KR102133497B1 - Soft gripper unit and soft robot apparatus having the same - Google Patents

Abstract

According to embodiments of the present invention, a first body portion formed of an extensible material, formed of a hollow, and a plurality of chamber portions protrudingly spaced at predetermined intervals; A second body part coupled to the first body part and disposed between the plurality of chamber parts; A shape support part coupled to the first body part; And a connection part communicating with the first body part and having a flow path formed therein to provide hydraulic pressure to the first body part, wherein the first body part and the second body part are formed of different materials. Provide units.

Description

Soft gripper unit and soft robot apparatus having the same

Embodiments of the present invention relate to a soft gripper unit and a soft robotic device comprising the same.

Generally, a soft robot refers to a robot made of a flexible and soft material such as polymer and rubber instead of a hard material such as metal used in the existing robot. The soft robot mainly applies hydraulic pressure or pneumatic pressure to the structure of the robot to generate movement using the phenomenon that the structure swells like a balloon.

In order to induce the robot to induce a desired motion by inflating the robot in a desired direction and shape, the soft robot mainly uses a difference in material characteristics.

Conventionally, the chamber receiving the hydraulic pressure increases or decreases the internal pressure, and thus movement occurs. When applied to a soft gripper unit for gripping an object such as an object, the chamber is formed of a single material, and thus the bending property and gripping force (Fingertip force) ) Had a problem of being lowered.
Background art of the present invention is disclosed in Japanese Unexamined Patent Publication No. 2003-184820 (published on July 3, 2003, title of invention: flexible actuator).

The present invention has been devised to improve the above problems, a soft gripper unit and a soft robot device including the soft gripper unit capable of improving bendability and gripping force due to the first body portion and the second body portion formed of different materials. Want to provide.

However, these problems are exemplary, and the scope of the present invention is not limited thereby.

The soft gripper unit according to embodiments of the present invention includes: a first body portion formed of a stretchable material, formed of a hollow, and a plurality of chamber portions protrudingly spaced at predetermined intervals; A second body part coupled to the first body part and disposed between the plurality of chamber parts; A shape support part coupled to the first body part; And a connecting portion communicating with the first body portion and providing a hydraulic pressure to the first body portion by forming a flow path therein, wherein the first body portion and the second body portion may be formed of different materials. .

In the present invention, the second body portion may be formed of a material having a lower elongation than the first body portion.

In the present invention, the second body portion may be disposed to be contactable between the plurality of first body portions.

In the present invention, the shape support portion may be installed inside the first body portion.

In the present invention, the shape support portion may be coupled to the inner circumferential surface of the first body portion facing the plurality of chamber portions.

In the present invention, the chamber portion may be formed in a longitudinal axis symmetry shape of the chamber portion with respect to the central portion.

In the present invention, both sides of the chamber portion may be formed in a concave shape with respect to the central portion.

In the present invention, both sides of the chamber portion may be formed in a convex shape based on the central portion.

In the present invention, the distance between both outer circumferential surfaces based on the central portion of the chamber portion may be uniformly formed along the longitudinal direction of the chamber portion.

In the present invention, one end portion in the protruding direction of the chamber portion may have a predetermined radius of curvature and be rounded.

In the present invention, each edge portion of the chamber portion may be rounded with a predetermined radius of curvature when cross-sectioned to be perpendicular to the longitudinal axis of the chamber portion.

In the present invention, the shape support portion may be formed of a material having a lower elongation than the first body portion.

Soft robot apparatus according to an embodiment of the present invention, the base portion; And a plurality of soft gripper units disposed outside and coupled with respect to the center of the base portion, wherein the soft gripper units are formed of an extensible material, formed of a hollow, and spaced apart at predetermined intervals. A first body part in which four chamber parts protrude; A second body portion coupled to the first body portion and disposed between the plurality of chamber portions; A shape support part coupled to the first body part; And a connection part communicating with the first body part and having a flow path formed therein to provide hydraulic pressure to the first body part.

The soft gripper unit according to the present invention and the soft robotic device including the same can have improved force transmission compared to being formed of the same material because the first body portion and the second body portion are formed of different materials. have.

In addition, since both sides of the chamber portion are formed in a concave shape with respect to the central portion, the bendability may be improved as the chamber portion is extended.

In addition, the bending moment is increased and the gripping force is increased due to an increase in the contact surface area between the first body portion and the second body portion due to the one end portion formed in the protruding direction side of the chamber portion being rounded.

In addition, the bending moment is increased and the gripping force is improved because the contact surface area between the first body portion and the second body portion is increased due to the rounded corner portion of the chamber portion.

Of course, the scope of the present invention is not limited by these effects.

1 is a perspective view showing a soft robot apparatus including a soft gripper unit according to an embodiment of the present invention.
2 is a perspective view showing a soft gripper unit according to an embodiment of the present invention.
3 is an exploded perspective view showing a soft gripper unit according to an embodiment of the present invention.
Figure 4a is a side view showing the position of the soft gripper unit according to an embodiment of the present invention.
Figure 4b is a side view showing the operating state of the soft gripper unit according to an embodiment of the present invention.
5A, 5B, and 5C are cross-sectional side views illustrating a cross-sectional area of a chamber portion according to embodiments of the present invention.
6 is a partial perspective view showing a chamber unit according to an embodiment of the present invention.
7 is a cross-sectional view illustrating a cross-section XZ in FIG. 6.
8 is a cross-sectional view showing an XY section of FIG. 6.
9 is a view showing an operating state of the soft robot apparatus according to an embodiment of the present invention.

The present invention can be applied to various transformations and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention and methods for achieving them will be clarified with reference to embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be given the same reference numerals when describing with reference to the drawings, and redundant description thereof will be omitted. .

In the following examples, terms such as first and second are not used in a limiting sense, but for the purpose of distinguishing one component from other components.

In the following embodiments, the singular expression includes a plural expression unless the context clearly indicates otherwise.

In the examples below, terms such as include or have are meant to mean that features or components described in the specification exist, and do not preclude the possibility of adding one or more other features or components.

In the following embodiments, when a part such as a film, a region, or a component is said to be on or on another part, other films, regions, components, and the like are interposed therebetween, as well as directly above the other part. Also included.

In the drawings, the size of components may be exaggerated or reduced for convenience of description. For example, since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to what is shown.

When an embodiment can be implemented differently, a specific process order may be performed differently from the described order. For example, two processes described in succession may be performed substantially simultaneously, or may be performed in an order opposite to that described.

In the following embodiments, when a membrane, region, component, etc. is connected, other membranes, regions, and components are interposed between membranes, regions, and components as well as when membranes, regions, and components are directly connected. It also includes indirectly connected cases. For example, in the present specification, when a membrane, region, component, etc. is electrically connected, other membranes, regions, components, etc. are interposed therebetween, as well as when the membrane, region, components, etc. are directly electrically connected. Also includes indirect electrical connection.

1 is a perspective view showing a soft robot apparatus including a soft gripper unit according to an embodiment of the present invention. 2 is a perspective view showing a soft gripper unit according to an embodiment of the present invention. 3 is an exploded perspective view showing a soft gripper unit according to an embodiment of the present invention. Figure 4a is a side view showing the position of the soft gripper unit according to an embodiment of the present invention. Figure 4b is a side view showing the operating state of the soft gripper unit according to an embodiment of the present invention. 5A, 5B, and 5C are cross-sectional side views illustrating a cross-sectional area of a chamber portion according to embodiments of the present invention. 6 is a partial perspective view showing a chamber unit according to an embodiment of the present invention. 7 is a cross-sectional view illustrating a cross-section XZ in FIG. 6. 8 is a cross-sectional view showing the XY section of FIG. 6. 9 is a view showing an operating state of the soft robot apparatus according to an embodiment of the present invention.

1 to 8, the soft gripper unit 200 according to an embodiment of the present invention includes a first body portion 210, a second body portion 220, a shape support portion 230, and a connection portion 240 It may include.

1 to 8, the first body part 210 according to an embodiment of the present invention is formed of an extensible material and is formed in a hollow shape. The first body portion 210 is connected to the connection portion 240 to be described later, and may receive hydraulic pressure through a flow path formed inside the connection portion 240.

When the first body portion 210 receives hydraulic pressure from the outside through the connection portion 240, the pressure inside the first body portion 210 may increase and expand. When the pneumatic pressure is removed from the first body portion 210 through the connection portion 240, the pressure inside the first body portion 210 is reduced and contracted, and the normal pressure may be restored.

A hole portion (not shown) may be formed at one end of the first body portion 210 so that the connection portion 240 communicates with it. Specifically, a pneumatic hose to allow inflow of pneumatic pressure to the inside of the first body portion 210 may be connected. Due to the hole formed in the first body portion 210, air from the outside may flow into the first body portion 210 or flow out of the first body portion 210 through a flow path formed inside the connection portion 240. have.

The first body part 210 may include a first body body 211. The first body 211 is connected to the connection part 240 and may be formed to extend in one direction (left to right in FIG. 3). The inside of the first body body 211 is also hollow.

The first body 211 is elastic, and may be formed of a material that can be stretched. Due to this, the volume may be increased due to expansion by receiving the pneumatic pressure from the outside, or the volume may be reduced by removing the pneumatic pressure. The first body 211 may be formed of a material such as polymer, rubber, or silicon.

3, 4A, and 4B, a shape support 230 may be coupled to the first body 210 of the present invention. Specifically, the shape supporting part 230 may be installed inside the first body part 210. The shape supporting part 230 may be specifically coupled to the inner bottom surface of the first body part 210 (see FIG. 3 ), and may be formed of a non-stretching material such as a plastic film, paper, or cloth.

Due to this, the first body portion 210 to which the shape supporting portion 230 is coupled, specifically, the lower side (refer to FIG. 3) of the first body body 211 is expanded by receiving the hydraulic pressure from the outside and is expanded by the shape supporting portion 230. The shape is maintained, and the bending stress is applied to the first body portion 210 as it expands by receiving the hydraulic pressure from the outside on the upper side (refer to FIG. 3) of the first body 211 where the chamber portion 213 to be described later is formed. Let this happen.

2 to 8, a chamber part 213 may be formed in the first body 211 according to an embodiment of the present invention. The chamber portion 213 is formed to protrude toward one side (upper reference to FIG. 3) from the first body 211.

A plurality of chamber parts 213 may be provided, and the plurality of chamber parts 213 may be spaced apart from each other at predetermined intervals. A second body part 220 to be described later may be installed between the plurality of chamber parts 213 facing each other at a predetermined interval.

Referring to FIG. 3, in the chamber part 213 according to embodiments of the present invention, the outer circumferential surfaces 214a, 214b, and 215c formed on both sides of the center part of the chamber part 213 have second body parts 220. It is disposed in contact with. The chamber portion 213 is made of a material such as silicone, rubber, which has a low elastic modulus and has the highest elongation, compared to the connecting portion 240 so that it can be swollen when the pneumatic pressure flows into the first body portion 210 through the connecting portion 240 and expands. It can be formed of.

3, 4A, 4B, 5A, 5B, and 5C, the chamber part 213 according to embodiments of the present invention has a longitudinal axis symmetrical shape of the chamber part 213 based on the center part It can be formed as.

In the present specification, the longitudinal axis C of the chamber part 213 (Z axis in reference to FIG. 5A) is the first body part 210 based on FIG. 4A, specifically, the longitudinal direction of the first body 211 (FIG. 5a refers to the axis orthogonal to X axis).

The chamber portion 213 according to an embodiment of the present invention may be formed of a material having a higher elongation than the connecting portion 240 and the second body portion 220. Due to this, when the pneumatic pressure is provided from the outside through the connecting portion 240 to the hollow chamber portion 213, the chamber portion 213 expands, the volume increases, and the chamber portion 213 facing the second body portion 220 increases. Each side can be stretched outward.

Referring to Figure 5a, the chamber portion 213 according to an embodiment of the present invention is formed symmetrically in the longitudinal axis (C) of the chamber portion 213 relative to the central portion, the chamber portion 213 relative to the central portion Both outer peripheral surfaces 214a of may be formed in a concave shape. At this time, the chamber portion 213 is defined as a concave shape.

5B, the chamber part 213 according to another embodiment of the present invention is formed symmetrically in the longitudinal axis C of the chamber part 213 with respect to the center part, and the chamber part 213 with respect to the center part Both outer peripheral surfaces 214b of may be formed in a concave shape. At this time, the chamber portion 213 is defined as a convex shape.

5C, the chamber part 213 according to another embodiment of the present invention has a distance between both outer circumferential surfaces 215c in a symmetrical shape in the longitudinal axis C of the chamber part 213 based on the center part. It may be formed to be constant (Plain) along the longitudinal direction of the portion 213. At this time, the chamber portion 213 is defined as a plane.

5A to 5C, the shapes of both outer circumferential surfaces 214a, 214b, and 215c based on the central portion of the chamber portion 213 according to embodiments of the present invention may be formed in a concave, convex, or plain shape have.

5A to 5C, elongation according to the shape of both outer circumferential surfaces 214a, 214b, and 215c of the chamber portion 213 according to embodiments of the present invention, specifically strain energy under the same pore pressure. May be formed differently, and the magnitude of the strain energy is increased in the order of concave 214a, plain 215c, and convex 214b.

This means that the first body portion 210 receives the hydraulic pressure from the outside through the connecting portion 240 and the chamber portion 213 has the highest elongation in the concave shape when it expands, and the bendability of the soft gripper unit 200 is high. Can be improved.

5A to 5C, as the shapes of both outer circumferential surfaces 214a, 214b, and 215c are formed in a concave, convex, or plain shape based on the central portion of the chamber portion 213 according to embodiments of the present invention, The shapes of the outer circumferential surfaces 221 of the second body portion 220 which are disposed to be in contact with each other of the outer circumferential surfaces 214a, 214b, and 215c of the chamber portion 213 are circumferential surfaces 214a, 214b of the chamber portion 213, 215c).

Specifically, when both outer circumferential surfaces 214a of the chamber portion 213 are concave, both outer circumferential surfaces 221 of the second body portion 220 are convex and second when both outer circumferential surfaces 214b of the chamber portion 213 are convex Both outer circumferential surfaces 221 of the body portion 220 are concave, and when both outer circumferential surfaces 215c of the chamber portion 213 are plain, both outer circumferential surfaces 221 of the second body portion 220 may be formed in a plane shape. have.

However, the present invention is not limited thereto, and various modifications such as both outer peripheral surfaces 221 of the second body portion 220 are formed in a convex shape, even when both outer peripheral surfaces 214a of the chamber portion 213 are convex.

Referring to FIG. 7, the chamber portion 213 according to an embodiment of the present invention may be formed to have a predetermined radius of curvature at one end of the protruding direction side (upper reference to FIG. 7 ).

Referring to FIGS. 6 and 7, the longitudinal axis of the first body portion 210 is taken as the X axis, and the protruding axis of the chamber portion 213 is taken as the Z axis, and the chamber portion 213 is cross-sectioned in XZ section. As a result, the contact surface area with the second body portion 220 disposed between the plurality of chamber portions 213 facing each other may be increased due to the one end portion of the chamber portion 213 being rounded.

In addition, due to the increased contact surface area between the plurality of chamber parts 213 and the second body part 220, the force transmission between the first body part 210 and the second body part 220 may be improved. Can.

In addition, because the one end portion of the protruding direction side of the chamber portion 213 is rounded, the bendability, that is, the bending moment is increased, and the gripping force is increased compared to the chamber portion 213 that is not rounded. There is an effect to be improved.

Referring to FIG. 8, the chamber portion 213 according to an embodiment of the present invention has a predetermined curvature at each corner portion 215 of the chamber portion 213 when cross-sectioned to be perpendicular to the longitudinal axis of the chamber portion 213 It has a radius and can be rounded.

Specifically, the longitudinal axis of the chamber portion 213 is a Z-axis (see FIG. 8 ), and the chamber portion 213 may be cross-sectioned in an XY cross-section to be perpendicular to the Z-axis. At this time, each corner portion 215 of the chamber portion 213 may be formed to be round.

Referring to FIG. 8, the longitudinal axis of the first body portion 210 is an X-axis, the protruding axis of the chamber portion 213 is a Z-axis, and the chamber portion 213 is cross-sectioned in an XY section. Each corner portion 215 of the chamber portion 213 may be formed to be round. Referring to FIG. 8, the outer circumferential surface of the second body portion 220 facing each corner portion 215 of the chamber portion 213 corresponds to the shape of each corner portion 215 of the chamber portion 213 and is curved. Can be formed.

Referring to FIGS. 6 and 8, the contact surface area with the second body portion 220 disposed between the plurality of opposing chamber portions 213 due to the formation of rounded corners 215 of the chamber portion 213 This can be increased.

In addition, due to the increased contact surface area between the plurality of chamber parts 213 and the second body part 220, the force transmission between the first body part 210 and the second body part 220 may be improved. Can.

In addition, since the edge portion 215 is formed to be rounded when cross-sectioning the chamber portion 213 into an XY cross-section (refer to FIG. 8), the bendability, that is, the bending moment is increased, compared to the chamber portion 213 not being rounded. There is an effect of improving the gripping force.

1 to 4A, 4B, 7 and 8, the second body part 220 according to an embodiment of the present invention is coupled to the first body part 210 and includes a plurality of chambers. It may be disposed between the portion 213.

A hole portion may be formed in the first body portion 210 according to an embodiment of the present invention, and the second body portion 220 may be inserted and coupled to the hole portion formed in the first body portion 210.

The second body portion 220 according to an embodiment of the present invention may be formed of a material having a smaller elongation than the first body portion 210. Specifically, the second body portion 220 may be formed of a rigid body made of ABS plastic, aluminum, or the like, and receives a force from the outside, or the chamber portion 213 facing the second body portion 220 Due to the elongation of both outer circumferential surfaces 214a, 214b, and 215c, the shape of the chamber portion 213 is not changed even when the second body portion 220 is pushed.

A plurality of second body parts 220 may be provided to correspond to the plurality of chamber parts 213 and disposed between each chamber part 213 spaced apart from each other. The second body portion 220 may be formed to correspond to the shape of the first body portion 210, specifically, the outer circumferential surfaces 214a, 214b, and 215c of the chamber portion 213.

If both outer circumferential surfaces 214a of the chamber portion 213 are formed in a concave shape, as shown in FIG. 5A, the outer circumferential surface shape of the second body portion 220 facing it may be formed in a convex shape, and the chamber portion ( If both outer circumferential surfaces 214b of 213 are formed in a convex shape, the outer circumferential surfaces of the second body portion 220 facing this may be formed in a concave shape, and both outer circumferential surfaces 215c of the chamber portion 213 may be formed as shown in FIG. 5C. ) When the shape is formed in a plane shape, the shape of the outer circumferential surface of the second body portion 220 facing this may be formed in a plane shape in which the distance between the outer circumferential surfaces is constant along the longitudinal direction (the vertical direction in FIG. 3 ).

3, 4A, and 4B, the shape support part 230 according to an embodiment of the present invention is coupled to the first body part 210 and has a lower elongation rate than the first body part 210. It can be formed to have. Specifically, the shape support 230 may be formed of an inextensible material.

The first body portion 210 facing the upper side (see FIG. 4A) of the first body portion 210 in which the shape support portion 230 is formed inside the first body portion 210, specifically, the chamber portion 213 is formed. Due to being coupled to the lower inner circumferential surface of the first body portion 210 through which the fluid pressure is provided into the first body portion 210 through the connecting portion 240, the upper portion of the first body portion 210 where the chamber portion 213 is formed is elongated, Bend is generated by a predetermined angle θ in the clockwise direction (based on FIG. 4B) because elongation does not occur on the lower side of the first body portion 210 in which the shape supporting portion 230 is disposed.

3, 4A, and 4B, the shape support 230 according to an embodiment of the present invention may be formed in a plate shape. In the present invention, the shape support 230 is installed inside the first body portion 210, but is not limited thereto, and various modifications such as being coupled to the bottom portion of the first body portion 210 (see FIG. 3) from the outside. Implementation is possible.

1, 4A, and 4B, the connection part 240 according to an embodiment of the present invention is in communication with the first body part 210, and a flow path is formed therein to form the first body part 210 It can provide the pneumatic pressure received from the outside.

Although not shown in the drawing, the connecting portion 240 is connected to the pneumatic pressure providing unit provided at one end, and the other end opposite thereto is formed to communicate with the first body portion 210. The connection part 240 is inserted through a hole (not set in the drawing) formed in the first body part 210, and provides a hydraulic pressure to the first body part 210 through a flow path, thereby providing the first body part 210. Can inflate.

The operation principle and effect of the soft gripper unit according to the embodiments of the present invention are described above.

1 to 8, the soft gripper unit 200 according to embodiments of the present invention includes a first body part 210, a second body part 220, a shape support part 230, and a connection part 240. It may include.

When the pneumatic pressure is transmitted to the first body portion 210 through the connection portion 240, the volume of the first body portion 210 formed of a stretchable material increases and the volume expands.

Referring to FIG. 3, a part indicated by a dotted line shows a state in which the soft gripper unit 200 according to embodiments of the present invention is in a fixed position, and a part indicated by a solid line indicates the soft gripper unit 200. It shows a state in which the first body portion 210 expands and is bent by providing hydraulic pressure.

Since the shape support portion 230 coupled to the first body portion 210 is coupled to the lower side of the first body portion 210 (based on FIG. 4A) and is formed of a non-stretch material, the shape of the first body portion 210 The shape of the lower side is maintained, and the upper side of the first body portion 210 on which the chamber portion 213 is formed is extended along the longitudinal direction of the first body portion 210 (X axis in FIG. 4A ).

As the chamber part 213 according to the embodiments of the present invention receives the pneumatic pressure, the volume expands, and extends along the longitudinal direction of the first body part 210 (X-axis referenced in FIG. 4A ), and the second body. The wealth 220 is pushed.

As the chamber portion 213 is stretched, the second body portion 220 disposed between the plurality of chamber portions 213 is pushed, and the second body portion 220 is made of a material having a lower elongation than the first body portion 210. It is formed, shape deformation does not occur, it is possible to transfer the force from one chamber portion 213 to the other chamber portion 213.

The softer material, that is, a material having a higher elongation rate, has different condensation energy formed under the same pore pressure during force transmission, thereby reducing force transmission. Referring to FIGS. 4A and 4B, the soft material is not 1 body portion 210, specifically, the chamber portion 213 and the second body portion 220, which is a rigid body, are formed of different materials, so that different chambers of the same soft material are elongated and in contact with each other. It has the effect of improving the transmission power.

Specifically, the higher the elongation rate, the more condensation energy is formed under the same pore pressure during force transmission, so that force transmission decreases, and the first body portion 210 and

5A, 5B, and 5C, in the chamber part 213 for embodiments of the present invention, both outer peripheral surfaces 214a, 214b may be formed in a concave shape or a convex shape based on the central portion C. The distance between both outer circumferential surfaces 215c may be formed in a constant plane shape.

In this specification, in FIGS. 1 to 3 and 9, both outer circumferential surfaces of the chamber portion 213 are formed in a concave shape 214a, but are not limited thereto, and may be formed in a convex shape 214b and a plane shape 214c. Of course it can.

4A, 4B, 7 and 8 in this specification, both outer circumferential surfaces of the chamber portion 213 are formed in the shape of a plane shape 214c, but are not limited thereto, and the convex shape 214b, the concave shape ( Of course, it may be formed of 214a).

Due to this, it is possible to satisfy the degree of bending required in the design of the soft gripper unit 200. In particular, when both outer circumferential surfaces 214a of the chamber portion 213 are formed in a concave shape, as shown in FIG. 5A, convex shape, plane shape Compared to the elongation rate is formed the highest, in the clockwise direction (based on Figure 4b) has the effect of bending at the largest angle.

Referring to FIG. 7, one end portion of the chamber portion 213 in the protruding direction (Z-axis direction in FIG. 7) according to embodiments of the present invention has a predetermined radius of curvature and is formed to be round, compared to that formed in a square shape. There is an effect that the gripping force can be improved by increasing the contact surface area with the second body portion 220 and increasing the bending moment.

Referring to FIG. 8, the edge portion 215 of the chamber portion 213 has a predetermined radius of curvature and is rounded when the chamber portion 213 according to embodiments of the present invention is cross-sectioned with an XY cross-section (based on FIG. 8 ). Compared to the fact that the edge portion 215 of the chamber portion 213 is formed in a square shape due to being formed, the contact surface area with the second body portion 220 is increased, and the gripping force can be improved due to an increase in the bending moment. have.

1 and 2, the nail portion 250 of the present invention is coupled to the first body portion 210, and may be specifically coupled to the first body body 211. The nail part 250 may be formed of a material having a lower elongation rate than the first body part 210, and is located at the end of the first body part 210, and can secure the rigidity of the soft gripper unit 200. , The first body portion 210, specifically, the first body body 211 has an effect that can be prevented from being damaged by the object (5).

Hereinafter, the configuration, operating principle, and effects of the soft robot apparatus 1 according to an embodiment of the present invention will be described.

1 and 9, the soft robot apparatus according to an embodiment of the present invention may include a base unit 100 and a soft gripper unit 200.

Referring to Figure 1, the base portion 100 according to an embodiment of the present invention is a soft gripper unit 200 is installed, it can be coupled to a separate member, such as a robot arm capable of rotation, movement.

1 and 9, the soft gripper unit 200 according to an exemplary embodiment of the present invention is formed of an extensible material and is formed of a hollow material. The first body part 210 and the second body part ( 220), a shape support unit 230, a connection unit 240 may be included.

A plurality of soft gripper units 200 according to an embodiment of the present invention are provided, and each soft gripper unit 200 may be conformally disposed based on the center of the base unit 100.

1 and 9, three soft gripper units 200 are disposed outside the center of the base part 100 in the soft robot apparatus 1 according to an embodiment of the present invention, but are not limited thereto. It is not that, it is possible to perform a variety of modifications, such as formed of two, four or more.

Due to this, the plurality of soft gripper units 200 are provided with hydraulic pressure from the outside and are bent toward the center side of the base unit 100, so that the object 5 can be stably gripped.

Referring to FIG. 1, each connection part 240 of the plurality of soft gripper units 200 may be coupled to receive hydraulic pressure from the outside through a single flow path.

The soft gripper unit 200 according to an embodiment of the present invention has the same configuration, operation principle, and effect as the soft gripper unit 200 described with reference to FIGS. 2 to 8, and thus detailed description thereof will be omitted.

The specific implementations described in the present invention are exemplary embodiments, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings are illustrative examples of functional connections and/or physical or circuit connections, and in the actual device, alternative or additional various functional connections, physical It can be represented as a connection, or circuit connections. In addition, unless specifically mentioned, such as "essential", "important", etc., it may not be a necessary component for the application of the present invention.

Accordingly, the spirit of the present invention is not limited to the above-described embodiments, and should not be determined, and the scope of the spirit of the present invention as well as the claims to be described later, as well as all ranges that are equivalent to or equivalently changed from the claims Would belong to

1: soft robot apparatus 5: object
100: base 200: soft gripper unit
210: first body part 211: first body body
213: chamber portion 214a, 214b, 214c: both outer peripheral surfaces of the chamber portion
215: corner portion of the chamber portion 220: second body portion
221: both outer peripheral surfaces of the second body portion 230: shape support
240: connecting portion 250: nail portion

Claims (13)

A first body portion formed of an extensible material, formed of a hollow, and having a plurality of chamber portions spaced apart at predetermined intervals;
A second body part coupled to the first body part and disposed between the plurality of chamber parts;
A shape support part coupled to the first body part; And
Includes; a communication unit communicating with the first body portion, a flow path formed therein to provide a hydraulic pressure to the first body portion;
The first body portion and the second body portion are formed of different materials,
The chamber portion is formed in the longitudinal axis symmetrical shape of the chamber portion with respect to the central portion,
When the cross-section is orthogonal to the longitudinal axis of the chamber portion, each corner portion of the chamber portion facing the second body portion has a predetermined radius of curvature and is rounded,
The outer circumferential surface of the second body portion facing each corner portion of the chamber portion corresponds to the shape of the corner portion and is formed in a curved surface, a soft gripper unit. According to claim 1,
The second body portion is formed of a material having a lower elongation than the first body portion, the soft gripper unit. According to claim 1,
The second body portion is disposed to be contactable between the plurality of first body portions, the soft gripper unit. According to claim 1,
The shape support portion is installed inside the first body portion, a soft gripper unit. According to claim 4,
The shape support part is coupled to an inner circumferential surface of the first body part facing the plurality of chamber parts, a soft gripper unit. delete According to claim 1,
The chamber portion is a soft gripper unit, both sides are formed in a concave shape with respect to the central portion. According to claim 1,
The chamber portion is formed on both sides of the convex shape with respect to the central portion, the soft gripper unit. According to claim 1,
The chamber portion is a soft gripper unit, the distance between both outer circumferential surfaces relative to the central portion is formed constant along the longitudinal direction of the chamber portion. According to claim 1,
The soft gripper unit, wherein the one end portion in the protruding direction of the chamber portion has a radius of curvature and is rounded. delete According to claim 1,
The shape support portion is formed of a material having a lower elongation than the first body portion, the soft gripper unit. Base portion; And
Includes; a plurality of soft gripper units disposed on the outside and coupled with respect to the center of the base portion,
The soft gripper unit includes a first body portion formed of an extensible material, formed of a hollow, and a plurality of chamber portions protrudingly spaced at predetermined intervals; A second body part coupled to the first body part and disposed between the plurality of chamber parts; A shape support part coupled to the first body part; Includes; a communication unit communicating with the first body portion, a flow path formed therein to provide a hydraulic pressure to the first body portion;
The chamber portion is formed in the longitudinal axis symmetrical shape of the chamber portion with respect to the central portion,
When the cross-section is orthogonal to the longitudinal axis of the chamber portion, each corner portion of the chamber portion facing the second body portion has a predetermined radius of curvature and is rounded,
The outer peripheral surface of the second body part facing each corner part of the chamber part corresponds to the shape of the corner part, and is formed in a curved surface.

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