KR101999636B1 - End effector - Google Patents

Abstract

An embodiment of the present invention can provide an end effector, comprising: a frame unit; a cutting unit provided with a sliding body positioned at the frame unit and a blade coupled to the sliding body; a grip unit provided with a first grip unit and a second grip unit positioned at the frame unit and facing each other, and coupling at least one between a rear end portion of the first grip unit and a rear end portion of the second grip unit to the cutting unit; and a driving unit coupled to the cutting unit through the frame unit and providing a driving force to the cutting unit to move the cutting unit back and forth, wherein a coupling grip unit coupled to the cutting unit between the first and second grip unit is hinged to the frame unit, and a front end portion of the first grip unit and a front end portion of the second grip unit move closer when the sliding body moves to the front side and farther apart when the sliding body moves to the rear side. The present invention can perform a gripping operation and a cutting operation concurrently.

Description

End effector {END EFFECTOR}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an end effector, and more particularly, to an end effector that simultaneously performs a grip and a cutting.

The usual way to harvest fruit involves grabbing the fruit, cutting the stem, and then placing the fruit in the basket. However, when a fruit is harvested using a robot, a complicated mechanical device may be required if a conventional method is used.

If the machinery is complex, maintenance can be difficult and management costs can be increased. Accordingly, it may be required to develop a device for gripping and cutting the stem at the same time.

US 2016-0073584 A1

SUMMARY OF THE INVENTION The present invention provides an end effector that simultaneously performs a grip and a cutting operation.

Another technical object of the present invention is to provide an end effector in which the grip and cutting are performed by a single drive mechanism.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to one aspect of the present invention, the present invention provides a frame unit comprising: a frame unit; A cutting unit having a sliding body located in the frame unit and a blade coupled to the sliding body; Wherein at least one of a rear end portion of the first grip portion and a rear end portion of the second grip portion is coupled to the cutting unit, respectively, wherein the first grip portion and the second grip portion are located in the frame unit, A grip unit; And a driving unit coupled to the cutting unit through the frame unit and configured to move the cutting unit back and forth by providing a driving force to the cutting unit, Wherein a front end portion of the first grip portion and a front end portion of the second grip portion come closer to each other when the sliding body moves forward, When the sliding body moves backward, it is possible to provide an end-effector which is distant from each other.

According to another aspect of the present invention, the grip unit includes a protrusion protruding from a rear end of the coupling grip portion, and the cutting unit is formed by being recessed from the sliding body to receive the protrusion, And a guide groove having an inclined groove that moves away from the opposite side of the engaging grip portion toward the rear end of the sliding body.

According to another aspect of the present invention, the cutting unit is disposed on the sliding body and is coupled to a rear end portion of the coupling grip portion. The cutting unit includes an inclined surface that is away from the opposite side of the coupling grip portion toward the rear end of the sliding body And a guide taper for forming a guide groove.

According to another aspect of the present invention, the cutting unit includes an elastic member that connects the rear end of the coupling grip portion to the sliding body, and provides an elastic force between the coupling grip portion and the sliding body .

According to another aspect of the present invention, the cutting unit includes a link connecting the sliding body and a rear end portion of the coupling grip portion, and one end of the link is connected to a hinge And the other end of the link can be hinged to the rear end of the coupling grip portion.

The end effector according to an embodiment of the present invention can simultaneously perform a grip and a cutting.

The end effector according to an embodiment of the present invention can perform a grip and a cutting using a single drive mechanism.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a perspective view illustrating an end effector according to an embodiment of the present invention.
2 is a side view of the end effector shown in Fig.
3 is an exploded perspective view of the end effector 100 shown in Fig.
Fig. 4 is a view showing a part of the end effector 100. Fig.
5 is a view illustrating a cutting unit 500 according to an embodiment of the present invention.
6 is a diagram illustrating a grip unit 600 according to an embodiment of the present invention.
7 is a view showing an upper cover and an upper frame according to an embodiment of the present invention.
FIG. 8 is a view showing a state where the body 200 and the bracket 410 are combined according to an embodiment of the present invention.
9 is a view showing a state of an end effector in a second state according to an embodiment of the present invention.
10 is a diagram illustrating operation of the end effector 100 according to an embodiment of the present invention.
11 is a view showing a state where the cutting unit and the grip unit 600 according to an embodiment of the present invention are coupled to each other.
12 and 13 are views showing a cutting unit 500 according to a second embodiment of the present invention.
14 and 15 are views showing a cutting unit according to a third embodiment of the present invention.
16 is a view showing various embodiments of the blade.
17 is a block diagram of an end effector in accordance with an embodiment of the present invention.
18 is a flow chart showing an end effector operating method (S10) according to an embodiment of the present invention.
19 is a diagram illustrating a grip portion according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

1 is a perspective view illustrating an end effector according to an embodiment of the present invention. 2 is a side view of the end effector shown in Fig.

Referring to FIGS. 1 and 2, an end-effector 100 may include a body 200. The body 200 may be connected to or coupled to the robot arm 50. The robot arm 50 can form an end of a robot. As the robot arm 50 moves, the position of the end effector 100 can be determined.

The end effector 100 may include a driving unit 300. The driving unit 300 may be coupled to the body 200. The driving unit 300 may be located behind the body 200. A part of the driving unit 300 may pass through the body 200 in the front and back directions of the body 200. [ The other part of the driving part 300 may be located in front of the body 200. For example, the gear of the driving unit 300 may be positioned in front of the body 200.

The end effector 100 may include a frame unit 400. The frame unit 400 may be positioned in front of the body 200. [ The frame unit 400 can be coupled to the body 200. The frame unit 400 may be coupled to the driving unit 300. The front end of the end effector 100 may be a direction from the body 200 toward the frame unit 400. [ The rear (rear) side of the end effector 100 may be the direction from the frame unit 400 toward the body 200.

The end effector 100 may include a cutting unit 500. The cutting unit 500 may be located in the frame unit 400. [ The cutting unit 500 may be positioned in front of the body 200. The cutting unit 500 can be accommodated in the frame unit 400. The cutting unit 500 may be provided with driving force from the driving unit 300. When the cutting unit 500 is provided with the driving force from the driving unit 300, the cutting unit 500 can move in the front-rear direction in the frame unit 400.

The end effector 100 may include a grip unit 600. The grip unit 600 may be located in the frame unit 400. [ The grip unit 600 may be coupled to the cutting unit 500. The grip unit 600 can be operated by the movement of the cutting unit 500.

3 is an exploded perspective view of the end effector 100 shown in Fig.

Referring to FIG. 3, the driving unit 300 (see FIG. 1) may include a motor 310. The motor 310 may be operated by electric power or hydraulic power. For example, the motor 310 can convert electrical energy into rotational energy. For example, the motor 310 may be controlled by an electrical signal. The motor 310 may be located behind the body 200. The motor 310 may provide a driving force in front of the body 200. The motor 310 may include a first motor 311. Alternatively, the motor 310 may include a first motor 311 and a second motor 313.

The driving unit 300 (see FIG. 1) may include a rear cover 350. The rear cover 350 may be positioned behind the body 200. [ The rear cover 350 can receive the motor 310. The rear cover 350 can protect the motor 310. [

The driving unit 300 (see FIG. 1) may include a gear 320. The gear 320 may be positioned in front of the body 200. The gear 320 may include a first gear 321. The first gear 321 can be coupled to the first motor 311. The first gear 321 may be provided with a rotational force from the first motor 311. The gear 320 may include a second gear 323. The second gear 323 can be coupled to the second motor 313. The second gear 323 can be provided with rotational force from the second motor 313. The second gear 323 can be separated from the first gear 321. The gear 320 may include a driving gear 325. The driving gear 325 may be located between the first gear 321 and the second gear 323. The driving gear 325 may be coupled to the first gear 321 and the second gear 323.

The driving unit 300 (see FIG. 1) may include a driving shaft 340. The driving shaft 340 can pass through the body 200 in the longitudinal direction. The driving shaft 340 can form an elongated shape in the forward and backward directions. The driving shaft 340 extends through the body 200 from the rear of the body 200 to the front of the body 200 and can pass through the frame unit 400 (see FIG. 1) in the front-rear direction. The longitudinal direction of the driving shaft 340 may be parallel to the longitudinal direction of the frame unit 400 (see Fig. 1).

The driving shaft 340 may be coupled to the driving gear 325. The driving unit 300 (see FIG. 1) may include a first bearing 341. The first bearing 341 may be coupled to a hole formed in the body 200. The first bearing 341 can receive the driving shaft 340. In the first bearing 341, the driving shaft 340 can move in the longitudinal direction of the driving shaft 340.

The driving force generated in the motor 310 may lead to the driving shaft 340. [ For example, the driving force (or rotational force) generated in the first motor 311 may be transmitted to the first gear 321. The first gear 321 can transmit a driving force (or rotational force) to the driving gear 325. The driving force (or rotational force) transmitted to the driving gear 325 can be transmitted to the driving shaft 340.

The inner peripheral surface of the driving gear 325 can form a thread. The outer circumferential surface of the driving shaft 340 can form a thread. The screw thread formed on the outer circumferential surface of the driving shaft 340 can be engaged with a screw thread formed on the inner circumferential surface of the driving gear 325. When the driving gear 325 rotates in the first rotational direction, the driving shaft 340 can move forward. When the driving gear 325 rotates in the second rotational direction, the driving shaft 340 can move backward. The first rotation direction may be a direction opposite to the second rotation direction.

The frame unit 400 (see FIG. 1) may include a bracket 410. The bracket 410 may be positioned in front of the body 200. The bracket 410 can be coupled to the body 200 by a coupling member FM. Between the bracket 410 and the body 200, the gear 320 can be positioned. The bracket 410 can form a hole. The holes formed in the bracket 410 can receive the second bearings 342. The driving shaft 340 can be received in the second bearing 342. The driving shaft 340 can form a shape extending forward of the bracket 410.

The frame unit 400 (see FIG. 1) may include a lower frame 420. The lower frame 420 may be coupled to the bracket 410. The lower frame 420 may form a shape extending forward from the bracket 410. The lower frame 420 can form a plate as a whole.

The frame unit 400 (see FIG. 1) may include an upper frame 430. The upper frame 430 may be coupled to the bracket 410. The upper frame 430 may form a shape extending forward from the bracket 410. The upper frame 430 may be positioned at the upper portion of the lower frame 420. The upper frame 430 may be spaced apart from the lower frame 420.

The frame unit 400 (see FIG. 1) may include an upper cover 440. The upper cover 440 may be located at an upper portion of the upper frame 430. The upper cover 440 may be coupled to the upper frame 430.

The frame unit 400 (see FIG. 1) may include a first rotating shaft 451 and a second rotating shaft 452. The first coaxial shaft 451 and the second coaxial shaft 452 may extend from the lower frame 420 to the upper frame 430. The first coaxial shaft 451 may be spaced apart from the second rotating shaft 452.

The cutting unit 500 (see FIG. 1) may include a sliding body 510. The sliding body 510 may be positioned in front of the bracket 410. The sliding body 510 can be moved in the forward and backward directions at the bracket 410. The sliding body 510 may be positioned between the lower frame 420 and the upper frame 430.

The sliding body 510 may be coupled to the driving shaft 340. The driving shaft 340 may be fixed to the sliding body 510, for example. The sliding body 510 may form a hole. The hole formed in the sliding body 510 may be coupled to the driving shaft 340.

 The driving force (or rotational force) provided by the motor 310 may be transmitted to the sliding body 510. For example, the rotational force generated in the first motor 311 may be transmitted to the first gear 321. The first gear 321 can transmit the rotational force to the driving gear 325. The driving gear 325 can transmit the rotational force to the driving shaft 340. When the rotational force is transmitted to the driving shaft 340, the driving shaft 340 can perform a translational motion. That is, the driving shaft 340 can convert a rotational force into a translational force. When the driving shaft 340 is translated, the sliding body 510 can translationally move. For example, when the driving gear 325 rotates in the first rotation direction, the sliding body 510 can move forward. As another example, when the driving gear 325 rotates in the second rotational direction, the sliding body 510 can move backward.

The driving mechanism that leads from the motor 310 to the sliding body 510 can be implemented differently as described above. For example, the driving shaft 340 may be fixedly coupled to the driving gear 325. That is, when the driving gear 325 rotates, the driving shaft 340 can rotate. The driving shaft 340 can rotate in the azimuthal direction with respect to the axial direction of the driving shaft 340. [

The sliding body 510 may have a hole for forming a thread on an inner peripheral surface thereof. The screw thread formed on the outer circumferential surface of the driving shaft 340 may be engaged with a screw thread provided in a hole of the sliding body 510. [ The sliding body 510 can convert the transmitted rotational force into translational force. That is, when the driving shaft 340 rotates, the sliding body 510 can move forward and / or backward. In this case, the sliding body 510 can form a space capable of accommodating the driving shaft 340.

The driving mechanism that leads from the motor 310 to the sliding body 510 can be implemented in a manner totally different from that shown in Fig. Although not shown in the drawing, the driving unit 300 (see FIG. 1) may include a pinion-rack gear. The rotational force can be transmitted from the first motor 311 to the pinion gear. The rotational force transmitted to the pinion gear can be transmitted to the rack gear and converted to a translational force. The translational movement force transmitted to the rack gear can be transmitted to the sliding body 510. [

In this case, the driving shaft 340 functions as a rack gear, and the driving gear 325 functions as a pinion gear. In this case, the rotational direction of the driving gear 325 may be changed, and the driving shaft 340 may be fixed to the sliding body 510.

The cutting unit 500 (see FIG. 1) may include a blade 560. The blade 560 may be coupled to the sliding body 510. The blade 560 can be coupled to the sliding body 510 by bolts BT and nuts NT. The blade 560 may form a shape protruding forward from the sliding body 510. Blade 560 may, for example, cut a branch of a plant.

The cutting unit 500 (see FIG. 1) may include a coupler 570. The coupler 570 may be located in the sliding body 510. The coupler 570 may be coupled to the driving shaft 340. For example, the coupler 570 may be fixed to the driving shaft 340. The coupler 570 may be fixed to the sliding body 510. Thus, the rotation of the driving shaft 340 can be suppressed. The coupler 570 may have the shape of a nut. That is, the coupler 570 can be fitted and fixed to the driving shaft 340.

In the case of the driving mechanism in which the driving shaft 340 rotates in the azimuth direction with respect to the axial direction, the driving shaft 340 can be rotated while being fitted to the coupler 570. In this case, the coupler 570 can function as a bearing with respect to the driving shaft 340. [

The grip unit 600 (see FIG. 1) may include a first grip portion 610 and a second grip portion 620. The first grip portion 610 and the second grip portion 620 may be positioned between the lower frame 420 and the upper frame 430. The first grip portion 610 and the second grip portion 620 may be coupled to the lower frame 420 and the upper frame 430.

The first grip portion 610 may be coupled to the first turning shaft 451. The first grip portion 610 can be rotated about the first pivot shaft 451. The second grip portion 620 may be coupled to the second pivot shaft 452. The second grip portion 620 can be rotated about the second pivot shaft 452.

The first grip portion 610 and the second grip portion 620 may be coupled to the sliding body 510. The first grip portion 610 and the second grip portion 620 can operate according to the movement of the sliding body 510. That is, the attitude of each of the first grip portion 610 and the second grip portion 620 may depend on the relative position of the sliding body 510 with respect to the bracket 410.

The upper frame 430 may include an opening. The position of the opening formed in the upper frame 430 may correspond to the position of the bolt BT. The top cover 440 may include an opening. The position of the opening formed in the upper cover 440 may correspond to the position of the opening formed in the upper frame 430. Therefore, the bolt BT can be exposed to the outside.

The lower frame 420 may include an opening. The position of the opening formed in the lower frame 420 may correspond to the position of the nut NT. Therefore, the nut NT can be exposed to the outside.

The blade 560 can be coupled to the sliding body 510 by bolts BT and nuts NT. The bolts BT and the nuts NT may be exposed to the outside, respectively. That is, the bolts BT and the nuts NT can be easily accessed by an operator. Thus, the blade 560 can be easily replaced.

Fig. 4 is a view showing a part of the end effector 100. Fig.

Referring to FIG. 4, the body 200 may include a body frame 210. The body frame 210 may form a skeleton of the body 200. The body frame 210 can form a plate as a whole. The body frame 210 may have rigidity. For example, the body frame 210 may comprise a metal or a reinforced plastic.

The body 200 may include a body foot 220. The body foot 220 may be located in front of the body frame 210. The body foot 220 may have a shape protruding forward from the front surface of the body frame 210. The body foot 220 may include a first foot 221, a second foot 222, a third foot 223, and a fourth foot 224. The first foot 221, the second foot 222, the third foot 223 and the fourth foot 224 may be located at respective corners of the body frame 210. The plurality of engaging members FM may be coupled to the first foot 221, the second foot 222, the third foot 223, and the fourth foot 224, respectively.

The first gear 321 and the second gear 323 may be positioned in front of the body frame 210. The driving gear 325 may be located between the first gear 321 and the second gear 323. The driving gear 325 may be coupled to the first gear 321 and the second gear 323. The driving gear 325 may be provided with a rotational force from the first gear 321 and / or the second gear 323. The driving shaft 340 coupled to the driving gear 325 can be provided with a rotational force from the driving gear 325. For example, the driving shaft 340 can be moved in the forward and backward directions by converting the provided rotational force into a translational motion force. For example, the driving shaft 340 rotates by the rotational force provided from the driving gear 325, and the sliding body 510 (see FIG. 3) can translate the rotational force into a translational force and move in the forward and backward directions. In Fig. 4, the front portion of the driving shaft 340 may be omitted for convenience of explanation. That is, the driving shaft 340 shown in Fig. 4 may extend forward and be coupled to the cutting unit 500 (see Fig. 3).

The first bearing 341 and the second bearing 342 may be located in front of the body frame 210. The second bearing 342 may be located in front of the first bearing 341. The driving gear 325 may be located between the first bearing 341 and the second bearing 342. The first bearing 341 may be coupled to the body frame 210. The second bearing 342 can be coupled to the bracket 410 (see FIG. 3). The driving shaft 340 can be fitted to the first bearing 341 and the second bearing 342.

4, the motor 310 includes the first motor 311 and the second motor 313, but the present invention is not limited thereto. For example, the motor 310 may include the first motor 311 without the second motor 313. 4, the gear 320 includes the first gear 321 and the second gear 323, but the present invention is not limited thereto. For example, the gear 320 may include the first gear 321 without the second gear 323.

5 is a view illustrating a cutting unit 500 according to an embodiment of the present invention.

Referring to FIG. 5, the cutting unit 500 may include a blade 560. 5, the sliding body 510 may mean a configuration excluding the blade 560 and the bolt BT.

The sliding body 510 may have a first sliding surface 511 and a second sliding surface 513. The first sliding surface 511 and the second sliding surface 513 can contact the bracket 410 (see Fig. 3). The first sliding surface 511 and the second sliding surface 513 can guide the movement of the sliding body 510 relative to the bracket 410 (see FIG. 3).

The sliding body 510 may have a coupling hole 515. [ The coupling hole 515 may be formed on the rear surface of the sliding body 510. The engaging hole 515 can be engaged with the driving shaft 340 (see Fig. 4). The engaging hole 515 can receive the driving shaft 340 (see Fig. 4). For example, the driving shaft 340 (see Fig. 4) can be fitted in the engaging hole 515. Fig.

The coupling hole 515 may be represented as having a hole shape in FIG. 5, but the present invention is not limited thereto. For example, the fitting hole 515 may be formed in the sliding body 510 and coupled to the driving shaft 340 (see FIG. 4). For example, the coupling hole 515 may be formed by being recessed from the rear surface of the sliding body 510. In this case, the engaging hole 515 can form a concave shape with respect to the body 200 (see Fig. 3).

When the driving gear 325 (see FIG. 4) rotates in the first rotational direction, a driving force directed forward can be formed on the driving shaft 340 (see FIG. 4). When a driving force for moving forward is formed on the driving shaft 340 (see FIG. 4), forward force can be transmitted to the sliding body 510. When the driving gear 325 (see Fig. 4) rotates in the second rotational direction, a driving force directed rearward to the driving shaft 340 (see Fig. 4) can be formed. When a driving force for moving backward to the driving shaft 340 (see FIG. 4) is formed, a rearward force can be transmitted to the sliding body 510.

4) is rotated in the first rotational direction, a forward force is transmitted from the driving shaft 340 (see Fig. 4) to the driving shaft 340 And can be transmitted to the sliding body 510 through the coupling hole 515. When the driving shaft 340 (see FIG. 4) rotates in the second rotational direction, a rearward force can be transmitted from the driving shaft 340 (see FIG. 4) to the sliding body 510 through the coupling hole 515 .

The sliding body 510 may have a vertical hole 516. The vertical hole 516 may be formed on the upper surface of the sliding body 510. The vertical hole 516 can communicate with the engagement hole 515. The vertical hole 516 can receive the coupler 570 (see FIG. 3).

The sliding body 510 may include a blade seating portion 518. The blade seating portion 518 can receive the blade 560. The blade seating portion 518 may be recessed from the upper surface or the lower surface of the sliding body 510. For example, the blade seating portion 518 may be recessed from the upper surface of the sliding body 510. The width of the blade seating portion 518 can be made smaller in the recessed direction. Thereby, the blade 560 can easily and stably be seated on the blade seating portion 518.

The cutting unit 500 may include a guide surface 520. The guide surface 520 may be formed on one side of the sliding body 510. For example, the guide surface 520 may be recessed from the upper surface of the sliding body 510. The guide surface 520 can be coupled to the grip unit 600 (see Fig. 1).

The guide surface 520 can form the posture of the first grip portion 610 (see FIG. 3) and the second grip portion 620 (see FIG. 3). 3) and the second grip portion 620 (see FIG. 3) may vary depending on the position where the guide surface 520 and the grip portions 610 and 620 (see FIG. 3) are engaged with each other have. The position where the guide surface 520 and the grip portions 610 and 620 (see FIG. 3) are coupled may vary depending on the relative position of the sliding body 510 with respect to the bracket 410 (see FIG. 3). 3) may refer to at least one of the first grip portion 610 (see FIG. 3) and the second grip portion 620 (see FIG. 3).

The guide surface 520 may include a first guide surface 521. The first guide surface 521 may be coupled to the first grip portion 610 (see FIG. 3). The first guide surface 521 may include a first inclined surface 522. The first inclined surface 522 can form an inclination with respect to the longitudinal direction of the sliding body 510. [ The first inclined surface 522 may form a shape extending in an inclined direction with respect to the longitudinal direction of the sliding body 510. [ The first guide surface 521 may be adjacent to the first sliding surface 511.

The first guide surface 521 may include a first parallel surface 523. The first parallel surface 523 may be parallel to the front-rear direction of the sliding body 510. The first parallel surface 523 can form a shape extending in a direction parallel to the front-rear direction of the sliding body 510. [ The first parallel surface 523 may form a shape extending rearward from the rear end of the first inclined surface 522. [

The guide surface 520 may include a second guide surface 526. The second guide surface 526 may be adjacent to the second sliding surface 513. The second guide surface 526 may be coupled to the second grip portion 620 (see Fig. 3). The second guide surface 526 may include a second inclined surface 527. The second inclined surface 527 can form an inclination with respect to the longitudinal direction of the sliding body 510. [ The second inclined surface 527 can form a shape extending in an inclined direction with respect to the longitudinal direction of the sliding body 510. [ The second inclined surface 527 may be formed symmetrically with the first inclined surface 522. The inclined surfaces 522 and 527 may mean at least one of the first inclined surface 522 and the second inclined surface 527. [

The second guide surface 526 may include a second parallel surface 528. The second parallel surface 528 may be parallel to the front-rear direction of the sliding body 510. The second parallel surface 528 may form a shape extending in a direction parallel to the front-rear direction of the sliding body 510. The second parallel face 528 may form a shape extending rearward from the rear end of the second inclined face 527. [ The second parallel face 528 may be formed symmetrical with the first parallel face 523. The parallel surfaces 523 and 528 may refer to at least one of the first parallel surface 523 and the second parallel surface 528.

The cutting unit 500 may include a guide groove 530. The guide groove 530 may be formed on one surface of the sliding body 510. For example, the guide groove 530 may be recessed from the upper surface of the sliding body 510. The guide groove 530 may be formed in the guide surface 520.

The guide groove 530 may include a first guide groove 531. The first guide groove 531 may include a first inclined groove 532. The first inclined groove 532 may be formed continuously from the first inclined surface 522. The first inclined groove 532 may be inclined with respect to the longitudinal direction of the sliding body 510. The first guide groove 531 may include a first parallel groove 533. The first parallel grooves 533 may be formed on the first parallel surface 523. The first parallel groove 533 can communicate with the first inclined groove 532.

The guide groove 530 may include a second guide groove 536. The second guide groove 536 may include a second inclined groove 537. The second inclined grooves 537 may be formed continuously from the second inclined surface 527. The second inclined groove 537 can be inclined with respect to the front-rear direction of the sliding body 510. [ The second guide groove 536 may include a second parallel groove 538. A second parallel groove 538 may be formed in succession in the second parallel surface 528. The second parallel groove 538 can communicate with the second inclined groove 537. [ The second guide groove 536 may be symmetrical with the first guide groove 531.

The inclined grooves 532 and 537 may mean at least one of the first inclined groove 532 and the second inclined groove 537. [ The parallel grooves 533 and 538 may mean at least one of the first parallel groove 533 and the second parallel groove 538. [

5, the guide groove 530 may include a first guide groove 531 and a second guide groove 536, but the scope of the present invention is not limited thereto. That is, only one of the first guide groove 531 and the second guide groove 536 can be formed. For example, the first guide groove 531 may be formed in the sliding body 510, and the second guide groove 536 may not be formed in the sliding body 510.

In this case, the second grip portion 620 (see FIG. 3) corresponding to the second guide groove 536 can be fixed to the frame unit 400. The first grip portion 610 (see FIG. 3) corresponding to the first guide groove 531 may be referred to as a " coupling grip portion ". 3) is engaged with the first grip portion 610 (see FIG. 3), and the second grip portion 620 (see FIG. 3) is fixed to the first grip portion 610 The posture can be maintained.

6 is a diagram illustrating a grip unit 600 according to an embodiment of the present invention.

Referring to FIG. 6, the grip unit 600 may include a first grip portion 610 and a second grip portion 620. The first grip portion 610 may be symmetrical with the second grip portion 620. The first grip portion 610 and the second grip portion 620 may be coupled to the cutting unit 500 (see FIG. 5).

The first grip portion 610 may include a first hole 617. The first hole 617 may be coupled to the first turning shaft 451 (see FIG. 3). The first hole 617 and the first pivot shaft 451 (see FIG. 3) can provide a rotation axis to the first grip portion 610. For example, the first grip portion 610 may be rotated around the first pivot shaft 451 (see FIG. 3) through the first hole 617.

The first grip portion 610 can rotate in a manner different from that of Fig. For example, a protrusion may be formed at a position where the first hole 617 is formed. The protrusion formed at the position where the first hole 617 is formed may protrude to the upper portion and / or the lower portion of the first grip portion 610. The protrusion formed at the position where the first hole 617 is formed can be inserted into the lower frame 420 (see FIG. 3) and the upper frame 430 (see FIG. 3) to form the rotation axis of the first grip portion 610.

The first grip portion 610 may include a first jaw 611. The first jaw 611 may form a front portion of the first grip portion 610. The first grip portion 610 may include a first blade guiding groove 619. The first blade guiding groove 619 may be formed in the first jaw 611. The first blade guide groove 619 can form a concave shape with respect to the second grip portion 620.

The first grip portion 610 may include a first lever 613. The first lever 613 can form a rear portion of the first grip portion 610. A first hole 617 may be positioned between the first lever 613 and the first jaw 611. The first jaws 611 can form a shape extending forward in the first holes 617. [ The first lever 613 can form a shape extending rearward in the first hole 617. [

The first grip portion 610 may include a first projection 615. The first protrusion 615 may be formed in the first lever 613. The first projection 615 may be located, for example, at the end of the first lever 613. The first protrusion 615 may be positioned on the opposite side of the first hole 617 with respect to the first lever 613. The first projection 615 can be coupled to the first inclined surface 522 (see Fig. 5). Or the first projection 615 may be coupled to the first guide groove 531 (see FIG. 5). For example, the first protrusion 615 can be fitted in the first guide groove 531 (see Fig. 5).

The second grip portion 620 may include a second hole 627. The second hole 627 may be coupled to the second turning shaft 452 (see Fig. 3). The second hole 627 and the second pivot shaft 452 (see Fig. 3) can provide a rotation axis to the second grip portion 620. For example, the second grip portion 620 may be rotated about the second pivotal axis 452 (see FIG. 3) through the second hole 627.

The second grip portion 620 can rotate in a manner different from that of Fig. For example, a protrusion may be formed at a position where the second hole 627 is formed. The protrusion formed at the position where the second hole 627 is formed may protrude to the upper portion and / or the lower portion of the second grip portion 620. The protrusion formed at the position where the second hole 627 is formed may be fitted to the lower frame 420 (see FIG. 3) and the upper frame 430 (see FIG. 3) to form the rotation axis of the second grip portion 620.

The second grip portion 620 may include a second jaw 621 (second jaw). The second jaw 621 may form a front portion of the second grip portion 620. The second grip portion 620 may have a second blade guide groove (not shown). The second blade guide groove may be formed in the second jaw 621. The second blade guide groove can form a concave shape with respect to the first grip portion 610. The second blade guiding groove can face the first blade guiding groove 619. The second grip portion 620 may include a second lever 623. The second lever 623 can form a rear portion of the second grip portion 620. A second hole 627 may be positioned between the second lever 623 and the second jaw 621. The second jaws 621 may form a shape extending forward in the second holes 627. The second lever 623 can form a shape extending rearward in the second hole 627. [

The second grip portion 620 may include a second projection 625. The second protrusion 625 may be formed on the second lever 623. The second projection 625 may be located, for example, at the end of the second lever 623. The second projection 625 may be located on the opposite side of the second hole 627, about the second lever 623. The second projection 625 can be coupled to the second inclined surface 527 (see Fig. 5). Or the second projection 625 may be coupled to the second guide groove 536 (see FIG. 5). For example, the second projection 625 can be fitted in the second guide groove 536 (see Fig. 5). The protrusions 615 and 625 may mean at least one of the first protrusion 615 and the second protrusion 625. The grip portions 610 and 620 may refer to at least one of the first grip portion 610 and the second grip portion 620. The jaws 611 and 621 may refer to at least one of the first jaw 611 and the second jaw 621.

7 is a view showing an upper cover and an upper frame according to an embodiment of the present invention.

Referring to FIG. 7A, the upper cover 440 according to an embodiment of the present invention may have a shape corresponding to the upper frame 430. The upper cover 440 may be located at an upper portion of the upper frame 430. The upper cover 440 may be coupled to the upper frame 430. The upper cover 440 can protect the upper frame 430.

Referring to FIG. 7 (b), the upper frame 430 according to an embodiment of the present invention may include an upper panel 431. The upper panel 431 can form a shape of a plate. The upper panel 431 may be located on top of the cutting unit 500 (see FIG. 5) and / or on top of the grip unit 600 (see FIG. 6).

The upper frame 430 may include a first upper finger 433 and a second upper finger 435. The upper fingers 433 and 435 may refer to at least one of the first upper finger 433 and the second upper finger 435. The upper fingers 433 and 435 may protrude forward from the upper panel 431. [ The first upper finger 433 may be spaced apart from the second upper finger 435. The first upper finger 433 may be referred to as a " first finger ". The second upper finger 435 may be referred to as a " second finger ". The upper fingers 433 and 435 may be referred to as " fingers ".

The sensor unit 700 may be disposed on the upper fingers 433 and 435. The sensor unit 700 may include, for example, a first sensor 710. The first sensor 710 can sense whether an object is located in a space formed between the first upper finger 433 and the second upper finger 435. [

The first sensor 710 may include at least one of an ultrasonic sensor, a photo-sensor, a hall sensor, and a magnetic sensor. For example, the first sensor 710 may include an optical sensor.

The first sensor 710 may include a light emitting portion 711. The light emitting portion 711 may be disposed on at least one of the first upper finger 433 and the second upper finger 435. For example, the light emitting portion 711 may be coupled to the first upper finger 433. The light emitting portion 711 may face the second upper finger 435. The light emitting portion 711 can provide light toward the second upper finger 435. When the first sensor 710 is an ultrasonic sensor, the light emitting portion 711 may provide ultrasonic waves toward the second upper finger 435. [

The first sensor 710 may include a light receiving portion 713. The light receiving portion 713 may be coupled to the second upper finger 435. The light-receiving unit 713 can face the light-emitting unit 711. The light receiving unit 713 can sense the light provided by the light emitting unit 711. When an object is positioned between the light-receiving unit 713 and the light-emitting unit 711, the object may interfere with the light detection of the light-receiving unit 713. When the first sensor 710 is an ultrasonic sensor, the light receiving unit 713 can sense ultrasonic waves provided by the light emitting unit 711.

The light receiving unit 713 may include a first light receiving unit 714 and a second light receiving unit 715. The first light receiving portion 714 may be located in front of the second light receiving portion 715. [ The patterns of the signals sensed by the first light receiving unit 714 and the second light receiving unit 715 may depend on the position of an object entering between the first upper finger 433 and the second upper finger 435.

For example, a situation can be considered in which an object enters the upper fingers 433 and 435 from the outside of the upper fingers 433 and 435. The first light receiving portion 714 and the second light receiving portion 715 can sense the light of the light emitting portion 711 when the object is located outside the upper fingers 433 and 435. [ When an object enters between the first upper finger 433 and the second upper finger 435, the object can suppress the light detection of the first light receiving portion 714. When the object further moves toward the upper panel 431, the object can suppress the light detection of the second light receiving portion 715. That is, the light detection signals of the first light receiving unit 714 and the second light receiving unit 715 can reflect the entry state of the object into the upper finger 433 and 435.

FIG. 8 is a view showing a state where the body 200 and the bracket 410 are combined according to an embodiment of the present invention. In Fig. 8, the upper frame 430 (see Fig. 3), the upper cover 440 (see Fig. 3), and the rear cover 350 (see Fig. 3) may be omitted for convenience of explanation.

Referring to FIG. 8, the bracket 410 may be positioned in front of the body 200. The bracket 410 may be coupled to the body 200. The bracket 410 may include a bracket panel 411. The bracket panel 411 can be coupled or fixed to the body 200 by a coupling member FM (see Fig. 4).

The bracket 410 may include a first arm 415 and a second arm 417. The first arm 415 and the second arm 417 can form a shape extending forward from the front surface of the bracket panel 411. [ The first arm 415 may be spaced apart from the second arm 417. A sliding body 510 may be positioned between the first arm 415 and the second arm 417. The sliding body 510 can move in the back and forth direction between the first arm 415 and the second arm 417. [ The first arm 415 and the second arm 417 can guide the movement of the sliding body 510. The first arm 415 may face the first sliding surface 511 of the sliding body 510 (see FIG. 5). The second arm 417 may face the second sliding surface 513 (see Fig. 5) of the sliding body 510. [

The sliding body 510 may be coupled to the driving shaft 340. The sliding body 510 can have a position relative to the bracket panel 411 in accordance with the movement of the driving shaft 340. [ In Fig. 8, the sliding body 510 may be adjacent to the bracket panel 411. Fig. The first status may mean that the sliding body 510 is adjacent to the bracket panel 411. The first state may mean the basic state of the end effector 100. [ In the first state, the first projection 615 (see FIG. 6) and the second projection 625 (see FIG. 6) can be arranged relatively close to each other. In the first state, the first jaws 611 (see FIG. 6) and the second jaws 621 (see FIG. 6) can be relatively far apart from each other.

The lower frame 420 can be coupled to or fixed to the bracket 410. The lower frame 420 may be positioned below the cutting unit 500. The lower frame 420 can support the cutting unit 500. The lower frame 420 may be positioned below the first grip portion 610 and the second grip portion 620. The lower frame 420 may support the first grip portion 610 and the second grip portion 620. The first rotating shaft 451 and the second rotating shaft 452 can be coupled to the lower frame 420. [

The first grip portion 610 may be hinged to the lower frame 420. For example, the first grip portion 610 may be hinged to the lower frame 420 through the first pivot shaft 451. The second grip portion 620 may be hinged to the lower frame 420. For example, the second grip portion 620 may be hinged to the lower frame 420 through the second pivot shaft 452.

The first coaxial shaft 451 may be coupled to the first grip portion 610. The first grip portion 610 can rotate about the first pivot shaft 451. The second coaxial shaft 452 can be coupled to the second grip portion 620. The second grip portion 620 can rotate about the second pivot shaft 452. [

The first protrusion 615 (see FIG. 6) provided in the first grip portion 610 may be coupled to the first guide groove 531 (see FIG. 5) formed on the sliding body 510. Or the first protrusion 615 (see FIG. 6) provided on the first grip portion 610 may be coupled to the first guide surface 521 formed on the sliding body 510.

6) provided in the second grip portion 620 may be coupled to a second guide groove 536 (see FIG. 5) formed in the sliding body 510. The second protrusion 625 (see FIG. Or the second protrusion 625 (see FIG. 6) provided on the second grip portion 620 may be coupled to the second guide surface 526 formed on the sliding body 510.

In the first state, the rotation axis of the first grip portion 610 and the rotation axis of the second grip portion 620 may be positioned in front of the sliding body 510, but may be spaced apart from the sliding body 510. For example, in the first state, the first rotating shaft 451 and the second rotating shaft 452 may be positioned in front of the sliding body 510, but may be spaced apart from the sliding body 510.

When the driving shaft 340 moves, the sliding body 510 can move. For example, when the driving shaft 340 moves forward, the sliding body 510 can move forward. That is, when the driving shaft 340 moves forward, the sliding body 510 can approach the first pivot shaft 451 and the second pivot shaft 452.

6) and the second projection 625 (see FIG. 6) are respectively engaged with the first guide groove 531 (see FIG. 5) and the second guide 625 And can move along the groove 536 (see FIG. 5). For example, when the sliding body 510 moves forward, the first projection 615 (see FIG. 6) and the second projection 625 (see FIG. 6) can be distant from each other. 6) and the second jaw 621 (see FIG. 6) are close to each other when the first projection 615 (see FIG. 6) and the second projection 625 Can be.

9 is a view showing a state of an end effector in a second state according to an embodiment of the present invention. In FIG. 9, an end effector 100 in which some configurations have been deleted may be shown for convenience of explanation. For example, a portion of the first grip portion 610 may be in a deleted state for convenience of explanation.

The second state may mean that the sliding body 510 has moved forward from the bracket panel 411 (see Fig. 8). The sliding body 510 may have a coupling hole 515. [ The coupling hole 515 can be coupled to the driving shaft 340. For example, the sliding body 510 may be fitted or fixed to the coupling hole 515. [

The first bearing 341 may be located in a hole formed in the body 200. The second bearing 342 may be located in a hole formed in the bracket 410. The coupler 570 may be located in a space formed in the sliding body 510. The first bearing 341, the second bearing 342, and the coupler 570 can support the driving shaft 340.

In the case of the driving mechanism in which the driving shaft 340 rotates, the driving shaft 340 can be inserted into the coupler 570 and rotated. In this case, the rotational force of the driving shaft 340 is transmitted to the engaging hole 515, and the sliding body 510 can translate the rotational force into the translational motion force and move in the forward and backward directions.

In the second state, the sliding body 510 can relatively approach the rotation axis of the first grip portion 610 and the rotation axis of the second grip portion 620. In the second state, the first jaws 611 (see FIG. 6) and the second jaws 621 (see FIG. 6) may be relatively adjacent.

10 is a diagram illustrating operation of the end effector 100 according to an embodiment of the present invention. 10, the shape of the end effector 100 viewed from above the end effector 100 can be observed.

10 (a), the first state of the end effector 100 can be observed. In the first state, the cutting unit 500 may be relatively adjacent to the bracket panel 411 of the frame unit 400 (see Fig. 8). When the driving unit 300 is operated, the cutting unit 500 can move forward. For example, when the driving gear 325 (see Fig. 9) rotates in the first rotational direction, the cutting unit 500 can move forward.

Referring to FIG. 10 (b), the cutting unit 500 can be moved forward. 6) and the second projection 625 (see FIG. 6) are guided by the guide groove 530 (see FIG. 5) formed in the cutting unit 500, As shown in FIG. 6) and the second protrusions 625 (see FIG. 6) can be moved away from each other along the inclined grooves 532 and 537 formed in the cutting unit 500. As shown in FIG. When the first projection 615 (see FIG. 6) and the second projection 625 (see FIG. 6) are separated from each other, the first jaw 611 and the second jaw 621 can approach each other. The third state can mean the state of the end effector 100 shown in Fig. 10 (b). The third state may mean an intermediate state between the first state and the second state.

In the third state, the first jaw 611, the second jaw 621, and the blade 560 (see Fig. 5) can form a space. The object to be cut can be located in the space formed by the first jaw 611, the second jaw 621, and the blade 560 (see Fig. 5). For example, a stem of a vegetable may be positioned between the first jaw 611, the second jaw 621, and the blade 560 (see FIG. 5).

Referring to FIG. 10 (c), the cutting unit 500 can further move forward. 6) and the second protrusion 625 (see FIG. 6) are moved along the guide groove 530 formed in the cutting unit 500 to the position where the cutting unit 500 is moved forward can do. 6) and the second protrusions 625 (see FIG. 6) are provided with parallel grooves 533 and 538 (see FIG. 5), and the second protrusions 625 Can be positioned along. Since the parallel grooves 533 and 538 (see FIG. 5) are parallel to the front-rear direction of the cutting unit 500, the first grip portion 610 and the second grip portion 620, Can be maintained. When the blade 560 (see FIG. 5) advances in a state where the posture of the first grip portion 610 and the second grip portion 620 is maintained, an object located in front of the blade 560 (see FIG. 5) Stem of the vegetable) can be cut.

10 (a), 10 (b), and 10 (c) can show the first, third, and second states of the end effector 100. That is, an object (e.g., a stem of a vegetable) can be cut while the end effector 100 sequentially changes to the first state, the third state, and the second state. When the driving gear 325 (see Fig. 9) rotates in the first rotational direction, the state of the end effector 100 can sequentially change to the first state, the third state, and the second state.

 After the object is cut, an overcurrent can be formed in the motor 310 (see Fig. 9). A controller provided in the end effector 100 can sense an overcurrent formed in the motor 310 (see FIG. 9). When the control unit senses an overcurrent formed in the motor 310 (see Fig. 9), the control unit can stop the operation of the motor 310 (see Fig. 9).

The motor 310 (see Fig. 9) may be operated so that the driving gear 325 (see Fig. 9) rotates in the second rotational direction after the operation of the motor 310 (see Fig. 9) is stopped. When the driving gear 325 (see Fig. 9) rotates in the second rotational direction, the cutting unit 500 can move backward. That is, when the driving gear 325 (see FIG. 9) rotates in the second rotational direction, the cutting unit 500 can move toward the body 200.

When the cutting unit 500 moves toward the body 200 in the second state, the state of the end effector 100 can be in the third state. When the cutting unit 500 further moves toward the body 200 in the third state, the state of the end effector 100 can be in the first state. The end effector 100 in the first state can be moved toward the object to be cut by the robot arm 50 (see Fig. 1).

Referring to FIG. 10, the first jaws 611 may include a first cutting guide portion 6111. The second jaw 621 may include a second cutting guide portion 6211. The first cutting guide portion 6111 can form the upper end of the first jaw 611. The second cutting guide portion 6211 can form the upper end of the second jaw 621. The first cutting guide portion 6111 may face the second cutting guide portion 6211. The cutting inducing portions 6111 and 6211 may mean at least one of the first cutting inducing portion 6111 and the second cutting inducing portion 6211. [ The cutting guide portions 6111 and 6211 may be formed at positions higher than the blade 560. [

The cutting inducing portions 6111 and 6211 can induce cutting by the blade 560. [ For example, when an object to be cut is positioned between the first jaw 611 and the second jaw 621 and the cutting unit 500 advances, the blade 560 can be cut while advancing toward the object to be cut . At this time, the object to be cut can be cut by the blade 560 in the cutting guide portions 6111 and 6211. [ In other words, the cutting induction portions 6111 and 6211 can provide a space (or region) in which the object to be cut is cut by the blade 560. [

The first jaw 611 may include a first holder 6113. The first holder 6113 can be formed at a lower position than the blade 560. [ The second jaw 621 may include a second holder 6213. The second holder 6213 can be formed at a lower position than the blade 560. [ The holders 6113 and 6213 may mean at least one of the first holder 6113 and the second holder 6213. [ The first holder 6113 can be spaced apart from the second holder 6213.

Referring to FIGS. 10A, 10B and 10C, the first holder 6113 and the second holder 6213 can approach each other by advancing the cutting unit 500. When the first holder 6113 and the second holder 6213 come close to each other, the object to be cut located between the first jaw 611 and the second jaw 621 is moved between the first holder 6113 and the second It can be gripped by the holder 6213. In the second state, the first holder 6113 can be kept apart from the second holder 6213. [

The object to be cut located between the first jaw 611 and the second jaw 621 is cut by the blade 560 and the first holder 6113 and the second holder 6213 ) Can be maintained in a gripped state. The holders 6113 and 6213 may include a stretchable material depending on the purpose of gripping the object to be cut. For example, the holders 6113 and 6213 may include at least one of silicon, synthetic resin, and natural rubber.

11 is a view showing a state where the cutting unit 500 and the grip unit 600 are coupled to each other according to an embodiment of the present invention.

Referring to FIG. 11, the first lever 613 and the second lever 623 may be positioned above the cutting unit 500. The first protrusion 615 may protrude downward from an end of the first lever 613. The second protrusions 625 may protrude downward from the end of the second lever 623. The protrusions 615 and 625 may be formed by protruding the first protrusions 615 and the second protrusions 625, ≪ / RTI >

The protrusions 615 and 625 can be coupled to the guide groove 530 (see FIG. 5) formed in the cutting unit 500. For example, the first projection 615 may be engaged with the first inclined groove 532 and the first parallel groove 533. [ The first projection 615 can be positioned along the first inclined groove 532 and the first parallel groove 533 in accordance with the forward and backward movement of the cutting unit 500. [ For example, the second projection 625 may be coupled to the second inclined groove 537 and / or the second parallel groove 538. The second projection 625 can be positioned along the second inclined groove 537 and the second parallel groove 538 in accordance with the forward and backward movement of the cutting unit 500. [

The distance between the first protrusion 615 and the second protrusion 625 may be changed in accordance with the forward and backward movement of the cutting unit 500. [ Referring to Fig. 10A, the distance between the first projection 615 and the second projection 625 in the first state may be relatively small. In the first state, the distance between the first jaw 611 and the second jaw 621 may be relatively large.

10A and 10B, when the cutting unit 500 moves forward, the first projection 615 is located along the first inclined groove 532, and the second projection 625 is located along the first inclined groove 532 And may be located along the second inclined groove 537. [ The distance between the first projection 615 and the second projection 625 can be relatively large when the projections 615 and 625 are located along the inclined grooves 532 and 537 and the cutting unit 500 is moved forward . When the distance between the first protrusion 615 and the second protrusion 625 is relatively large, the distance between the first jaw 611 and the second jaw 621 can be relatively small. When the distance between the first jaw 611 and the second jaw 621 becomes relatively small, the first jaw 611 and the second jaw 621 can grip an object to be cut. That is, when the distance between the first jaw 611 and the second jaw 621 becomes relatively small, the object to be cut can be supported by the first jaw 611 and the second jaw 621.

Referring to FIGS. 10B and 10C, when the protrusions 615 and 625 are positioned along the parallel grooves 533 and 538 and the cutting unit 500 moves forward, the first protrusions 615 and the second protrusions The distance between the second projections 625 can be maintained. When the distance between the first projection 615 and the second projection 625 is maintained, the distance between the first jaw 611 and the second jaw 621 can be maintained. When the cutting unit 500 moves forward in the third state, the blade 560 (see Fig. 5) can cut the object. The object to be supported and positioned between the first jaw 611 and the second jaw 621 is still in contact with the first jaw 611 and the second jaw 621 ) Can be maintained.

The indication of the blade 560 (see Fig. 9) may be omitted for convenience of explanation in Fig. The blade seating portion 518 formed in the cutting unit 500 may have a hole. The blade seating portion 518 may be formed by being recessed from one surface of the cutting unit 500. [

12 and 13 are views showing a cutting unit 500 according to a second embodiment of the present invention.

12, the upper frame 430 (see FIG. 3) and the upper cover 440 (see FIG. 3) may be omitted for convenience of explanation. Referring to Fig. 12, the cutting unit 500 may include an elastic member 580. Fig.

The elastic member 580 can connect the sliding body 510 and the grip units 610 and 620. For example, the first elastic member 581 may connect the sliding body 510 and the first grip portion 610. Elasticity may be formed between the sliding body 510 and the first grip portion 610 by the first elastic member 581. [ The first elastic member 581 can provide an elastic force against rotation of the first grip portion 610 with respect to the first pivot shaft 451.

For example, the second elastic member 582 may connect the sliding body 510 and the second grip portion 620. Elasticity may be formed between the sliding body 510 and the second grip portion 620 by the second elastic member 582. [ The second elastic member 581 can provide an elastic force against rotation of the second grip portion 620 with respect to the second pivot shaft 452.

The first grip portion 610 and the second grip portion 620 shown in FIG. 12 may correspond to the first grip portion 610 and the second grip portion 620 shown in FIG. 6, respectively. For example, the first protrusion 615 (see FIG. 6) may be formed on the first grip portion 610. For example, the second protrusion 625 (see FIG. 6) may be formed on the second grip portion 620.

Fig. 13A is a view showing the cutting unit 500 according to the second embodiment. 13 (b) is a top view of the cutting unit 500 shown in FIG. 13 (a).

Referring to FIG. 13, the cutting unit 500 may include a guide taper 540. The guide taper 540 may protrude from one surface of the sliding body 510. For example, the guide taper 540 may protrude from the upper surface of the sliding body 510.

The guide taper 540 may include oblique tapers 542, 547. The inclined tapers 542 and 547 can form inclined surfaces with respect to the longitudinal direction of the sliding body 510. [ For example, the oblique tapers 542 and 547 can form oblique faces 522 and 527. [

The guide taper 540 may include parallel tapers 543, 548. The parallel tapers 543 and 548 can form a surface parallel to the longitudinal direction of the sliding body 510. For example, the parallel tapers 543 and 548 can form parallel surfaces 523 and 528. The parallel surfaces 523 and 528 may be formed extending rearward from the inclined surfaces 522 and 527.

The guide surface 520 may refer to at least one of the oblique surfaces 522 and 527 and the parallel surfaces 523 and 528. The guide surface 520 may extend between the upper surface of the sliding body 510 and the upper surface of the guide taper 540. That is, the guide surface 520 may refer to a lateral surface of the guide taper 540. The guide taper 540 can form a step with the sliding body 510.

The widths of the oblique tapers 542 and 547 may become larger as they are adjacent to the parallel tapers 543 and 548. The widths of the parallel tapers 543 and 548 can be kept within a certain range in the front-rear direction. For example, the widths of the parallel tapers 543 and 548 may be constant in the longitudinal direction.

The guide taper 540 may include a first guide taper 541 corresponding to the first grip portion 610. The first guide taper 541 may include a first tapered taper 542 and a first parallel taper 543. The first projection 615 (see FIG. 6) is in contact with the first tapered taper 542 and the first parallel taper 543 in accordance with the forward movement of the cutting unit 500, Can be moved. For example, as the cutting unit 500 moves forward, the first projection 615 (see FIG. 6) contacts the first inclined surface 522 and the first parallel surface 523, and the first guide surface 521 ). ≪ / RTI >

The guide taper 540 may include a second guide taper 546 corresponding to the second grip portion 620. The second guide taper 546 may include a second bevel taper 547 and a second parallel taper 548. 6) is in contact with the second oblique taper 547 and the second parallel taper 548 and the second guide taper 546 is in contact with the second oblique taper 547 and the second parallel taper 548 in accordance with the forward movement of the cutting unit 500 Can be moved. For example, as the cutting unit 500 moves forward, the second projection 625 (see FIG. 6) contacts the second inclined surface 527 and the second parallel surface 528, and the second guide surface 526 ). ≪ / RTI >

The guide surface 520 may refer to at least one of the first guide surface 521 and the second guide surface 526. The inclined surfaces 522 and 527 may mean at least one of the first inclined surface 522 and the second inclined surface 527. [ The parallel surfaces 523 and 528 may refer to at least one of the first parallel surface 523 and the second parallel surface 528.

The guide taper 540 may mean at least one of a first guide taper 541 and a second guide taper 546. The oblique tapers 542 and 547 may refer to at least one of the first oblique taper 542 and the second oblique taper 547. The parallel tapers 543 and 548 may refer to at least one of the first parallel taper 543 and the second parallel taper 548.

The manner of operation of the end effector 100 including the cutting unit 500 according to the second embodiment of the present invention is similar to that of the end effector 100 including the cutting unit 500 according to an embodiment of the present invention 100). ≪ / RTI > For example, the guide surface 520 of the cutting unit 500 according to the second embodiment of the present invention may be attached to the guide surface 520 of the cutting unit 500 (see FIG. 5) according to an embodiment of the present invention .

In the end effector 100 including the cutting unit 500 according to the second embodiment of the present invention, the projections 615 and 625 (see FIG. 6) are guided by the elastic member 580 (see FIG. 12) 520, respectively. That is, in the second embodiment of the present invention, the protrusions 615 and 625 (see FIG. 6) can be brought into contact with the guide surface 520 by the elastic member 580 (see FIG. 12).

Referring to FIGS. 12 and 13, when the sliding body 510 moves forward in the first state, the protrusions 615 and 625 (see FIG. 6) can be positioned along the guide surface 520. That is, when the sliding body 510 moves forward in the first state, the distance between the first projection 615 (see FIG. 6) and the second projection 625 (see FIG. 6) may become large. Therefore, when the sliding body 510 moves forward in the first state, the distance between the first jaw 611 (see FIG. 6) and the second jaw 621 (see FIG. 6) can be reduced.

When the sliding body 510 moves backward in the second state, the protrusions 615 and 625 (see FIG. 6) can be positioned along the guide surface 520. That is, when the sliding body 510 moves backward in the second state, the state of the end effector 100 can be converted to the third state. When the sliding body 510 moves rearward in the third state, the distance between the first projection 615 (see FIG. 6) and the second projection 625 (see FIG. 6) can be reduced. Therefore, when the sliding body 510 moves backward in the third state, the distance between the first jaw 611 (see FIG. 6) and the second jaw 621 (see FIG. 6) may become large.

12 and 13, both the first grip portion 610 and the second grip portion 620 are operated, but the present invention is not limited thereto. That is, one of the first grip portion 610 and the second grip portion 620 may be operated and the other may not be operated. For example, the first grip portion 610 may have a different posture according to the movement of the cutting unit 500, but the second grip portion 620 may have a fixed posture.

In this case, the second guide taper 546 may not be formed or may not be coupled to the second grip portion 620. That is, the second guide surface 526 may not be formed or may not be coupled to the second grip portion 620. The grip portions 610 and 620 of the first grip portion 610 and the second grip portion 620 coupled to the cutting unit 500 may be referred to as a " coupling grip portion ".

14 and 15 are views showing an end effector including a cutting unit 500 according to a third embodiment of the present invention. 14 and 15, for convenience of explanation, the display of some configurations may be omitted.

Referring to FIG. 14, the cutting unit 500 according to the third embodiment of the present invention may include a link 550. The link 550 may include a first link 551 and a second link 553.

One end of the first link 551 may be hinged to the sliding body 510. The other end of the first link 551 may be hinged to the first grip portion 610. One end of the second link 553 may be hinged to the sliding body 510. The other end of the second link 553 may be hinged to the second grip portion 620.

One end of the first link 551, the other end of the first link 551, and the first pivot 451 can form a triangle. The position of the first coaxial shaft 451 can be fixed with respect to the bracket 410. The position of one end of the first link 551 may depend on the relative position of the sliding body 510 with respect to the bracket 410. The distance between one end of the first link 551 and the other end may be constant. The distance between the other end of the first link 551 and the first rotating shaft 451 may be constant. Therefore, the position of the other end of the first link 551 may depend on the relative position of the sliding body 510 with respect to the bracket 410. That is, the posture of the first grip portion 610 may vary depending on the relative position of the sliding body 510 with respect to the bracket 410.

The relationship between the second link 553, the second grip portion 620 and the sliding body 510 is similar to the relationship between the first link 551, the first grip portion 610 and the sliding body 510 can do. That is, the posture of the second grip portion 620 may vary depending on the relative position of the sliding body 510 with respect to the bracket 410. The state of the end effector 100 shown in Fig. 14 may be the first state.

FIG. 15 is a view showing the end effector 100 in a state in which the sliding body 510 shown in FIG. 14 is moved forward.

14 and 15, when the sliding body 510 is moved forward in the first state, the distance between one end of the first link 551 and the first pivot shaft 451 may be reduced have. Further, when the sliding body 510 moves forward in the first state, the distance between one end of the second link 553 and the second rotating shaft 452 can be reduced.

The other end of the first link 551 moves in a direction away from the second grip portion 620 when the distance between one end of the first link 551 and the first rotation axis 451 becomes small . The other end of the second link 553 moves in a direction away from the first grip portion 610 when the distance between one end of the second link 553 and the second rotation axis 452 becomes small . That is, when the sliding body 510 moves forward in the first state, the distance between the first jaw 611 and the second jaw 621 can be reduced.

The operation of the end effector 100 including the cutting unit 500 according to the third embodiment can be examined. When the object to be cut is positioned between the first upper finger 433 (see FIG. 7) and the second upper finger 435, the first sensor 710 (see FIG. 7) can sense the object to be cut. When the first sensor 710 (see FIG. 7) detects an object to be cut, the driving gear 325 (see FIG. 3) can be rotated in the first rotational direction.

When the driving gear 325 (see FIG. 3) rotates in the first rotational direction, the sliding body 510 connected to the driving shaft 340 (see FIG. 3) can be moved forward. When the sliding body 510 moves forward, the distance between the first jaw 611 and the second jaw 621 can be reduced. When the distance between the first jaw 611 and the second jaw 621 becomes small, the object to be cut can be caught by the first jaw 611 and the second jaw 621. When the sliding body 510 further moves forward, the blade 560 can cut the object to be cut.

14 and 15, the link 550 includes the first link 551 and the second link 553, but the present invention is not limited thereto. For example, the second link 553 may not be formed or may not be coupled to the second grip portion 620.

In this case, the second grip portion 620 may be fixed to the frame unit 400 (see Fig. 1). That is, the second grip portion 620 can maintain a fixed posture with respect to the first grip portion 610. The first grip portion 610 coupled to the sliding body 510 by the link 550 may be referred to as a " coupling grip portion ".

16 is a view showing various embodiments of the blade.

Referring to FIG. 16, the blade 560 may include a blade body 561. The blade main body 561 can form a shape of a plate. The blade main body 561 may have a longitudinal direction. The blade 560 may include a blade hole 563. The blade hole 563 can be coupled to the bolt BT (see Fig. 3). The blade 560 may include a blade cutting edge 565. The blade cutting edge 565 may be located opposite the blade hole 563. The longitudinal direction of the blade 560 may be parallel to the direction from the blade hole 563 toward the blade cutting edge 565. [

Referring to Figure 16 (a), the blade cutting edge 565 can form the shape of a line segment. The blade cutting edge 565 shown in FIG. 16 (a) can be the basic shape of the blade cutting edge 565. The blade cutting edge 565 may be perpendicular to the longitudinal direction of the blade 560.

Referring to FIG. 16B, the blade cutting edge 565 can form a slope with respect to the longitudinal direction of the blade 560. One end of the blade cutting edge 565 can form an acute angle to the front. The other end of the blade cutting edge 565 can form an obtuse angle.

Referring to FIG. 16C, the blade cutting edge 565 can form a depressed shape toward the blade hole 563. Both ends of the blade cutting edge 565 can form an acute angle.

Referring to FIG. 16D, the blade cutting edge 565 can form a shape protruding toward the front of the blade 560. Both ends of the blade cutting edge 565 can form an obtuse angle. The blade cutting edge 565 can form a cusp.

16 (e), the blade cutting edge 565 can form a saw-tooth shape. The blade cutting edge 565 may have a pattern in which forward projections and depressions are repeated while going from one end to the other end.

Referring to FIG. 16F, the blade cutting edge 565 can form a shape protruding toward the front of the blade 560. The blade cutting edge 565 can form a curved shape.

17 is a block diagram of an end effector in accordance with an embodiment of the present invention.

Referring to FIG. 17, an end effector 100 according to an embodiment of the present invention may include a sensor unit 700. The sensor unit 700 may include a first sensor 710 and a second sensor 720.

The first sensor 710 may include a light emitting portion 711 (see FIG. 7) and a light receiving portion 713 (see FIG. 7). The first sensor 710 can sense an object to be cut in the end effector 100. The first sensor 710 may generate the first signal S1. The first signal S1 may correspond to a signal sensed by the light receiving unit 713 (see FIG. 7).

The second sensor 720 may include a vision sensor. For example, the second sensor 720 may include a camera. For example, the second sensor 720 may include an image sensor. The second sensor 720 can be located on a part constituting the end effector 100. For example, the second sensor 720 may be located in at least one of the body 200 (see FIG. 1), the driver 300 (see FIG. 1), and the frame unit 400 (see FIG. 1). Or the second sensor 720 may be located, for example, on the robot arm 50 (see FIG. 1). The second sensor 720 may generate the second signal S2. The second signal S2 may include information about the position of the object to be cut by the end effector 100. [

The end effector 100 may include a control unit 800. The control unit 800 may be implemented using at least one of a processor, a printed circuit board (PCB), and a circuit board.

The control unit 800 may be located on a component that constitutes the end effector 100. For example, the control unit 800 may be located in at least one of the body 200 (see FIG. 1), the driver 300 (see FIG. 1), and the frame unit 400 (see FIG. 1). For example, the control unit 800 may be located in the upper frame 430 (see FIG. 3).

The control unit 800 can receive the input signals S1 and S2 from the sensor unit 700. [ The input signals S1 and S2 may refer to at least one of the first signal S1 and the second signal S2. The input signals S1 and S2 may contain information about the relative position of the object to be cut with respect to the end effector 100 and / or the relative position of the object to be cut with respect to the upper frame 430 (see FIG. 7) .

The control unit 800 can generate the third signal S3 based on the input signals S1 and S2. The third signal S3 may be referred to as an " output signal ". The third signal S3 may be provided to the driver 300. The third signal S3 may include information on the operation of the driving unit 300. [ Depending on the information contained in the third signal S3, the cutting unit 500 (see FIG. 1) may move forward or backward or stop.

18 is a flow chart showing an end effector operating method (S10) according to an embodiment of the present invention.

 Referring to Figs. 17 and 18, the end effector operating method S10 can include a step S100 of adjusting the position. This step (S100) can be performed by the control unit (800). The control unit 800 can adjust the position and posture of the body 200 (see Fig. 1) based on the input signals S1 and S2. The position and posture of the body 200 (see Fig. 1) can be set based on the object to be cut.

The end effector operating method S10 may include obtaining a signal (S200). This step (S200) may be performed by the control unit (800). For example, the control unit 800 may acquire the first signal S1 from the first sensor 710. For example,

The end effector operating method S10 may include determining whether the end effector is in an appropriate position (S300). This step (S300) can be performed by the control unit (800). The control unit 800 determines whether the object to be cut is located between the first upper finger 423 (see FIG. 7) and the second upper finger 425 (see FIG. 7) based on the input signals S1 and S2 Can be determined. If it is determined that the object to be cut is not positioned at the proper position, the control unit 800 may perform the step S100 of adjusting the position again.

The end effector operating method S10 may include a step S400 of gripping. This step (S400) may be performed by the control unit (800). If it is determined that the object to be cut is located at the proper position, the control unit 800 can perform this step (S400). The control unit 800 may generate the third signal S3 and provide the third signal S3 to the driving unit 300. [ The control unit 800 can control the driving unit 300 so that the grip unit 600 (see Fig. 1) grips the object to be cut based on the third signal S3.

The end effector operating method S10 may include a step S500 of cutting. This step (S500) can be performed by the control unit (800). The control unit 800 operates the driving unit 300 so that the cutting unit 500 (see FIG. 1) operates the driving unit 300 to cut the object, while the object to be cut is held by the grip unit 600 (see FIG. 1) Can be controlled.

The end effector operating method S10 may include releasing the grip (S600). This step (S600) can be performed by the control unit (800). Even after the object is cut, the object can be gripped by the grip unit 600 (see Fig. 1). The control unit 800 can control the driving unit 300 to operate the driving unit 300 to release the grip of the grip unit 600 (see FIG. 1).

Referring to Fig. 19, the grip portion 610 can be observed. The grip portion 610 shown in Fig. 19 may be the first grip portion 610 (see Fig. 6). The shape and structure of the second grip portion 620 (see FIG. 6) may be substantially the same as the shape and structure of the first grip portion 610 shown in FIG. For example, the shape and structure of the second grip portion 620 (see FIG. 6) may form a symmetry with the shape and structure of the first grip portion 610 shown in FIG.

Referring to FIG. 19, the cutting guide portion 6111 can form the upper end of the jaw 611. The cutting guide portion 6111 may be located above the blade 560 (see Fig. 9). A space may be formed between the cutting guide portion 6111 and the holder 6113. [ The blade 560 (see Fig. 9) may be positioned between the cutting guide portion 6111 and the holder 6113. For example, when the cutting unit 500 advances in the first state, the blade 560 (see FIG. 9) can be accommodated in the space formed between the cutting guide portion 6111 and the holder 6113. For example, when the cutting unit 500 is moved backward in the second state, the blade 560 (see FIG. 9) can be separated from the space formed between the cutting guide portion 6111 and the holder 6113.

The blade guide groove 619 may be located at the lower portion of the cutting guide portion 6111. The blade guide groove 619 can be located on the upper side of the holder 6113. The blade guide groove 619 can guide the movement of the blade 560 (see Fig. 9). That is, the blade 560 (see Fig. 9) can move between the cutting guide portion 6111 and the holder 6113.

1 to 19, the end effector 100 can cut an object to be cut while gripping it. The grip and cutting performed in the end effector 100 can be operated by a combined drive mechanism. For example, when the driving unit 300 is operated, the sliding body 510 and the grip unit 600 can be operated. In other words, the driving mechanism of the sliding body 510 can be coupled to the driving mechanism of the grip unit 600. [

For example, when the sliding body 510 moves forward, the grip unit 600 grips the object to be cut, and the blade 560 coupled to the sliding body 510 cuts the object .

After the object is cut, the forward movement of the sliding body 510 can be suppressed by the grip unit 600. [ In this case, the grip unit 600 can perform a stopper function related to the forward movement of the sliding body 510. For example, the jaws 611 and 621 can perform a stopper function for forward movement of the sliding body 510. [ For example, the end effector 100 may include a separate stopper for restricting the forward movement of the sliding body 510. When the forward movement of the sliding body 510 is suppressed, an overcurrent may be applied to the driving unit 300 coupled to the sliding body 510. The control unit 800 can stop the operation of the driving unit 300 by sensing the overcurrent.

In a state in which the sliding body 510 is not moving, the grip unit 600 can hold a grip of an object. The object to be cut may be, for example, a stem of a vegetable or a branch of a fruit. In a state where one point of the stem or one point of the branch is cut, the lower portion of the one point may be gripped by the grip unit 600. [ That is, the fruit connected to the stem or the fruit connected to the branch can be gripped by the grip unit 600.

The end effector 100 holding the vegetable or fruit can change the position. For example, the end effector 100 may move to the top of the basket. Thereafter, the driving unit 300 is operated to move the sliding body 510 backward. When the sliding body 510 moves backward, the grip unit 600 can release the grip. When the grip unit 600 releases the grip, the vegetables or fruits hanging on the grip unit 600 can enter the basket.

The bracket 410 is capable of restraining the rearward movement of the sliding body 510. When the rearward movement of the sliding body 510 is suppressed, an overcurrent may be applied to the driving unit 300. The control unit 800 can stop the operation of the driving unit 300 by sensing the overcurrent.

The second sensor 720 of the end effector 100 can be used to find a new cutting object. For example, the second sensor 720 may acquire an image of a vegetable or fruit, and obtain an image of a stem connected to the vegetable or a branch connected to the fruit. The second signal S2 may contain information about such an image.

The control unit 800 may analyze the image. The control unit 800 can analyze the image and set a new cutting target. The second sensor 720 may include a distance sensing sensor. For example, the second sensor 720 can acquire information about the position of a new cutting target. For example, the second sensor 720 may include an ultrasonic sensor or an infrared sensor.

The control unit 800 can grasp the position information of the new cutting target and can move the robot arm 50. [ As the robot arm 50 moves, the object to be cut can be positioned between the first finger 433 and the second finger 435. If the object to be cut is positioned between the first finger 433 and the second finger 435, it can be seen that the object to be cut is in the proper position.

The first sensor 710 can generate the first signal S1 including information on whether or not the object to be cut is in the proper position. The control unit 800 can drive the driving unit 300 when it is determined that the cutting object is in the proper position. The control unit 800 can move the robot arm 50 when it is not determined that the object to be cut is at the proper position.

For example, when it is determined that the object to be cut is not in the proper position, the control unit 800 receives the second signal S2 from the second sensor 720, and based on the second signal S2, Can be moved.

The blade 560 may have a different shape depending on the kind of the object to be cut. For example, the shape of the blade cutting edge 565 can be appropriately selected depending on the type of the object to be cut. The shape of the first jaw 611 and the shape of the second jaw 621 can be formed in accordance with the shape of the blade cutting edge 565. [

For example, the blade 560 shown in Fig. 16 (a) can be used for a general object to be cut. For example, the blade 560 shown in FIG. 16 (b) can be used for an object to be cut in a longitudinal (longitudinal) direction. Here, the longitudinal direction may be parallel to the direction from one surface of the blade 560 to the other surface. For example, the blade 560 shown in Fig. 16 (c) can be used for an object to be cut having a relatively small diameter. For example, the blade 560 shown in Fig. 16 (d) or / and (f) can be used for an object to be cut whose center portion is dense or hard. For example, the blade 560 shown in FIG. 16 (e) can be used for an object to be cut having a rough surface or having a bumpy surface.

The front end of the end effector 100 may be in a direction from the body 200 toward the bracket 410. The rear (rear) side of the end effector 100 may be a direction from the bracket 410 toward the body 200. The upper end of the end effector 100 may be in a direction from the lower frame 420 to the upper frame 430. The lower end of the end effector 100 may be a direction from the upper frame 430 to the lower frame 420. The front-rear direction of the end effector 100 may refer to the front end and / or the rear end of the end effector 100. The front-rear direction of the end effector 100 may be parallel to the axial direction of the driving shaft 340. The axial direction of the driving shaft 340 may be parallel to the moving direction of the sliding body 510.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: end effector 200: body
300: driving unit 400: frame unit
500: cutting unit 600: grip unit
700: sensor unit 800: control unit

Claims (5)

A frame unit;
A cutting unit having a sliding body located in the frame unit and a blade coupled to the sliding body;
Wherein at least one of a rear end portion of the first grip portion and a rear end portion of the second grip portion is coupled to the cutting unit, respectively, wherein the first grip portion and the second grip portion are located in the frame unit, A grip unit; And
And a driving unit coupled to the cutting unit through the frame unit and configured to move the cutting unit back and forth by providing a driving force to the cutting unit,
Wherein a coupling grip portion of the first and second grip portions, which is coupled to the cutting unit,
A hinge unit coupled to the frame unit,
Wherein a front end portion of the first grip portion and a front end portion of the second grip portion,
When the sliding body moves forward,
When the sliding body moves backward,
End-effector. The method according to claim 1,
The grip unit includes:
A protrusion protruding from a rear end of the coupling grip portion,
The cutting unit includes:
And a guide groove formed in the sliding body so as to be received in the protrusion and having an inclined groove that is away from the opposite end of the engaging grip portion toward the rear end of the sliding body,
End effector. The method according to claim 1,
The cutting unit includes:
And a guide taper that is located on the sliding body and is coupled to a rear end of the coupling grip portion and forms an inclined surface that is away from the opposite end of the coupling grip portion toward the rear end of the sliding body.
End effector. The method of claim 3,
The cutting unit includes:
And an elastic member connecting the rear end of the coupling grip portion to the sliding body and providing an elastic force between the coupling grip portion and the sliding body.
End effector. The method according to claim 1,
The cutting unit includes:
And a link connecting the sliding body and the rear end of the coupling grip portion,
And one end of the link is connected to the other end,
A hinge unit coupled to the sliding body,
The other end (the other end)
A hinge member hinged to a rear end of the coupling grip portion,
End effector.

Images