KR102343057B1 - Grip apparatus and grip robot having the same - Google Patents

Abstract

An embodiment of the present invention provides a gripping device capable of reducing damage to a gripping object and effectively maintaining grip so that the gripped object does not come off, and capable of gripping various types of gripping objects, and a grip robot having the same. Here, the grip device includes a first flexible cover part, a first powder body, a first vacuum pressure generating part, and a first flexible support part. The first flexible cover part has a gripping surface to which the target gripping object is in close contact, a reference surface paired with the gripping surface, and a first accommodating space inside. The first powder is filled in the first accommodating space and is deformed corresponding to the shape of the target gripping object in close contact with it. The first vacuum pressure generating unit is connected to the first flexible cover unit, sucks air in the first accommodating space to contract the first flexible cover unit, and corresponds to the shape of the target gripping object by the contracted first flexible cover unit. The deformed first powder body is pressed and fixed so that the target gripping object is gripped by the first flexible cover part. And, the first flexible support portion is provided to be in close contact with the reference surface, and the first flexible cover portion is pressed by the target gripping object to support the first flexible cover portion while being deformed together when deformed.

Description

GRIP APPARATUS AND GRIP ROBOT HAVING THE SAME

The present invention relates to a grip device and a grip robot having the same, and more particularly, to a grip device capable of reducing damage to a gripped object and effectively maintaining grip so that the gripped object does not come off, and capable of gripping various types of gripping objects and the same Eggplant is about a grip robot.

In general, a collaborative robot refers to a manufacturing robot that can collaborate in the same space as a human because the safety function of the industrial robot is strengthened.

Collaborative robots have the advantage of increasing production flexibility compared to existing industrial robots because process relocation is easy. Accordingly, various types of collaborative robots, such as single-armed collaborative robots and dual-armed collaborative robots, are being developed.

However, despite the urgent need to automate the picking operation for various parts and cargo due to the increasing demand for logistics automation, the existing collaborative robot technology mimics the human hand as it is, and the gripper in the form of a robot driven by a motor Most of them. However, in order to implement the shape of a human hand, an actuator and a rotational driving link must be provided for each part corresponding to each finger, and a control device for controlling each actuator is required, so the configuration is complicated. There is a problem in that the control system for integrating them is also complicated.

In addition, in the case of a conventionally used robot gripper, it is often difficult to grip objects of various shapes and materials. This is because, in general, each robot has a limited number of objects that it can hold, so it is necessary to purchase and combine a gripper suitable for the object, and accordingly, the controller has to be tuned according to the object.

In particular, in the case of an atypical flexible object such as vegetables, a technique for effectively maintaining the gripped object is required to minimize damage to the gripped object by using a minimum force during gripping and to prevent the gripped object from departing after gripping. In addition, damage to the gripped object is minimized by minimizing the force that can be additionally applied to the gripped object in the case of moving while gripping the object, and various types of object gripping are possible without being limited by the size of the object. Available skills are required.

Republic of Korea Patent Publication No. 2012-0126576 (published on 21.11.2012)

In order to solve the above problems, the technical problem to be achieved by the present invention is to reduce damage to the gripped object, effectively maintain grip so that the gripped object does not come off, and a grip device capable of gripping various types of gripping objects and having the same It is to provide a grip robot.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

In order to achieve the above technical problem, an embodiment of the present invention includes a first flexible cover part having a gripping surface to which a target gripping object is in close contact, a reference surface mating with the gripping surface, and having a first accommodating space on the inside; a first powder that is filled in the first accommodating space and deformed in response to the shape of the target gripping object in close contact; It is connected to the first flexible cover part, sucks air in the first accommodating space so that the first flexible cover part is contracted, and is deformed according to the shape of the target gripping object by the contracted first flexible cover part. a first vacuum pressure generating unit for gripping the target holding object by the first flexible cover unit by pressing and fixing the first powder body; And provided to be in close contact with the reference surface, the first flexible cover portion is pressed by the target gripping object to provide a grip device comprising a first flexible support portion supporting the first flexible cover portion while being deformed together when deformed.

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In an embodiment of the present invention, the first vacuum pressure generating unit may have a first suction pipe extending inside the first accommodating space to suck air in the first accommodating space.

In an embodiment of the present invention, an uneven portion may be further formed on the support surface of the first flexible support portion in close contact with the reference surface.

On the other hand, in order to achieve the above technical problem, one embodiment of the present invention is provided with at least one pair, the first fixed frame provided at each end of the arm operating to approach or move away from each other; a grip device in which the first flexible support part is coupled to the first fixed frame and the gripping surfaces face each other; And it provides a grip robot including a flexible joint that connects the arm and the first fixed frame, rotates the first fixed frame based on the arm, and fixes the rotated grip device.

In an embodiment of the present invention, the flexible joint forms a body, one side is coupled to the arm, and the other side is provided to surround the elastic body portion and an elastic body portion coupled to the first fixed frame, , a second flexible cover part having a second accommodating space inside, a second powder filled in the second accommodating space, and the second flexible cover part connected to the second accommodating space by sucking air in the second accommodating space The second flexible cover part may be contracted, and a second vacuum pressure generating part configured to fix the elastic body part as the second powder body is compressed and fixed by the contracted second flexible cover part.

In an embodiment of the present invention, provided in the second accommodation space, formed to have a second porosity smaller than the size of the second powder, the second flexible for accommodating the second powder inside It may further include a pocket portion.

In an embodiment of the present invention, the flexible joint is provided to be in close contact with the outer peripheral surface of the second flexible cover part, and a second flexible support part for supporting the second flexible cover part while deforming together when the second flexible cover part is deformed; , It is provided on the outer peripheral surface of the second flexible support portion may further have a second fixed frame for supporting the second flexible support portion.

According to an embodiment of the present invention, by providing a first flexible support portion to support the first flexible cover portion, and reducing the amount of the first powder by reducing the thickness of the first flexible cover portion, the first powder The pressing force by the target gripping object can be effectively applied. Through this, the deformation of the first powder by the target gripping object may be more effectively performed, and the target gripping object may be gripped using a relatively small force. Also, since the target gripping object can be gripped using a relatively small force, even when the target gripping object is an easily breakable object, it can be gripped while minimizing damage.

In addition, according to an embodiment of the present invention, since the shape of the flexible joint of the grip robot is deformed and the shape can be fixed after being deformed, the gripping device maintains the target gripping object even if the target gripping object is an irregular shape or a flexible object. Accordingly, it is possible to stably grip the target object, and to reduce restrictions on the gripable size, shape and strength of the target gripping object.

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

1 is an exemplary view showing a grip device according to an embodiment of the present invention.
2 is a plan view showing the first flexible pocket of the grip device according to an embodiment of the present invention as a center.
3 is a cross-sectional view showing a grip device according to an embodiment of the present invention.
4 is an exemplary view for explaining an operation example of the grip device according to an embodiment of the present invention.
5 is an exemplary view for comparatively explaining a grip device according to an embodiment of the present invention.
6 is an exemplary view showing a first flexible support portion of the grip device according to another embodiment of the present invention.
7 is an exemplary view showing a grip robot according to an embodiment of the present invention.
8 is a cross-sectional view showing the flexible joint of the grip robot according to an embodiment of the present invention as a center.
9 is a cross-sectional view showing a flexible joint of a grip robot according to another embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when it is said that a part is “connected (connected, contacted, coupled)” with another part, it is not only “directly connected” but also “indirectly connected” with another member in between. “Including cases where it is In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exemplary view showing a gripping device according to an embodiment of the present invention, FIG. 2 is a plan view showing a first flexible pocket of the gripping device according to an embodiment of the present invention as a center, and FIG. 3 is this view It is a cross-sectional view showing a grip device according to an embodiment of the present invention.

1 to 3 , the grip device 100 includes a first flexible cover unit 110 , a first powder body 120 , a first vacuum pressure generating unit 130 , and a first flexible support unit 140 . may include

The first flexible cover unit 110 forms one side of the first flexible cover unit 110 and forms a holding surface 111 to which the target holding object is in close contact, and the other side of the first flexible cover unit 110, It may have a reference surface 112 paired with the gripping surface 111 , and may have a first accommodating space 113 inside.

Here, the target gripping object may mean an object to be gripped using the grip device 100 .

The first flexible cover part 110 may be formed in the form of a thin film having flexibility, and may be made of a material that does not pass air.

The first powder body 120 may be filled in the first accommodation space 113 . The first powder body 120 may be in a powder form.

When the target gripping object is pressed on the first flexible cover unit 110 , the first powder body 120 may be deformed corresponding to the shape of the target gripping object being pressed. Here, the word that the first powder body 120 is deformed means that the shape is deformed while the powders are pushed by the target gripping object to be pressed.

The first vacuum pressure generating unit 130 may be connected to the first flexible cover unit 110 . The first vacuum pressure generating unit 130 may have a first suction pipe 131 , and the first suction pipe 131 may extend inside the first accommodating space 113 . The first vacuum pressure generating unit 130 may suck the air of the first accommodating space 113 through the first suction pipe 131 .

When the air of the first accommodating space 113 is sucked by the first vacuum pressure generating unit 130 , the first flexible cover unit 110 may be contracted. And, as the air of the first accommodating space 113 escapes and the first flexible cover part 110 contracts, the first powder body 120 is compressed and firmly fixed. As will be described later, when the first vacuum pressure generating unit 130 sucks air in the first accommodation space 113 in a state in which the target gripping object is pressurized on the gripping surface 111 , the first powder body 120 is pressurized In a state deformed in shape by the target gripping object, as the first flexible cover part 110 contracts, they are compressed with each other, and the first powder body 120 and the first flexible cover part 110 harden. That is, as the target gripping object is pressed on the gripping surface 111 , the deformed first powder body 120 is hardened in a deformed state, and thus, the target gripping object pressed to the gripping surface 111 is first flexible. It may be gripped by the cover part 110 .

The first flexible support unit 140 may be provided to be in close contact with the first flexible cover unit 110 . Specifically, the support surface 141 of the first flexible support unit 140 may be in close contact with the reference surface 112 of the first flexible cover unit 110 .

When the target gripping object is pressed on the gripping surface 111 of the first flexible cover part 110 and the first flexible cover part 110 and the first powder body 120 are deformed, the first flexible support part 140 is also deformed. may be, and the first flexible support unit 140 may support the first flexible cover unit 110 . The first flexible support 140 may be made of a polymer material.

A frame (not shown) for supporting the first flexible cover unit 110 may be further provided under the first flexible cover unit 110 .

Meanwhile, the grip device 100 may further include a first flexible pocket unit 150 .

The first flexible pocket part 150 may be provided in the first accommodating space 113 and may have a first porous hole 151 . A plurality of first pores 151 may be formed. In addition, the first powder body 120 may be accommodated inside the first flexible pocket unit 150 . That is, when the first flexible pocket part 150 is further provided, the first powder body 120 may be accommodated in the first flexible pocket part 150 to be accommodated in the first accommodating space 113 .

The first pores 151 may be formed to have a size smaller than the size of the first powder body 120 , and accordingly, the first powder body 120 accommodated in the first flexible pocket unit 150 has the first pores ( 151) may not leak.

The first flexible pocket unit 150 may be formed in the form of a mesh having a mesh.

In addition, the first flexible pocket part 150 may have a partition part 153 . The dividing part 153 may be provided in plurality, and the dividing part 153 may be divided by, for example, a sewing line 154 .

The first powder body 120 may be accommodated in each partition unit 153 , and accordingly, the first powder body 120 may be uniformly distributed throughout the first flexible pocket unit 150 .

And, one end of the first suction pipe 131 introduced into the first flexible cover part 110 may be connected to the first flexible pocket part 150 . Accordingly, the suction force generated by the first vacuum pressure generating unit 130 may be directly provided to the first flexible pocket unit 150 through the first suction pipe 131 .

The first flexible pocket unit 150 may be formed of a flexible material, for example, may be formed of a fabric. When the suction force generated by the first vacuum pressure generating unit 130 is provided to the first flexible pocket unit 150 , the air in the first flexible pocket unit 150 passes through the first hole 151 through the first suction pipe 131 . and the air in the first accommodating space 113 may be moved to the inside of the first flexible pocket part 150 through the first perforation 151 and sucked into the first suction pipe 131 .

As the air inside the first accommodating space 113 exits through the first suction pipe 131 , the first powder body 120 is compressed with each other. Since it is partitioned and accommodated by the first powder body 120, it can be prevented that the first powder body 120 is partially agglomerated in the process of being compressed, and uniformly over the entire first flexible pocket unit 150 can be distributed.

Hereinafter, an operation example of the grip device will be described further including FIG. 4 .

4 is an exemplary view for explaining an operation example of the grip device according to an embodiment of the present invention. 4 (a) shows a state before the suction force is provided to the first accommodating space 113, and FIG. 4 (b) shows a state after the suction force is provided to the first accommodating space 113. As shown in FIG.

As shown in (a) of Figure 4, in the initial state before the suction force is provided to the first accommodation space 113, the target gripping object M is pressed to the gripping surface 111 of the first flexible cover part 110. Then, the first powder body 120 pressed by the pressing force (F) at this time corresponds to the target holding object (M) is deformed in shape. At the same time, the shape of the first flexible cover part 110 and the first flexible pocket part 150 may also be deformed to correspond to the shape of the target holding object M, and the shape of the first flexible support part 140 is also changed while being pressed. can be deformed.

At this time, the pressing force F applied by the target holding object M is limited to the portion pressed by the target holding object M. As such, when the pressing force applied by the target holding object M is concentrated, the deformation of the first powder body 120 can be maximized, and the first powder body 120 is effectively deformed to correspond to the target holding object M. can be

Then, as shown in (b) of Figure 4, when the suction force is provided to the inside of the first flexible cover part 110 to harden the first powder body 120, the pressing force by the target holding object M is The first flexible cover unit 110 , the first flexible pocket unit 150 , and the first flexible support unit 140 are dispersed and applied as a whole.

And, the sum of the distributed pressing force (f1) applied to the first flexible cover part 110, the first flexible pocket part 150 and the first flexible support part 140 is dispersedly applied to the pressing force F in (a) of FIG. ) can be the same as Accordingly, even if an additional pressing force is provided after the target holding object M is grasped, the additionally provided force is provided with a small size, so that the deformation of the first powder body 120 can be minimized. Through this, the shape of the first powder body 120 whose shape is deformed to correspond to the shape of the target holding object M may be stably maintained, and the holding of the target holding object M may also be stably maintained.

Hereinafter, the effect of the grip device according to the present invention will be described further including FIG. 5 .

5 is an exemplary view for comparatively explaining a grip device according to an embodiment of the present invention. 5 (a) is a height corresponding to the combined height of the first flexible cover part 110 and the first flexible support part 140 shown in FIG. 5 (b), only the first flexible cover part 10 is formed case is indicated.

As shown in (a) of Figure 5, the thicker the thickness of the first flexible cover portion 10, the greater the amount of the first powder accommodated, so a relatively large force to deform the first powder 120 this will be needed

That is, the force applied by the target gripping object M is a force f2 for deforming the first powder in the portion close to the target gripping object M in the first flexible cover part 10, and the target gripping object It should be used as the force (f3) to transform from (M) to the first powder in the far part. Therefore, it is difficult for the force f2 applied to the portion close to the target gripping object M to have a sufficient size, and accordingly, the shape deformation of the first powder in the portion close to the target gripping object M may not be effectively achieved. have. That is, since the first powder body 120 in a portion close to the target gripping object M cannot be effectively transformed into a shape corresponding to the target gripping object M, a suction force is then provided to the first powder body 120 . Even if is rigid and hardened, the gripping force for gripping the target gripping object M may be limited.

However, as shown in FIG. 5 (b), the thickness of the first flexible cover part 110 is reduced to reduce the amount of the first powder body 120, and the first flexible support part 140 is provided. By taking a configuration to support the flexible cover part 110, the pressing force F by the target holding object M on the first powder body 120 accommodated in the thickness direction of the first flexible cover part 110 is effectively can be applied. Therefore, assuming that a pressing force F of the same size as in FIG. 5A is provided by the target holding object M, the deformation of the first powder body 120 is made more effectively, so that the target holding object ( The contact area in close contact with M) may be larger, and a stronger grip may be possible.

That is, it may be possible to grip the target gripping object M using a relatively small force, and since a relatively small force is used, the target gripping object M is an object that can be damaged when a large pressing force is applied. It can also be gripped with minimal damage.

The first flexible support unit 140 may support the first flexible cover unit 110 to help the first flexible cover unit 110 deform more effectively.

6 is an exemplary view showing a first flexible support portion of the grip device according to another embodiment of the present invention.

As shown in FIG. 6 , a concave-convex part 145 may be further formed on the support surface 141 of the first flexible support part 140 . As the concave-convex portion 145 is further formed, more effective deformation may be achieved by the pressing force applied by the target gripping object.

7 is an exemplary view showing a grip robot according to an embodiment of the present invention, and FIG. 8 is a cross-sectional view showing a flexible joint of the grip robot according to an embodiment of the present invention.

The grip robot according to the present invention may include an arm 200 , a grip device 100 , and a flexible joint 300 .

At least one pair of arms 200 may be provided, and a first fixing frame 210 may be provided at one end of each of the arms 200 . The arm 200 may operate so that each of the first fixing frames 210 approaches or moves away from each other.

The grip device 100 may be coupled to the first fixing frame 210 . Specifically, the first flexible support unit 140 may be coupled to the first fixed frame 210 . The grip device 100 coupled to each arm 200 may be provided such that the gripping surfaces 111 (refer to FIG. 3 ) of the first flexible cover part 110 face each other.

The flexible joint 300 may connect the arm 200 and the first fixing frame 210 . The flexible joint 300 may allow the first fixing frame 210 to rotate based on the arm 200 , and may allow the rotated grip device 100 to be fixed.

The flexible joint 300 may have an elastic body part 310 , a second flexible cover part 320 , a second powder body 330 , and a second vacuum pressure generating part 340 .

The elastic body 310 may form the body of the flexible joint 300 . One side of the elastic body 310 may be coupled to the arm 200 , and the other side may be coupled to the first fixing frame 210 . The elastic body 310 may be elastically deformed, and thus, the first fixed frame 210 may be rotated with respect to the arm 200 . The elastic body 310 may be made of, for example, a rubber material.

The second flexible cover part 320 may be provided to surround the elastic body part 310 , and may have a second accommodating space 321 inside. The second flexible cover part 320 may be formed of the same material as the first flexible cover part 110 .

The second powder body 330 may be filled in the second accommodation space 321 . The second powder body 330 may be the same as the first powder body 120 .

The second vacuum pressure generating unit 340 may have a second suction pipe 341 connected to the second flexible cover unit 320 , and suck the air in the second accommodation space 321 to the second flexible cover unit ( 320) can be contracted. The second vacuum pressure generating unit 340 may cause the second flexible cover unit 320 to contract so that the second powder body 330 is compressed and fixed, and accordingly, the elastic body unit 310 may be fixed.

In addition, the grip robot may further include a second flexible pocket unit 350 .

The second flexible pocket part 350 may be provided in the second accommodating space 321 , and may be formed to have a second hole 351 having a size smaller than that of the second powder body 330 . And, the second flexible pocket unit 350 may accommodate the second powder body 330 on the inside. The second flexible pocket part 350 may have the same configuration as the first flexible pocket part 150 , and the second suction pipe 341 may be connected to the second flexible pocket part 350 .

As shown in (a) of FIG. 7 , when the gripping device 100 is positioned on both sides of the target gripping object M, and the arm 200 is moved toward the target gripping object M, the gripping device 100 is The target gripping object M can be pressed from both sides. And, as described above in this state, when suction force is provided through the first suction pipe 131 by the first vacuum pressure generating unit 130 , the first flexible cover unit 110 may hold the target holding object M. can

And at this time, even if the target gripping object M has an atypical shape or a flexible object, as shown in FIG. can be continuously and stably gripped.

Specifically, the elastic body part 310 may be deformed in shape so that the first fixing frame 210 is rotated with respect to the arm 200 , and in a state in which the shape of the elastic body part 310 is deformed, the second When the powder 330 is compressed and hardened, the elastic body 310 may be fixed in a deformed form. Accordingly, after the target gripping object M is gripped, the gripping can be effectively maintained so that the gripped target gripping object M is not separated.

The flexible joint 300 may reduce restrictions on the grippable size, shape, and strength of the target gripping object (M).

9 is a cross-sectional view showing a flexible joint of a grip robot according to another embodiment of the present invention. In this embodiment, the configuration of the second flexible support part 360 and the second fixed frame 370 may be further included, and since the other configuration is the same as that of the first embodiment described above, repeated contents will be omitted as much as possible.

As shown in FIG. 9 , the flexible joint 300 may further include a second flexible support part 360 and a second fixing frame 370 .

The second flexible support part 360 may be provided so as to be in close contact with the outer circumferential surface of the second flexible cover part 320, and as the second flexible cover part 320 is deformed together, the second flexible cover part 320 is formed. can support The second flexible support part 360 may be formed of the same material as the first flexible support part 140 (refer to FIG. 3 ).

And, the second fixed frame 370 may be provided on the outer peripheral surface of the second flexible support portion 360 to support the second flexible support portion (360).

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

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

100: grip device
110: first flexible cover part
120: first powder
130: first vacuum pressure generating unit
140: first flexible support part
145: uneven part
150: first flexible pocket unit
151: first porosity
153: compartment
200: cancer
210: first fixed frame
300: flexible joint
310: elastic body portion
320: second flexible cover unit
330: second powder
340: second vacuum pressure generating unit
350: second flexible pocket unit
360: second flexible support
370: second fixed frame

Claims (9)

a first flexible cover part having a gripping surface to which the target gripping object is closely attached, a reference surface mating with the gripping surface, and having a first accommodating space inside;
a first powder that is filled in the first accommodating space and deformed in response to the shape of the target gripping object in close contact;
It is connected to the first flexible cover part, sucks air in the first accommodating space so that the first flexible cover part is contracted, and is deformed according to the shape of the target gripping object by the contracted first flexible cover part. a first vacuum pressure generating unit for gripping the target holding object by the first flexible cover unit by pressing and fixing the first powder body; and
and a first flexible support part provided to be in close contact with the reference surface and configured to support the first flexible cover part while being deformed together when the first flexible cover part is pressed by the target gripping object and deformed. delete delete According to claim 1,
and the first vacuum pressure generating unit has a first suction pipe extending inside the first accommodating space to suck air in the first accommodating space. According to claim 1,
Grip device, characterized in that the support surface of the first flexible support in close contact with the reference surface is further formed with a concave-convex portion. Arms that are provided with at least one pair and operate so that the first fixing frame provided at each end is closer to or farther away from each other;
A grip device according to any one of claims 1, 4, and 5, wherein the first flexible support is coupled to the first fixed frame and the gripping surfaces are opposite to each other; and
and a flexible joint connecting the arm and the first fixing frame, rotating the first fixing frame based on the arm, and fixing the rotated grip device. 7. The method of claim 6,
The flexible joint is
an elastic body portion forming a body, one side of which is coupled to the arm, and the other side of which is coupled to the first fixed frame;
A second flexible cover portion provided to surround the elastic body portion and having a second accommodating space therein;
a second powder body filled in the second accommodation space;
It is connected to the second flexible cover part, sucks air in the second accommodation space so that the second flexible cover part is contracted, and as the second powder body is compressed and fixed by the contracted second flexible cover part, the A grip robot, characterized in that it has a second vacuum pressure generating part to fix the elastic body part. 8. The method of claim 7,
It is provided in the second accommodating space, is formed to have a second porosity smaller than the size of the second powder body, and further comprises a second flexible pocket part for accommodating the second powder body inside grip robot. 8. The method of claim 7,
The flexible joint is
a second flexible support part provided to be in close contact with the outer circumferential surface of the second flexible cover part, and supporting the second flexible cover part while deforming together when the second flexible cover part is deformed;
The grip robot, characterized in that it further has a second fixed frame provided on the outer peripheral surface of the second flexible support portion to support the second flexible support portion.

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