KR102180092B1 - Shape compliant module and gripper comprising the same - Google Patents

Abstract

The present invention relates to a patterned shape adaptation module and a gripper having the same. According to one embodiment of the present invention, the patterned shape adaptation module comprises: a magnetorheological elastic body of which rigidity can be variably controlled; and a driving unit controlling a magnetic field applied to the magnetorheological elastic body. The magnetorheological elastic body is formed by addition of magnetic particles to a base polymer, and the magnetic particles are arranged in a plurality of areas which are spaced from each other in the base polymer.

Description

Patterned conformation module and gripper including the same {SHAPE COMPLIANT MODULE AND GRIPPER COMPRISING THE SAME}

The present invention relates to a patterned shape adaptation module and a gripper including the same, and in more detail, a patterned shape adaptation module for picking irregular objects having various shapes, sizes, and materials by variably controlling stiffness, and It relates to a gripper containing.

Robots are widely used in industrial manufacturing sites to perform various tasks such as welding, assembly, and painting. In addition, robots are gradually expanding their application areas across all industries and service fields, including a personal service area providing various services around human life, and a specialized service area providing specialized services such as medical care.

In particular, in recent years, according to the rapid growth of the logistics market, it has become very important to increase the processing speed through logistics automation, and in response to this demand, the development of picking robots for picking up cargo, transfer robots for transporting cargo, etc. have.

Among them, in the picking robot, a gripper capable of picking atypical objects, that is, objects having various shapes, sizes, and materials, is essential to realize logistics automation.

The gripper includes a mechanical gripper capable of mechanically picking up an object by having a plurality of fingers driven hydraulically or pneumatically, and a vacuum gripper capable of picking up an object by generating a vacuum on a bonding surface of the object. In addition, there is also known an electric adhesive gripper in which an object is adhered using an electrostatic force generated when an electric current flows through a conductor.

However, in the conventional gripper, since the part in contact with the object could not be flexibly deformed in correspondence with the shape of various objects, a sufficient contact area between the gripper and the object was not guaranteed, and it was difficult for the gripper to safely pick the object. In addition, in the conventional gripper, a portion in contact with an object is formed with high rigidity, and there is a problem that damage to the object occurs when the gripper picks an object having a lower rigidity.

As such, there is still a need to develop a gripper capable of picking atypical objects.

U.S. Patent Application Publication No. 2016/0318190 (2016.11.03)

The present invention is to solve the problems of the prior art described above, while overcoming the limitations of the existing gripper, to provide a shape adaptation module capable of picking up an atypical object with a simple structure and an easy mechanism, and a gripper including the same. There is this.

In addition, an object of the present invention is to provide a shape adaptation module capable of stably picking up an object by remarkably lowering the initial stiffness of the shape adaptation portion contacting the object in the gripper, thereby increasing the stiffness variation width, and a gripper including the same.

In addition, another object of the present invention is to provide a shape adaptation module capable of quickly picking up or placing an object by speeding a change in stiffness of the shape adapting portion according to the strength of an applied magnetic field, and a gripper including the same.

The patterned shape adaptation module according to an embodiment of the present invention is a shape adaptation module of a gripper for picking an atypical object, and controls a magnetic field applied to a magnetorheological elastic body and a magnetorheological elastic body whose stiffness can be variably controlled. It includes a driving part. Here, the magnetorheological elastic body is formed by adding magnetic particles to the base polymer, and the magnetic particles are disposed in a plurality of regions spaced apart from each other in the base polymer.

According to an embodiment of the present invention, a plurality of regions in which magnetic particles are disposed may be formed in a strip shape or a round shape.

According to an embodiment of the present invention, the magnetic particles included in the magnetorheological elastic body may include at least two types of particles having a size of each other.

According to an embodiment of the present invention, the magnetic particles included in the magnetorheological elastic body may include at least two types of particles having different magnetic permeability.

According to an embodiment of the present invention, when the driving part includes a driving magnet part, and the driving magnet part is spaced apart from the magnetorheological elastic body, the magnetorheological elastic body is low. The shape may change according to the shape of an external object due to its rigidity, and when the driving magnet portion is located adjacent to the magnetorheological elastic body, the rigidity of the magnetorheological elastic body increases and the shape can be maintained.

According to an embodiment of the present invention, the driving unit may further include an electromagnet, and a distance between the driving magnet unit and the magnetorheological elastic body may be controlled by using a magnetic force generated when a current flows through the electromagnet. In addition, the driving unit further includes a spring connected to the driving magnet, and when the driving magnet moves to a state located adjacent to the magnetoresistive elastic body and returns to its original position, the return speed of the driving magnet unit is increased by the elasticity of the spring. It can be improved.

In the patterned shape adaptation module according to another embodiment of the present invention, the stiffness can be variably controlled and a plurality of magnetorheological elastic bodies are disposed apart from each other, and a plurality of magnetorheological elastic bodies are disposed above and below the plurality of magnetorheological elastic bodies. And a seat portion for connecting the rheological elastic body and a driving portion for controlling a magnetic field applied to the plurality of magneto-rheological elastic bodies. Here, the plurality of magnetorheological elastic bodies are formed by adding magnetic particles to the base polymer.

According to another embodiment of the present invention, the sheet portion may be formed of a material having lower rigidity than that of a plurality of magnetorheological elastic bodies.

According to another embodiment of the present invention, magnetic particles included in the plurality of magnetorheological elastic bodies may include at least two types of particles having different sizes.

According to another embodiment of the present invention, the magnetic particles included in the plurality of magnetorheological elastic bodies may include at least two types of particles having different magnetic permeability.

According to another embodiment of the present invention, the driving unit includes a driving magnet unit, and when the driving magnet unit is spaced apart from a plurality of magnetorheological elastic bodies, the plurality of magnetorheological elastic bodies have low rigidity, so that the shape may change according to the shape of an external object. In addition, when the driving magnet portion is positioned adjacent to the plurality of magnetorheological elastic bodies, the stiffness of the plurality of magnetorheological elastic bodies is increased and the shape may be maintained.

According to another embodiment of the present invention, the driving unit may further include an electromagnet, and a distance between the driving magnet unit and the plurality of magnetorheological elastic bodies may be controlled by using magnetic force generated when a current flows through the electromagnet. In addition, the driving unit further includes a spring connected to the driving magnet unit, and when the driving magnet unit moves to a state located adjacent to the plurality of magnetorheological elastic bodies and then returns to its original position, the driving magnet unit is returned by the elasticity of the spring. Speed can be improved.

A gripper according to an embodiment of the present invention is a gripper for picking an atypical object, and includes the above-described patterned shape adaptation module and a body connected to the arm of the picking robot, and the patterned shape adaptation module is on the body. Can be placed.

The gripper according to an embodiment of the present invention may further include an electrical bonding module disposed on the patterned shape adaptation module, and the electrical bonding module includes an insulator and a conductor disposed on the insulator, It can adhere to external objects by the electrostatic force generated when voltage is applied.

According to an embodiment of the present invention, the conductor includes a plurality of regions in which magnetic particles are disposed in the magnetorheological elastic body of the patterned shape adaptation module in a state in which the electrical adhesive module is disposed on the patterned shape adaptation module. It can be arranged so as not to overlap.

The patterned shape adaptation module and the gripper including the same according to an embodiment of the present invention can variably control the rigidity of the shape adaptation module with a simple structure and an easy mechanism to pick up irregular objects having various shapes, sizes, and materials. .

In addition, according to an embodiment of the present invention, since the stiffness change width between the initial and final stiffness of the shape adaptation module is wide, when contacting an object, it has low initial stiffness and can be more flexibly deformed in the shape of the object. When gripping, it has sufficient rigidity and can stably grip the object.

Further, the rigidity of the patterned shape adaptation module according to an embodiment of the present invention increases or decreases rapidly according to the strength of the applied magnetic field, so that an object can be picked up or placed more quickly.

1 is a view showing a gripper according to an embodiment of the present invention.
2 is a perspective view of a shape adaptation module according to an embodiment of the present invention.
3 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to an embodiment of the present invention.
4 is a graph showing a state in which the stiffness of the magnetorheological elastic body of the shape adaptation module according to an embodiment of the present invention changes according to the strength of an applied magnetic field.
5 is a view showing a mold for manufacturing a magnetorheological elastic body of a shape adaptation module according to an embodiment of the present invention.
6 is a view showing a process of manufacturing a magnetorheological elastic body of a shape adaptation module according to an embodiment of the present invention.
7 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to a modified example of an embodiment of the present invention.
8 is a cross-sectional view of a driving part of a shape adaptation module according to an embodiment of the present invention.
9 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to another embodiment of the present invention.
10 is a perspective view of a shape adaptation module and an electrical adhesive module disposed on the shape adaptation module according to an embodiment of the present invention.
11 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module and an electrical bonding module disposed on the shape adaptation module according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail enough to be easily implemented by those of ordinary skill in the art to which the present invention pertains.

In order to clearly describe the present invention, descriptions of parts not related to the present invention have been omitted, and the same reference numerals will be assigned to the same components throughout the specification.

In the present specification, the fact that one component is "on" another component includes not only the case where one component is located "directly above" the other component, as well as the case where another component exists between them. In addition, the connection between two components is used to include not only direct contact with each other, but also connecting to each other through other components.

In addition, the size, thickness, position, etc. of each component shown in the drawings are arbitrarily shown for convenience of description, and the present invention is not necessarily limited to the illustrated bar. That is, specific shapes, structures, and characteristics described in the specification may be changed and implemented from one embodiment to another without departing from the spirit and scope of the present invention, and the position or arrangement of individual components is also the spirit of the present invention. And it is to be understood that it may be changed without departing from the scope.

Therefore, the detailed description to be described below is not made in a limiting sense, and the scope of the present invention should be taken as encompassing the scope claimed by the claims of the claims and all scopes equivalent thereto.

1 is a view showing a gripper according to an embodiment of the present invention.

Referring to FIG. 1, the gripper 100 according to an embodiment of the present invention is used to pick and transport an object as an end effector of a picking robot, and the body 110, the finger part 120, and the shape adaptation module 130 ).

The body 110 is connected to the end of the picking robot to perform translational or rotational motion under the control of the picking robot, and may be formed of a material having sufficient rigidity.

The finger portion 120 is mounted on the body 110, and the shape adaptation module 130 is mounted on the finger portion 120 to lift or lower an object in contact. In the present embodiment, although the finger part 120 is shown to include two fingers, the number of fingers is not limited thereto.

The shape adaptation module 130 is a member that can be deformed in conformity with the shape of the object when it comes into contact with an object to be picked, and the shape adaptation module 130 is configured to enable rigidity control so that when contacting the object It has low rigidity, and the shape is deformed according to the shape of the object, and after the shape is deformed, the rigidity is increased and the deformed shape can be maintained. Accordingly, the gripper 100 according to an embodiment of the present invention can safely grip an object through the shape adaptation module 130 and transport it to a designated place.

Hereinafter, the shape adaptation module 130 according to an embodiment of the present invention will be described in more detail with reference to the drawings.

2 is a perspective view of a shape adaptation module according to an embodiment of the present invention. Referring to FIG. 2, the shape adaptation module 130 according to an embodiment of the present invention includes a magnetorheological elastic body 131 and a driving part 133. Include.

The magneto-rheological elastomer 131 (MRE, Magneto-rheological Elastomer) of the shape adaptation module 130 according to an embodiment of the present invention is formed at the end of the shape adaptation module 130, that is, a portion in contact with an object. The magnetorheological elastic body 131 is formed by adding magnetic particles to a base polymer such as silicon, and has a property of increasing stiffness as the magnetic particles are arranged with orientation when a magnetic field is applied. That is, the magnetorheological elastic body 131 has low rigidity when a magnetic field is not applied, and is deformed according to the shape of the object when it comes into contact with an object, and when the magnetic field is applied, the rigidity increases and the shape is maintained.

The shape adaptation module 130 according to an embodiment of the present invention may cover the outer shape of an atypical object and safely grip it by using the characteristics of the magnetorheological elastic body 131.

On the other hand, the stiffness of the magnetorheological elastic body 131 in a state in which a magnetic field is not applied (hereinafter, referred to as'initial stiffness') is the contact area with the object when the shape adaptation module 130 is in contact with the object and is deformed. It is desirable to set it as low as possible in order to maximize it. At the same time, it is preferable that the stiffness of the magnetorheological elastic body 131 in a state in which a magnetic field is applied (hereinafter, referred to as “end stiffness”) is designed to be greater than or equal to a predetermined stiffness in order to stably grip the object. However, since the magnetorheological elastic body 131 basically includes magnetic particles such as iron powder, the initial stiffness of the magnetorheological elastic body 131 is relatively higher than that of an elastic body made of only a base polymer such as silicon.

Accordingly, in an embodiment of the present invention, a method for lowering the initial stiffness of the magnetorheological elastic body 131 has been devised so that the magnetorheological elastic body 131 can be sufficiently deformed according to the shape of the object.

3 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to an embodiment of the present invention. Referring to FIG. 3, magnetic particles in the magnetorheological elastic body 131 are a plurality of magnetic particles spaced apart from each other in the base polymer 131b. It is disposed in the area 131a. Specifically, the plurality of regions 131a in the magnetorheological elastic body 131 are formed in the form of a strip arranged at regular intervals apart from each other in the base polymer 131b, and the magnetic particles are formed in a plurality of regions in the form of a strip ( 131a) to form a magnetic particle group. That is, in the magnetorheological elastic body 131, magnetic particles are disposed in a plurality of patterned regions 131a.

As described above, according to the present embodiment, since magnetic particles are arranged in only a partial region in the magnetorheological elastic body 131, the magnetorheological elastic body 131 has relatively low initial stiffness compared to the case where the magnetic particles are arranged entirely. do.

Meanwhile, in the present embodiment, the magnetic particles included in the magnetorheological elastic body 131 may include at least two types of particles having different sizes. Through this, when a magnetic field is applied, magnetic particles having a small size are arranged between the magnetic particles having a large size, thereby increasing final stiffness.

In addition, in the present embodiment, the magnetic particles included in the magnetorheological elastic body 131 may include at least two types of particles having different magnetic permeability, for example, ferromagnetic particles and soft magnetic particles. Through this, even when a relatively weak magnetic field is applied, the stiffness starts to increase due to the arrangement of the soft magnetic particles, and when a relatively large magnetic field is applied, the ferromagnetic particles are also arranged to increase the final stiffness. In other words, while increasing the final stiffness, the response to the stiffness change can be accelerated.

4 is a graph showing a state in which the stiffness of the magnetorheological elastic body of the shape adaptation module according to an embodiment of the present invention changes according to the strength of an applied magnetic field. In FIG. 4, the X axis represents the strength (B) of the magnetic field applied to the magnetorheological elastic body, and the Y axis represents the stiffness (S) of the magnetorheological elastic body. And the dotted line in FIG. 4 represents the change in stiffness according to the strength of the magnetic field of a comparative example, that is, a magnetorheological elastic body in which magnetic particles are uniformly arranged in a base polymer, and a solid line is a magnetorheological elastic body according to an embodiment of the present invention. It represents the change in stiffness according to the strength of the magnetic field of

4, the initial stiffness (S _i2 ) of the magnetorheological elastic body according to an embodiment of the present invention is disposed in a plurality of regions 131a in which magnetic particles are patterned, so that the initial stiffness of the magnetorheological elastic body according to the comparative example It is lower than (S _i1 ). Accordingly, when the magnetorheological elastic body is in contact with an object, the magnetorheological elastic body according to an embodiment of the present invention flexibly deforms to the external shape of the object compared to the magnetorheological elastic body according to the comparative example so that the contact is made over a wider area. do.

In addition, in the case of the magnetorheological elastic body according to an embodiment of the present invention, the stiffness rapidly changes according to the strength of the magnetic field compared to the magnetorheological elastic body according to the comparative example.

As described above, the shape adaptation module according to the embodiment not only has a wide stiffness variation width to more stably grip the object, but also because the stiffness rapidly changes according to the strength of the applied magnetic field, the speed at which the object is picked up and placed is increased quickly and efficiently. It becomes possible to plan the picking operation.

Meanwhile, in FIG. 4, it is shown that the end sensitivity of the magnetorheological elastic body according to the embodiment of the present invention and the magnetorheological elastic body according to the comparative example are the same, but in this embodiment, at least two types of different sizes and/or magnetic permeability It is as described above that the final stiffness can be increased by using magnetic particles.

FIG. 5 is a view showing a mold for manufacturing a magnetorheological elastic body of a shape adaptation module according to an embodiment of the present invention, and FIG. 6 is a process of manufacturing a magnetoresistive elastic body of a shape adaptation module according to an embodiment of the present invention. With reference to these drawings, a method of manufacturing a magnetoresistive elastic body in which magnetic particles are disposed in a plurality of patterned regions will be described.

First, referring to FIG. 5, a mold 200 for manufacturing the magnetorheological elastic body 131 of the shape adaptation module 130 according to the present embodiment includes an upper mold 210 and a lower mold 220. In the upper mold 210 and the lower mold 220, a plurality of bar magnets 211 and 221 are arranged at regular intervals, respectively, so that they face each other while the upper mold 210 and the lower mold 220 are fastened. Is placed.

Referring to FIG. 6, a mixture (M) obtained by adding magnetic particles to a base polymer is applied to the above-described lower mold 220, and the upper mold 210 is fastened to the lower mold 220 to cure the mixture (M). do. At this time, the bar magnets 211 and 221 of the upper mold 210 and the lower mold 220 are disposed to face each other, and magnetic particles are transferred to the bar magnet 211 due to the influence of the magnetic field generated by the bar magnets 211 and 221. , 221) are gathered in the arranged area. Accordingly, when the curing of the mixture M is completed, as shown in FIG. 3, the magnetorheological elastic body 131 in which magnetic particles are disposed in a plurality of regions 131a having a strip pattern is formed.

Meanwhile, in addition to the strip shape, the pattern of the region in which the magnetic particles are disposed may be changed into various shapes capable of lowering the initial stiffness of the magnetorheological elastic body 131 and increasing the stiffness change rate.

7 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to a modified example of an embodiment of the present invention. As shown in FIG. 7, regions 131a ′ in which magnetic particles are disposed are rounds spaced apart from each other ( It can be formed in a round) shape. That is, according to the present modified example, the magnetic particles may be disposed in a plurality of cylindrical regions 131a' in the base polymer 131b' of the magnetorheological elastic body 131'. The magnetorheological elastic body 131 ′ of this type is also formed in the same manner as described with reference to FIGS. 4 and 5, but may be formed using an upper mold and a lower mold in which a plurality of round magnets are arranged.

The driving unit 133 of the shape adaptation module 130 according to an embodiment of the present invention controls whether a magnetic field is applied to the magnetorheological elastic body 131 and the strength of the applied magnetic field.

8 is a cross-sectional view of a driving unit of a shape adaptation module according to an exemplary embodiment of the present invention. Referring to FIG. 8, the driving unit 133 according to the present exemplary embodiment includes a housing 133a, a driving magnet unit 133b, and an electromagnet 133c. ) And a spring (133d).

The housing 133a is a portion forming the exterior of the driving unit 133 and may accommodate a driving magnet portion 133b, an electromagnet 133c, and a spring 133d therein.

The driving magnet part 133b is for controlling the stiffness of the magnetorheological elastic body 131 by applying a magnetic field, and is disposed in the central part of the housing 133a. The driving magnet part 133b may include at least one permanent magnet, and a neodymium magnet may be used as the permanent magnet. The size, arrangement, type, etc. of the permanent magnet are not limited to a specific embodiment, and when the driving magnet part 133b is positioned adjacent to the magnetorheological elastic body 131, sufficient rigidity can be imparted to the magnetorheological elastic body 131. It can be changed into various forms in which a magnetic field can be formed.

The electromagnet 133c serves to control the position of the driving magnet part 133b, and the electromagnet 133c is disposed opposite the magnetorheological elastic body 131 with respect to the driving magnet part 133b. The electromagnet 133c is a magnetic force formed when a voltage is applied to the solenoid coil, including a core and a solenoid coil winding the core, that is, a driving magnet including a permanent magnet by repulsive force or attraction generated between the permanent magnet. The position of the portion 133b, that is, the distance between the driving magnet portion 133b and the magnetorheological elastic body 131 is controlled.

The spring 133d causes the driving magnet part 133b to return to its original position by elasticity when the magnetic force is removed after the driving magnet part 133b is moved toward the magnetorheological elastic body 131 by the electromagnet 133c. As shown, one end and the other end of the spring 133d are fixedly connected to the driving magnet part 133b and the housing 133a on the side of the magnetoresistive elastic body 131, respectively. Accordingly, when the driving magnet part 133b moves toward the magnetorheological elastic body 131 by the electromagnet 133c, the spring 133d is compressed, and then the electromagnet 133c connects the driving magnet part 133b to the magnetorheological elastic body ( When the magnetic force pushing toward 131 is removed, the driving magnet part 133b is returned to its original position by the elastic restoring force of the spring 133d.

According to the configuration of the driving part 133 as described above, when moving the driving magnet part 133b to a position adjacent to the magnetorheological elastic body 131, a repulsive force acts between the electromagnet 133c and the driving magnet part 133b. Thus, a current flows in one direction through the solenoid coil of the electromagnet 133c. Conversely, in the case of returning the driving magnet part 133b to its original position, voltage is released to the electromagnet 133c so that the driving magnet part 133b returns to its original position by the elastic force of the spring 133d. When the driving magnet part 133b is returned to its original position, a current may flow through the solenoid coil of the electromagnet 133c so that attractive force acts between the electromagnet 133c and the driving magnet part 133b. In this case, the driving magnet part 133b can be restored at a higher speed compared to the case in which the driving magnet part 133b is returned only by the elasticity of the spring 133d, so that the speed at which the gripper picks up and releases the object It is possible to increase the speed of increasing the detachment speed.

9 is a plan view and a cross-sectional view of a magnetorheological elastic body of a shape adaptation module according to another embodiment of the present invention. The shape adaptation module according to the present embodiment differs from the above-described embodiment in the shape and structure of the magnetorheological elastic body, and the principle of operation of the shape adaptation module and the structure of the drive unit are the same. Therefore, in the following description, the description of the same configuration will be omitted.

Referring to FIG. 9, the shape adaptation part, which is a part of the shape adaptation module 230 in contact with an object, includes a plurality of magnetorheological elastic bodies 231 and a seat part 232. In this embodiment, the magnetorheological elastic body 231 may be formed by adding at least one type of magnetic particle to a base polymer and curing it in a rod shape. The sheet portion 232 includes an upper sheet 232a, which is a part in contact with an object, and a lower sheet 232b, which is a part connected to the driving part, and these may be made of a base polymer that does not contain magnetic particles.

According to another embodiment of the present invention, a plurality of magnetorheological elastic bodies 231 are disposed to be spaced apart from each other, and an empty space is formed between them. In addition, the upper sheet 232a and the lower sheet 232b of the seat portion 232 are connected to a plurality of magnetorheological elastic bodies 231 spaced apart from each other.

As described above, in the shape adaptation module 230 according to the present embodiment, an upper sheet 232a made of an elastic body having low rigidity is placed in a portion in contact with an object, and an empty space is formed between the plurality of magnetorheological elastic bodies 231. , The initial rigidity can be further lowered. Accordingly, the shape adaptation module according to the present embodiment can be more flexibly deformed when contacting an object, thereby increasing the contact area in conformity with the shape of the object, and increasing the stiffness change width according to the application of a magnetic field.

In addition to the shape adaptation module, the gripper according to an embodiment of the present invention may further include a configuration for stably gripping an object.

10 is a perspective view of a shape adaptation module and an electrical bonding module disposed on the shape adaptation module according to an embodiment of the present invention, and FIG. 11 is a perspective view of the shape adaptation module and the shape adaptation module according to an embodiment of the present invention. As a plan view and a cross-sectional view of an electrical bonding module, a structure in which an electrical bonding module is additionally disposed on a shape adaptation module according to an embodiment of the present invention will be described below with reference to these drawings. The electrical bonding module to be described later can be applied to all of the above-described embodiments and modifications.

10 and 11, the gripper according to an embodiment of the present invention may further include an electrical adhesion module 140 disposed on the shape adaptation module 130. The electrical adhesion module 140 disposed on the shape adaptation module 130 includes an insulator 141 and a conductor 142 disposed on the insulator 141, when a voltage is applied to the conductor 142 The object can be bonded by using the electrostatic force generated by inducing the opposite polarity to the external object. The insulator 141 of the electrical bonding module 140 may be made of a flexible and deformable material such as polyurethane, PDMS, and polyimide, and the conductor 142 is made of a conductive material such as metal, carbon, and conductive polymer. I can.

Accordingly, when the electrical bonding module 140 contacts the object to pick up the object with the gripper according to the present embodiment, the surface of the insulator 141 is in close contact with the surface of the external object due to the electrostatic force generated between the two, and the contact area is increased. As it becomes wider, electric adhesion and gripping power can be maximized.

The pattern of the conductor 142 of the electrical adhesion module 140 is not limited to that shown, and may be changed in various forms in which electrical adhesion with an object can be maximized.

However, in an embodiment of the present invention, in a state in which the electrical bonding module 140 is disposed on the shape adaptation module 130, the conductor 142 of the electrical bonding module 140 is formed of the magnetorheological elastic body 131. It is disposed so as not to overlap with the region 131a in which the magnetic particles are disposed. This is applied by the driving unit 133 of the shape adaptation module 130 by a magnetic field generated by the flow of current when a voltage is applied to the conductor 142 in order to impart electrical adhesion to the electrical adhesion module 140 This is to prevent the magnetic field from being canceled.

Although the present invention has been described by specific matters such as specific elements and limited embodiments, the above embodiments are provided only to aid in a more general understanding of the present invention, and the present invention is not limited thereto, and the present invention is Those of ordinary skill in the relevant technical field can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention is limited to the above-described embodiments and should not be determined, and all things modified equally or equivalently to the claims as well as the claims to be described later belong to the scope of the spirit of the present invention. something to do.

100: gripper
110: body
120: finger part
130, 230: conformation module
131, 231: magnetorheological elastomer
133: drive unit
140: electrical bonding module
232: seat portion

Claims (18)

As a shape adaptation module of the gripper for picking atypical objects,
Magnetorheological elastomer whose stiffness can be variably controlled, and
Including a driving unit for controlling a magnetic field applied to the magnetorheological elastic body,
The magnetorheological elastic body is formed by adding magnetic particles to a base polymer,
The magnetic particles are arranged in a plurality of regions spaced apart from each other in the base polymer to form a group of magnetic particles in each of the plurality of regions, a patterned shape adaptation module. The method of claim 1,
The plurality of regions in which the magnetic particles are disposed are each formed in a strip shape, a patterned shape adaptation module. The method of claim 1,
The plurality of regions in which the magnetic particles are disposed are each formed in a round shape, a patterned shape adaptation module. The method of claim 1,
The magnetic particles included in the magnetorheological elastic body include at least two types of particles having different sizes. The method of claim 1,
The magnetic particles included in the magnetorheological elastic body include at least two types of particles having different magnetic permeability. The method of claim 1,
The driving unit includes a driving magnet unit,
When the driving magnet part is spaced apart from the magnetorheological elastic body, the magnetorheological elastic body has low rigidity and may change its shape according to the shape of an external object, and when the driving magnet part is located adjacent to the magnetorheological elastic body, the magnetic A patterned conformation module in which the shape is maintained by increasing the rigidity of the rheological elastomer. The method of claim 6,
The driving unit further includes an electromagnet,
A patterned shape adaptation module that controls a gap between the driving magnet part and the magnetorheological elastic body by using a magnetic force generated when a current flows through the electromagnet. The method of claim 7,
The driving part further comprises a spring connected to the driving magnet part,
The patterned shape adaptation module, wherein when the driving magnet part moves to a state located adjacent to the magnetoresistive elastic body and then returns to its original position, the return speed of the driving magnet part is improved by the elasticity of the spring. As a shape adaptation module of the gripper for picking atypical objects,
A plurality of magnetorheological elastic bodies whose stiffness can be variably controlled and spaced apart from each other to form an empty space between them,
A sheet portion disposed above and below the plurality of magnetorheological elastic bodies to connect the plurality of magnetorheological elastic bodies spaced apart from each other with an empty space therebetween; and
And a driving unit for controlling a magnetic field applied to the plurality of magnetorheological elastic bodies,
The plurality of magnetorheological elastic bodies are formed by adding magnetic particles to a base polymer,
Patterned conformation module. The method of claim 9,
The sheet portion is formed of a material having a lower rigidity than that of the plurality of magnetorheological elastic bodies, patterned shape adaptation module. The method of claim 9,
The magnetic particles included in the plurality of magnetorheological elastic bodies include at least two types of particles having different sizes. The method of claim 9,
The magnetic particles included in the plurality of magnetorheological elastic bodies include at least two types of particles having different magnetic permeability. The method of claim 9,
The driving unit includes a driving magnet unit,
When the driving magnet part is spaced apart from the plurality of magnetorheological elastic bodies, the plurality of magnetorheological elastic bodies have low stiffness and may change their shape according to the shape of an external object, and the driving magnet part is adjacent to the plurality of magnetorheological elastic bodies. When positioned so that the shape is maintained by increasing the rigidity of the plurality of magnetorheological elastic bodies, the patterned shape adaptation module. The method of claim 13,
The driving unit further includes an electromagnet,
A patterned shape adaptation module configured to control a gap between the driving magnet part and the plurality of magnetorheological elastic bodies by using magnetic force generated when a current flows through the electromagnet. The method of claim 14,
The driving part further comprises a spring connected to the driving magnet part,
The patterned shape adaptation module, wherein when the driving magnet part moves to a state located adjacent to the plurality of magnetorheological elastic bodies and then returns to its original position, the return speed of the driving magnet part is improved by the elasticity of the spring. It is a gripper for picking irregular objects,
The patterned shape adaptation module according to claim 1 or 9 and a body connected to the arm of the picking robot,
The patterned conformation module is disposed on the body, gripper. The method of claim 16,
Further comprising an electrical adhesive module disposed on the patterned shape adaptation module,
The electrical adhesion module includes an insulator and a conductor disposed on the insulator, and is capable of adhering to an external object by an electrostatic force generated when a voltage is applied to the conductor. The method of claim 17,
The conductor does not overlap with the plurality of regions in which the magnetic particles are disposed in the magnetorheological elastic body of the patterned shape adaptation module in a state in which the electrical adhesion module is disposed on the patterned shape adaptation module. To be positioned so that the gripper.

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