precise measurement
WO2023198844A1 (en) * 2022-04-14 2023-10-19 Rheinisch-Westfälische Technische Hochschule (Rwth) Aachen Tool change system for a robot

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