KR102386244B1 - Apparatus for gripping, method of controlling the same, apparatus for aligning cable having apparatus for gripping and method of aligning cable using apparatus for aligning cable - Google Patents

Abstract

An embodiment of the present invention can effectively grip a single cable or a bundle of cables of various diameters, effectively transport the gripped cables, and align cables, a gripping device control method, and a gripping device It provides a cable arranging device having a and a cable arranging method using the cable aligning device. Here, the grip device includes a first arm, a second arm, a rotating shaft, a flexible support part, and a roller-type grip unit. The first arm and the second arm are provided to be spaced apart from each other, and the lower ends operate to approach or move away from each other. The rotating shaft is rotatably provided at the lower end of the first arm and the second arm. The flexible support is provided to surround the rotation shaft and rotates together with the rotation shaft. The roller-type grip unit is provided to surround the flexible support and rotates together with the flexible support, and presses and grips the object to be transported from both sides. The roller-type grip unit is pressed by the transfer object to increase the rigidity of the contact area in contact with the transfer object in a deformed state.

Description

Grip device, control method of grip device, cable alignment device having grip device, and cable alignment method using cable alignment device APPARATUS FOR ALIGNING CABLE}

The present invention relates to a gripping device, a method for controlling the gripping device, a cable arranging device having the gripping device, and a cable arranging method using the cable arranging device, and more particularly, it is possible to effectively grip a single cable or a bundle of cables of various diameters. It relates to a gripping device capable of effectively transporting the gripped cables and aligning the cables, a control method of the gripping device, a cable arranging device having a gripping device, and a cable aligning method using the cable aligning device.

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 the conventional gripper for gripping the cable, a method of gripping the tip of the end of the cable is mainly used to grip or work on the cable, but the cable is flexible and irregular in shape, so it is difficult to grip when using the existing rigid tip There is this.

And, in the case of the conventional gripper for gripping cables, when cables having different diameters and shapes of cables need to be gripped at the same time, the cable with the largest size must be set so that it can be gripped. There is a problem in that it cannot hold a small diameter cable.

In addition, in the case of a cable bundle having an atypical shape, since a sophisticated and complex gripping strategy based on a vision sensor for accurately recognizing the shape of the cable bundle is required, there is a problem in that the size of the system becomes large and complicated.

Accordingly, there is a need for a technology capable of effectively gripping not only a single cable, but also a bundle of cables of various diameters, effectively transporting the gripped cables, and in addition to aligning bent or tangled cables.

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 a grip capable of effectively gripping a single cable or a cable bundle of various diameters, effectively transporting the gripped cables, and aligning the cables To provide an apparatus, a method for controlling a gripping device, a cable aligning device having a gripping device, and a cable arranging method using the cable aligning device.

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 object, an embodiment of the present invention is provided with a spaced apart from each other, the lower end of the first arm and the second arm that operates to move closer to or away from each other; a rotation shaft rotatably provided at lower ends of the first arm and the second arm; a flexible support part provided to surround the rotation shaft and rotating together with the rotation shaft; and a roller-type grip unit provided to surround the flexible support and rotated together with the flexible support, the roller-type grip unit pressing and gripping the transfer object from both sides, wherein the roller-type grip unit is pressed by the transfer object to deform the shape In this state, the rigidity of the contact area in contact with the transfer object is increased.

In an embodiment of the present invention, the roller-type grip unit includes a flexible cover provided to surround the flexible support part and formed of a material that does not pass air, a flexible pocket provided inside the flexible cover and having a through hole; Having a powder body filled inside the flexible pocket, pressurized by the object to be transferred, when the fluid inside the flexible cover falls out in a state in which the shape of the flexible cover, the flexible pocket and the powder body is deformed, the powder body is compressed Since the shape is fixed, the rigidity of the contact area in contact with the transfer object can be increased.

In an embodiment of the present invention, the flexible support part may have a plurality of pores that are formed penetrating in the radial direction of the rotation shaft, and are partitioned by a flexible partition wall of the same thickness.

In an embodiment of the present invention, it may include a picking unit disposed adjacent to the roller-type grip unit and lifting a transfer object placed on the floor between the roller-type grip units.

In an embodiment of the present invention, the picking unit includes a first frame coupled to a lower end of the first arm and extending downwardly parallel to the rotation axis from both sides of the roller-type grip unit, and an upper end of the first frame a first flexible grip portion fixed to the lower end of the frame and having a first flexible tip extending downward, and a second frame coupled to the lower end of the second arm and extending downward parallel to the rotation axis from both sides of the roller-type grip unit And, the upper end may have a second flexible grip portion having a second flexible tip fixed to the lower end of the second frame and extending downward.

In an embodiment of the present invention, the first flexible tip and the second flexible tip are bent in each other direction so that the lower end of the first arm and the lower end of the second arm move closer to each other. It is possible to lift the placed object to be transported.

In an embodiment of the present invention, the first flexible grip portion has a first guide formed to protrude in the direction of the second frame at the lower end of the first frame to guide the shape deformation of the second flexible tip, and the second The flexible grip part may have a second guide protruding in the direction of the first frame at the lower end of the second frame to guide the shape deformation of the first flexible tip.

In an embodiment of the present invention, the roller-type grip unit has a plurality of unit grip units provided in close contact along the longitudinal direction of the rotation shaft, and each of the unit grip units independently comes into contact with the transfer object. The stiffness of the region may vary.

In an embodiment of the present invention, the rigidity of the contact area may be greater as the unit grip units are disposed from the center of the rotation shaft to both ends of the unit grip units.

In an embodiment of the present invention, the width of the unit grip unit along the longitudinal direction of the rotation shaft may be smaller than the diameter of the transfer object.

On the other hand, in order to achieve the above technical object, an embodiment of the present invention is a control method of a grip device, by moving the lower ends of the first arm and the second arm closer to each other, so that the roller-type grip unit is a transfer object. A moving step of moving to pressurize both sides of the; a gripping step of increasing the rigidity of a contact area in contact with the transfer object in a state in which the roller-type grip unit is pressed by the transfer object and deforms in shape so that the roller-type grip unit grips the transfer object; and rotating the roller-type grip unit together with the rotating shaft to transfer the transfer object gripped by pressing from both sides.

In an embodiment of the present invention, the roller-type grip unit has a plurality of unit grip units provided in close contact along the longitudinal direction of the rotation shaft, and each of the unit grip units independently comes into contact with the transfer object. The rigidity of the region is changed, and the rigidity of the contact region is greater as the unit grip units disposed from the center of the rotation shaft to both ends of the unit grip units increase, and the gripping step includes the rigidity of the contact regions of the plurality of unit grip units. It may have an adjustment step of adjusting so that the transfer object gripped by controlling the movement is moved in the central direction of the roller-type grip unit by a difference in stiffness of the contact area of each of the unit grip units.

In an embodiment of the present invention, when the transfer object to be gripped is placed on the floor, between the moving step and the gripping step, a picking unit disposed adjacent to the roller-type grip unit is placed on the floor. It may include a picking step of lifting between the roller-type grip units.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a grip device; an additional gripping device spaced apart from the rear of the gripping device; and a moving part for moving the gripping device forward, wherein the additional gripping device fixes the cable so that it does not move, and the roller-type grip unit of the gripping device is pressed by the cable and deformed in shape. The rigidity of the contact area in contact with the cable is increased, and when the grip device is moved forward by the moving unit, the roller-type grip unit is rotated and at the same time moved relative to the cable to align the cable. To provide a cable aligner.

On the other hand, in order to achieve the above technical object, an embodiment of the present invention is a cable arranging method using a cable aligning device, the fixing step of fixing the additional grip device so that the cable is not moved; a rigidity increasing step of increasing the rigidity of a contact region in contact with the cable in a state in which the roller-type grip unit of the gripping device is pressed by the cable and deformed; and an aligning step of aligning the cables while the moving part moves the gripping device forward, and the roller-type grip unit rotates and moves relative to the cable at the same time. Sorting method is provided.

According to an embodiment of the present invention, when the rotation shaft rotates in opposite directions while the object to be transferred, such as a cable, is gripped, the object to be transferred may be transferred in either direction. Accordingly, the object to be transferred can be transferred even when the grip device does not move and is fixed.

In addition, according to an embodiment of the present invention, the greater the grip rigidity of the unit grip units disposed from the center of the rotation shaft toward both ends, the greater the grip rigidity, so that the object to be transported can be positioned at the center of the grip unit. Accordingly, even if the position at which the transfer object is initially gripped is biased toward either side, the transfer object is positioned at the center of the grip unit to be stably gripped. In addition, it is possible to prevent the object to be transferred from coming out of the grip unit while the object to be transferred is being transferred, so that the object to be transferred can be more stably transferred.

In addition, according to an embodiment of the present invention, it is possible to straighten a bent cable by using a plurality of gripping devices, or to align a tangled bundle of cables.

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 a first embodiment of the present invention.
FIG. 2 is an exemplary cross-sectional view taken along line A-A' of FIG. 1 .
3 is an exemplary cross-sectional view taken along line B-B' of FIG. 1 .
4 is an exemplary view showing a flexible pocket of the grip device according to the first embodiment of the present invention.
5 is an exemplary view for explaining an operation example of the roller-type grip unit of the grip device according to the first embodiment of the present invention.
6 is an exemplary view illustrating a state in which an object to be transferred is gripped by the roller-type grip unit of the grip device according to the first embodiment of the present invention.
7 is an exemplary view for explaining an operation example in which the gripping device according to the first embodiment of the present invention transports a cable.
8 is an exemplary view showing a flexible support portion of the grip device according to the first embodiment of the present invention.
9 is an exemplary view for explaining an operation example of the flexible support part of the grip device according to the first embodiment of the present invention.
10 is an exemplary view showing a grip device according to a second embodiment of the present invention.
11 is an exemplary cross-sectional view taken along line C-C' of FIG. 10 .
12 is an exemplary view for explaining an operation example of the grip device according to the second embodiment of the present invention.
13 is an exemplary view showing a grip device according to a third embodiment of the present invention.
14 is a plan view showing a grip device according to a third embodiment of the present invention.
15 is an operational view of the grip device according to the third embodiment of the present invention.
16 is a flowchart illustrating a control method of a grip device according to an embodiment of the present invention.
17 is an exemplary view showing a cable arranging device according to the first embodiment of the present invention.
18 is an exemplary view centered on the roller-type grip unit of the cable arranging device according to the first embodiment of the present invention.
19 is a flowchart illustrating a cable arranging method using the cable arranging device according to the first 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 a first embodiment of the present invention, FIG. 2 is a cross-sectional view taken along line A-A' of FIG. 1, and FIG. 3 is a cross-sectional view taken along line B-B' of FIG. am.

1 to 3, the grip device 1000 includes a first arm 100a, a second arm 100b, rotation shafts 200a and 200b, a flexible support part 300, and a roller-type grip unit 400a, 400b).

The first arm 100a and the second arm 100b may be provided to be spaced apart from each other, and the lower ends may be operated to approach or move away from each other. The first arm 100a and the second arm 100b may form a pair, and may be symmetrically coupled to the body housing 150 . Although the drawings show that one end of the first arm 100a and the second arm 100b is hingedly connected to the body housing 150, this is exemplary and is not necessarily limited to this configuration. That is, if the lower ends of the first arm 100a and the second arm 100b can be operated to approach or move away from each other, various shapes may be applied.

The rotating shafts 200a and 200b may be rotatably provided at lower ends of the first arm 100a and the second arm 100b. The rotary shaft 200a provided at the lower end of the first arm 100a and the rotary shaft 200b provided at the lower end of the second arm 100b may extend downward, and each of the rotary shafts 200a and 200b are parallel to each other. can be provided. The rotation shafts 200a and 200b form a pair, and may be rotated in opposite directions to each other.

The flexible support unit 300 may be provided to surround the rotation shafts 200a and 200b, respectively, and may be rotated together with the rotation shafts 200a and 200b. The flexible support part 300 coupled to each of the rotation shafts 200a and 200b may be formed identically to each other. The flexible support unit 300 will be described below focusing on the flexible support unit 300 coupled to the first arm 100a for convenience of description, but these contents may be equally applied to the flexible support unit coupled to the second arm 100b. .

The roller-type grip units 400a and 400b may be provided to surround the flexible support unit 300 , respectively, and may be rotated together with the flexible support unit 300 . The roller-type grip units 400a and 400b may be formed identically to each other. Hereinafter, for convenience of explanation, the roller-type grip unit 400a provided on the first arm 100a will be mainly described, but these contents are equally applicable to the roller-type grip unit 400b coupled to the second arm 100b. can

The roller-type grip unit 400a may have a flexible cover 401 , a flexible pocket 402 and a powder body 407 .

4 is an exemplary view showing a flexible pocket of the grip device according to the first embodiment of the present invention, and FIG. 5 is an example for explaining an operation example of the roller-type grip unit of the grip device according to the first embodiment of the present invention. FIG. 4 and FIG. 5 will be further included in the following description.

The flexible cover 401 may be provided so that one side is in close contact with the flexible support part 300 to surround the flexible support part 300 , and may have an accommodating space inside. The flexible cover 401 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 flexible pocket 402 may be provided in the receiving space inside the flexible cover 401 and may have a through hole 403 . A plurality of through holes 403 may be formed. As an example, the flexible pocket 402 may be formed in the form of a mesh having a mesh. The flexible pocket 402 may be formed of a flexible material, for example, may be made of a fabric.

The powder body 407 may be in a powder form. In addition, the powder body 407 may be accommodated on the inside of the flexible pocket (402). The powder body 407 may be formed in a size larger than the size of the through hole 403 , and thus the powder body 407 accommodated in the flexible pocket 402 may not leak through the through hole 403 .

And, the flexible pocket 402 may have a compartment 405 . The dividing part 405 may be provided in plurality, and the dividing part 405 may be divided by, for example, a sewing line 404 . The stitch (Stitch) 406 of the sewing line 404 may be sewn in the form of a zigzag. Through this, the flexible pocket 402 can be stretched or contracted stably, and the flexible pocket 402 can be flexibly deformed in shape. The sewing line 404 may be formed in the circumferential direction of the rotating shaft 200a, or may be formed in the axial direction of the rotating shaft 200a. Since the powder body 407 is accommodated in each compartment 405 , the powder body 407 can be uniformly distributed throughout the flexible pocket 402 .

When the transfer object 10 is positioned between the pair of roller-type grip units 400a and 400b and the lower ends of the first arm 100a and the second arm 100b move closer to each other, the pair The roller-type grip units 400a and 400b of the can press the transfer object 10 from both sides. The transfer object 10 may include an object having a circular cross section, such as a cable, or a plate or bar. do.

When the flexible cover 401 is pressed by the cable 10 , the powder body 407 may be deformed to correspond to the shape of the pressurized transfer object 10 . Here, the word that the powder body 407 is deformed does not mean that the shape of the powder body 407 itself is deformed, but is pushed out as the distance between the powder bodies 407 is narrowed by the cable 10 being pressed, and the powder body 407 ) means that the shape formed by them is deformed.

The roller-type grip unit 400a may have a negative pressure generating unit 408 and a suction pipe 409 .

The suction pipe 409 may extend to the inside of the flexible cover 401 and be connected to the flexible pocket 402 .

And, the negative pressure generating unit 408 may be connected to the suction pipe (409). The suction force generated by the negative pressure generating unit 408 may be directly provided to the flexible pocket 402 through the suction pipe 409 . The negative pressure generating unit 408 can adjust the rigidity of the unit grip unit 490a by sucking the fluid in the accommodation space inside the flexible cover 401 through the suction pipe 409 . The fluid in the accommodation space of the flexible cover 401 may include gas or liquid, and hereinafter, for convenience, air will be described as an example.

When the suction force generated by the negative pressure generating unit 408 is provided to the flexible pocket 402 , the air in the accommodation space may be introduced into the flexible pocket 402 through the through hole 403 and sucked into the suction pipe 409 . As the air inside the accommodation space exits through the suction pipe 409, the flexible cover 401 is contracted, and the powder body 407 is compressed and firmly fixed by the contracted flexible cover 401. When the flexible cover 401 is pressed by the cable 10 and the negative pressure generating unit 408 sucks air in the accommodation space in a deformed state, as the flexible cover 401 contracts, the powder 407 is Compressed with each other, the powder body 407 and the flexible cover 401 is hardened. That is, the powder body 407 deformed as it is pressed by the cable 10 is hardened in a deformed state so that the shape can be fixed, and as a result, the contact with the cable 10 in the unit grip unit 490a The rigidity of the region is increased to be able to grip the cable 10 (see Fig. 5(b)).

6 is an exemplary view illustrating a state in which an object to be transferred is gripped by the roller-type grip unit of the grip device according to the first embodiment of the present invention.

Referring to FIG. 6 , the roller-type grip units 400a and 400b are deformed according to the shape of each cable 10,11,12 even for a plurality of cables 10,11,12 having various cross-sectional shapes and cross-sectional sizes. Since the shape can be fixed by being hardened in a state where the cables 10, 11, and 12 are bundled together, it is also possible to effectively grip the cable bundle CB having an atypical cross-sectional shape.

On the other hand, since the powder body 407 is divided and accommodated by the partition unit 405, it is possible to prevent the powder body 407 from being partially agglomerated in the process of the powder body 407 being compressed, and through this, The unit grip unit 490a can be contracted uniformly throughout, and the rigidity of the contact area in contact with the cable can be stably secured.

7 is an exemplary view for explaining an operation example in which the grip device according to the first embodiment of the present invention transports a cable.

As shown in FIG. 7 , when the rotation shafts 200a and 200b rotate in opposite directions while the cable 10 is gripped, the cable 10 may be transported in either direction. That is, according to the present invention, the cable 10 can be transported even when the grip device 1000 is fixed without moving.

Again, as shown in FIGS. 1 to 3 , the flexible support part 300 may be deformed together when the roller-type grip unit 400a is deformed. The flexible support part 300 may support the roller-type grip unit 400a so that the overall shape of the roller-type grip unit 400a does not collapse even when the shape of the roller-type grip unit 400a is deformed.

The flexible support 300 may have a material and a shape that can effectively be deformed due to weak rigidity. In addition, it is preferable that the flexible support part 300 has a material and a shape capable of generating a restoring force sufficient to allow the roller-type grip unit 400a to return to its initial shape when the rigidity of the roller-type grip unit 400a is weakened. .

When air intake inside the flexible cover 401 by the negative pressure generating unit 408 is stopped and air is supplied to the inside of the flexible cover 401, the flexible cover 401 expands, and the roller-type grip unit 400a ) can be reduced. Then, the roller-type grip unit 400a may return to its initial shape by the restoring force of the flexible support unit 300 . Of course, after the negative pressure generating unit 408 sucks the air in the receiving space, the powder 407 is compressed with each other and hardened, the rigidity of the roller-type grip unit 400a is increased, and the roller-type grip unit 400a is gripped. shape can be maintained.

8 is an exemplary view showing a flexible support part of the grip device according to the first embodiment of the present invention, and FIG. 9 is an exemplary view for explaining an operation example of the flexible support part of the grip device according to the first embodiment of the present invention. .

8 and 9, as shown further including, the flexible support part 300 may have a plurality of pores 310 that are formed through the radial direction of the rotation shaft (200a). The pore portion 310 may be formed by being partitioned by the flexible partition wall 320 of the same thickness.

The flexible partition wall 320 may be formed of a flexible material, and the pore 310 formed by the flexible partition wall 320 may be penetrated so that both ends are open. All of the flexible partition walls 320 may have the same thickness. In addition, the pore portion 310 may have a polygonal shape having the same cross-sectional shape perpendicular to the longitudinal direction of the pore portion 310 . The polygonal shape may be, for example, any one of a triangle, a square, and a hexagon. In the present invention, a hexagonal shape is described, and according to this, the flexible support unit 300 may be in the form of a honeycomb structure. The flexible support part 300 implemented in this form can minimize the directionality of the rigidity, so that uniform performance can be implemented regardless of the deformation position of the flexible support part 300 and the size of the pressurized object (M).

And since the flexible support part 300 implemented in this form has a high surface tension rate, the first angle A1 may be increased when pressed by the pressurizing object M. Accordingly, when the cable 10 is gripped, it is possible to minimize the propagation of the deformation of the portion pressed by the roller-type grip unit to the non-pressurized portion (refer to FIG. 9 (a)). In addition, although the flexible support 300 implemented in this form is compressed, the restoring force may not be maintained constant in a certain compression deformation section or not significantly increased even after the corresponding section. Therefore, it is deformed as closely as possible to the shape of the cable 10 to be gripped, so that the gripping performance can be improved.

On the other hand, when a general sponge or rubber block 30 is used as a flexible support part, the surface tension rate is low, and when pressurized by the pressurizing object M, the second angle (A2) is smaller than the first angle (A1). Because of the deformation, the gripping performance of the cable of the roller-type grip unit may be lowered (refer to FIG. 9(b) ).

Fig. 10 is an exemplary view showing a gripping device according to a second embodiment of the present invention, Fig. 11 is a cross-sectional view taken along line C-C' of Fig. 10, and Fig. 12 is a gripping device according to a second embodiment of the present invention. It is an exemplary diagram for explaining an operation example of. In this embodiment, the roller-type grip unit may have a plurality of unit grip units, and since other configurations are the same as those of the first embodiment described above, repeated descriptions will be omitted as much as possible.

10 to 12 , the roller-type grip unit 400a may have a plurality of unit grip units 410a, 430a, 450a, 470a, and 490a. In addition, each of the unit grip units (410a, 430a, 450a, 470a, 490a) may be provided in close contact along the longitudinal direction of the rotation shaft (200a).

Each of the unit grip units 410a, 430a, 450a, 470a, and 490a may be formed in the same way, and these are the unit grip units 410b and 430b of the unit grip unit 410b coupled to the second arm 100b. ,450b,470b,490b) can be equally applied.

The unit grip units 410a, 430a, 450a, 470a, and 490a may each have a flexible cover 401, a flexible pocket 402, and a powder body 407, and a flexible cover 401, a flexible pocket 402 and The configuration of the powder body 407 may be the same as that described in the first embodiment.

In addition, the aforementioned suction pipe 409 (refer to FIG. 2 ) may be connected to each of the unit grip units 410a, 430a, 450a, 470a, and 490a, respectively.

A plurality of negative pressure generating units 408 may be provided to be connected to each suction pipe 409 , or one negative pressure generating unit 408 may be provided to be connected to each suction pipe 409 . Accordingly, the suction force generated by the negative pressure generating unit 408 may be directly provided to the flexible pocket 402 through the suction pipe 409 . The negative pressure generating unit 408 can individually adjust the rigidity of each of the unit grip units 410a, 430a, 450a, 470a, and 490a by sucking the fluid in the receiving space inside the flexible cover 401 through the suction pipe 409. there is.

And, the unit grip units (410a, 430a, 450a, 470a, 490a) along the longitudinal direction of the rotating shaft (200a) and the unit grip units (410b, 430b, 450b, 470b, 490b) along the longitudinal direction of the rotating shaft (200b) of The width W may be formed to be smaller than the diameter D of the cable 10 .

In addition, each of the unit grip units 410a, 430a, 450a, 470a, and 490a may be independently controlled to change the rigidity of a contact area in contact with the cable 10 . In addition, the rigidity of the contact area in contact with the cable 10 may be greater as the unit grip units disposed from the center of the rotation shaft 200a toward both ends of the unit grip units 410a, 430a, 450a, 470a, and 490a are. That is, the cable 10 in the unit grip units 430a and 470a disposed on both sides of the central unit grip unit 450a rather than the rigidity of the contact area in contact with the cable 10 in the central unit grip unit 450a. The rigidity of the contact area in contact may be greater, and the cable 10 in the unit grip units 410a and 490a disposed outside the rigidity of the contact area in contact with the cable 10 in the unit grip units 430a and 470a. ) and the rigidity of the contact area in contact with it may be greater. The rigidity of the contact area in contact with the cable 10 in each of the unit grip units 410a, 430a, 450a, 470a, and 490a is determined by a negative pressure generating unit individually connected to each of the unit grip units 410a, 430a, 450a, 470a, and 490a. It can be adjusted by varying the magnitude of the negative pressure provided by the Alternatively, each of the unit grip units 410a, 430a, 450a, 470a, and 490a are all connected to one and the same negative pressure generating unit, and connecting the negative pressure generating unit and each unit grip unit 410a, 430a, 450a, 470a, 490a A separate valve may be provided in the suction pipe, and grip rigidity may be adjusted by adjusting the negative pressure in each valve. The rigidity of the contact area in contact with the cable 10 in each of the grip units 410a, 430a, 450a, 470a, and 490a may be adjusted in real time.

When the width W of each unit grip unit 410a, 430a, 450a, 470a, and 490a is smaller than the diameter D of the cable 10, the cable 10 can be gripped by at least two unit grip units. there is. That is, rigidity may be applied to the cable 10 by at least two unit grip units. However, since the rigidity of the unit grip units disposed from the center of the rotation shaft 200a toward both ends increases, the cable 10 can be pushed and moved in the direction of the unit grip unit with relatively weak rigidity. Therefore, even if the position at which the cable 10 is gripped by the pair of roller-type grip units 400a and 400b is biased to either side (refer to FIG. 12(a)), the cable 10 is a pair of roller-type grip units. It can be moved to the center of the grip units (400a, 400b).

As described above, the gripping device according to the present invention can grip not only one cable, but also a cable bundle of the same diameter or a cable bundle of various diameters and shapes. Even if is biased to either side, the cable or cable bundle can be gripped more stably by moving the gripped cable or cable bundle to the center of the roller-type grip units 400a and 400b.

In addition, when the rotation shafts 200a and 200b are rotated in opposite directions in a state in which the cable 10 is gripped so that the cable 10 is transported in one direction, the cable 10 is transported in the process of being transported. It can be prevented from coming out of the roller-type grip units 400a and 400b, so that the cable can be transported more stably.

13 is an exemplary view showing a grip device according to a third embodiment of the present invention, FIG. 14 is a plan view showing a grip device according to a third embodiment of the present invention, and FIG. 15 is a third embodiment of the present invention It is an operation example of the grip device. In this embodiment, a picking unit may be further included, and since other configurations are the same as those of the above-described first embodiment, repeated descriptions will be omitted as much as possible.

13 to 15 , the gripping device may include a picking unit 500 .

The picking unit 500 may be disposed adjacent to the roller-type grip units 400a and 400b. The picking unit 500 may lift the cable 10 placed on the floor 20 between the roller-type grip units 400a and 400b. The picking unit 500 may have a first flexible grip part 510 and a second flexible grip part 550 .

The first flexible grip part 510 may have a first frame 511 and a first flexible tip 515 .

The upper end of the first frame 511 may be coupled to the lower end of the first arm 100a, and may extend downward parallel to the rotation shaft 200a from both sides of the roller-type grip unit 400a. The first frame 511 may be provided to be spaced apart without being in close contact with the roller-type grip unit 400a, thereby preventing rotation of the roller-type grip unit 400a from being restricted.

The upper end of the first flexible tip 515 may be fixed to the lower end of the first frame 511 and may extend downward. A pair of first flexible tips 515 may be provided, and may be provided on the outermost side of the lower end of the first frame 511 .

In addition, the second flexible grip part 550 may have a second frame 551 and a second flexible tip 555 .

The upper end of the second frame 551 may be coupled to the lower end of the second arm 100b, and may extend downward parallel to the rotation shaft 200b from both sides of the roller-type grip unit 400b. In order not to restrict the rotation of the roller-type grip unit 400b, the second frame 551 may be provided to be spaced apart from the roller-type grip unit 400b without being in close contact with the roller-type grip unit 400b.

The second flexible tip 555 may have an upper end fixed to the lower end of the second frame 551 and may extend downward. A pair of second flexible tips 555 may be provided, and may be provided on the inner side rather than the outermost part of the lower end of the second frame 551 . That is, the second flexible tip 555 may be disposed to cross the first flexible tip 515 .

The first flexible tip 515 and the second flexible tip 555 may have the same shape as each other, and may be formed to be bent toward each other toward the lower end thereof. Except for the position where the first flexible tip 515 and the second flexible tip 555 are provided, the first flexible grip part 510 and the second flexible grip part 550 are symmetrical to each other with respect to the body housing 150 . can be formed.

In addition, the first flexible grip part 510 is formed to protrude in the direction of the second frame 551 at the lower end of the first frame 511 to guide the shape deformation of the second flexible tip 555 . can have A pair of the first guides 512 may be formed on the inner side of the first flexible tip 515 , and may be formed at a position corresponding to the second flexible tip 555 . Also, the first guide 512 may have a curved upper surface. In addition, the second flexible grip part 550 is formed to protrude in the direction of the first frame 511 at the lower end of the second frame 551 , and a second guide 552 , which guides the shape deformation of the first flexible tip 515 . can have A pair of second guides 552 may be formed outside of the second flexible tip 555 , and may be formed at a position corresponding to the first flexible tip 515 . The second guide 552 may also have a curved upper surface.

When the cable 10 is placed on the floor 20, when the grip device is lowered, the first flexible tip 515 and the second flexible tip 555 are bent while lifting the cable 10 placed on the floor 20 It can be raised (see Fig. 15 (a) to (c)).

And, in this state, when the lower ends of the first arm 100a and the second arm 100b are operated to approach each other, the pair of roller-type grip units 400a and 400b come closer to each other and the cable 10 is pulled from both sides. can be pressurized. At this time, the first flexible tip 515 may be moved to the upper surface of the second guide 552, and as the upper surface of the first guide 512 has a curved shape, the first flexible tip 515 is the second guide It can be naturally bent along the upper surface of the 552 . Similarly, the second flexible tip 555 is moved to the upper surface of the first guide 512 and may be naturally bent along the upper surface of the first guide 512 (see (d) of FIG. 15 ).

Thereafter, the pair of roller grip units 400a and 400b move closer to each other and press the cable 10, and when the rigidity of the roller grip units 400a and 400b increases, the cable 10 is firmly gripped. can be Then, the cable gripping device is moved upward to move the cable 10 upward (refer to FIGS. 15 (e) and (f)).

Also in this embodiment, the roller-type grip units 400a and 400b may have a plurality of unit grip units.

Hereinafter, a method of controlling the grip device will be described.

16 is a flowchart illustrating a control method of a grip device according to an embodiment of the present invention.

As shown in FIG. 16 , the control method of the gripping device may include a moving step ( S610 ), a gripping step ( S630 ), and a transfer step ( S640 ).

In the moving step (S610), the lower ends of the first and second arms spaced apart from each other are moved to be closer to each other, so that the lower ends of the first and second arms are provided to surround the rotary shafts rotatably provided, and together with the rotary shafts. It may be a step of moving the rotating roller-type grip unit to press both sides of the cable.

The gripping step (S630) is a step in which the roller-type grip unit grips the cable by increasing the rigidity of the contact area of the roller-type grip unit in contact with the cable while the roller-type grip unit is pressed by the cable and deformed in shape. can By the roller-type grip unit as described above, it is possible to stably grip not only the diameter of the cable or the shape of the cable, but also a bundle of cables.

The roller-type grip unit may have a plurality of unit grip units that are provided in close contact along the longitudinal direction of the rotation shaft. In addition, the rigidity of the contact area in contact with the cable of each unit grip unit varies independently of each other, and the rigidity of the contact area may be greater as the unit grip units are disposed from the center of the rotation shaft to both ends of the unit grip unit.

In this case, in the gripping step (S630), the rigidity of the contact area of the plurality of unit grip units is controlled so that the gripped cable is moved in the center direction of the roller-type grip unit due to the difference in stiffness of the contact area of each unit grip unit. It may have an adjustment step (S635). After the adjustment step (S635), a single cable or a bundle of cables may be adjusted to move in the center direction of the roller-type grip unit.

The conveying step (S640) may be a step of rotating the roller-type grip unit together with the rotating shaft, and conveying the cable gripped by pressing from both sides. The transfer step (S640) may be performed by rotating the roller-type grip unit even when the position of the grip device is fixed.

And, the control method of the grip device may include a picking step (S620). The picking step (S620) may be performed between the moving step (S610) and the gripping step (S630) when the cable to be gripped is placed on the floor. The picking step ( S620 ) may be a step in which a picking unit disposed adjacent to the roller-type grip unit lifts a cable placed on the floor between the roller-type grip units.

17 is an exemplary view showing a cable aligning device according to a first embodiment of the present invention, and FIG. 18 is an exemplary view showing a roller-type grip unit of the cable aligning device according to the first embodiment of the present invention.

17 and 18 , the cable alignment device may include a gripping device 1000 , an additional gripping device 2000 , and a moving unit 3000 .

The grip device 1000 may be the grip device described in the first to third embodiments.

The additional gripping device 2000 may be the same as the gripping device 1000 . That is, the cable arranging device may include a plurality of gripping devices. The additional gripping device 2000 may be disposed to be spaced apart from the rear of the gripping device 1000 .

The moving unit 3000 may move the grip device 1000 forward FW.

In the additional gripping device 2000 , the roller-type grip units 400c and 400d press the cable 10 to fix the cable 10 so that it does not move. That is, the roller-type grip units 400c and 400d of the additional gripping device 2000 can be strongly pressed to each other so that the contact surface 1401 is formed when the shape is deformed by being pressed by the cable 10 . And if the rigidity of the roller-type grip units 400c and 400d is increased in this state, the roller-type grip units 400c and 400d may not rotate, and through this, the cable 10 can be stably fixed. .

On the other hand, in the grip device 1000 , the roller-type grip units 400a and 400b press the cable 10 , and the roller-type grip units 400c and 400d of the additional gripping device 2000 press the cable 10 . The cable 10 may be pressed to the extent that the cable 10 can be pressed with a second pressing force smaller than the first pressing force. That is, it is preferable that the roller-type grip units 400a and 400b of the grip device 1000 are pressed by the cable 10 to such an extent that the contact surface 1401 is not formed when the shape is deformed. For example, the roller-type grip units 400a and 400b may be slightly spaced apart from each other. And in this state, if the rigidity of the contact area in which the roller-type grip units 400a and 400b come into contact with the cable 10 is increased, the cable 10 can be pressed in close contact with the roller-type grip units 400a and 400b.

In this state, when the grip device 1000 is moved forward (FW) by the moving part 3000 , that is, when the grip device 1000 is moved relative to the cable 10 , the bent portion ( 10a) may be aligned while being pressed by the roller-type grip units 400a and 400b. When one cable 10 is gripped by the roller-type grip units 400a and 400b, aligning the cables 10 may mean that the cables 10 are straightened. And, when the cable bundle is gripped by the roller-type grip units 400a and 400b, aligning the cable bundle may mean that the tangled cable bundle is straightened or arranged.

Hereinafter, a method for arranging cables using a cable arranging device will be described.

19 is a flowchart illustrating a cable arranging method using the cable arranging device according to the first embodiment of the present invention.

19, the cable alignment method using the cable alignment device may include a fixing step (S4100), a rigidity increasing step (S4200) and an alignment step (S4300).

The fixing step (S4100) may be a step in which the additional gripping device fixes the cable so that it does not move.

In addition, the rigidity increasing step ( S4200 ) may be a step in which the rigidity of the contact area in contact with the cable is increased while the roller-type grip unit of the gripping device is pressed by the cable and the shape is deformed.

The alignment step (S4300) may be a step in which the moving part moves the grip device forward, and the roller-type grip unit presses the cable to align it.

The description of the present invention described above 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 also 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.

100a: first arm 100b: second arm
200a, 200b: rotation shaft 300: flexible support
400a, 400b, 400c, 400d: Roller grip unit
401: flexible cover 402: flexible pocket
407: powder 500: picking unit
510: first flexible grip unit 511: first frame
512: first guide 515: first flexible tip
550: second flexible grip portion 551: second frame
552: second guide 555: second flexible tip
410a,430a,450a,470a,490a,410b,430b,450b,470b,490b: unit grip unit
1000: gripping device 2000: additional gripping device
3000: moving unit

Claims (15)

a first arm and a second arm spaced apart from each other, the lower ends of which operate to approach or move away from each other;
a rotation shaft rotatably provided at lower ends of the first arm and the second arm;
a flexible support part provided to surround the rotation shaft and rotating together with the rotation shaft; And
It is provided to surround the flexible support and rotates together with the flexible support, and includes a roller-type grip unit that presses and grips the object to be transported from both sides,
The roller-type grip unit is pressed by the transfer object to increase the rigidity of the contact area in contact with the transfer object in a deformed state. According to claim 1,
The roller-type grip unit is
A flexible cover provided to surround the flexible support and formed of a material that does not pass air;
A flexible pocket provided on the inside of the flexible cover and having a through hole formed therein;
Having a powder that is filled inside the flexible pocket,
When the fluid inside the flexible cover falls out in a state in which the shape of the flexible cover, the flexible pocket and the powder body is deformed by being pressed by the transport object, the powder body is compressed and the shape is fixed, so that the contact area in contact with the transport target object Grip device, characterized in that the rigidity of the increase. According to claim 1,
The flexible support portion is formed penetrating in the radial direction of the rotation shaft, grip device, characterized in that it has a plurality of pores formed by being partitioned by a flexible partition wall having the same thickness. According to claim 1,
and a picking unit disposed adjacent to the roller-type grip unit and for lifting an object to be transported placed on the floor between the roller-type grip units. 5. The method of claim 4,
The picking unit is
The upper end includes a first frame coupled to the lower end of the first arm and extending downwardly parallel to the rotation axis from both sides of the roller-type grip unit, and the upper end is fixed to the lower end of the first frame and extends downwardly, the first flexible tip A first flexible grip portion having
The upper end of the second frame coupled to the lower end of the second arm and extending downward parallel to the rotation axis from both sides of the roller-type grip unit, and the upper end of the second flexible tip fixed to the lower end of the second frame and extending downward A grip device, characterized in that it has a second flexible grip portion having a. 6. The method of claim 5,
The first flexible tip and the second flexible tip are bent in the direction of each other, so that when the lower end of the first arm and the lower end of the second arm move closer to each other, lifting the transfer object placed on the floor Characterized gripping device. 6. The method of claim 5,
The first flexible grip portion has a first guide formed to protrude in the direction of the second frame at the lower end of the first frame to guide the shape deformation of the second flexible tip,
The second flexible grip portion is formed to protrude in the direction of the first frame at the lower end of the second frame, the grip device characterized in that it has a second guide for guiding the deformation of the shape of the first flexible tip. According to claim 1,
The roller-type grip unit has a plurality of unit grip units provided in close contact along the longitudinal direction of the rotation shaft, and each of the unit grip units independently changes the rigidity of a contact area in contact with the transfer object. gripping device. 9. The method of claim 8,
The grip device according to claim 1, wherein the unit grip unit disposed from the center of the rotation shaft to both ends of the unit grip unit has a greater rigidity of the contact area. 9. The method of claim 8,
The grip device, characterized in that the width of the unit grip unit along the longitudinal direction of the rotation shaft is smaller than the diameter of the transfer object. As a control method of the grip device according to claim 1,
a moving step of moving the lower ends of the first arm and the second arm to be closer to each other so that the roller-type grip unit presses both sides of the object to be transferred;
a gripping step of increasing the rigidity of a contact area in contact with the transfer object while the roller-type grip unit is pressed by the transfer object and deformed in shape so that the roller-type grip unit grips the transfer object; And
and a transfer step of rotating the roller-type grip unit together with the rotating shaft to transfer the transfer object gripped by pressing from both sides. 12. The method of claim 11,
The roller-type grip unit has a plurality of unit grip units that are provided in close contact along the longitudinal direction of the rotation shaft, and each of the unit grip units independently changes the rigidity of a contact area in contact with the transfer object independently of each other, Among the unit grip units, the greater the unit grip unit disposed on both ends from the center of the rotation shaft, the greater the rigidity of the contact area;
The gripping step includes controlling the rigidity of the contact area of the plurality of unit grip units so that the gripped transfer object is moved in the center direction of the roller-type grip unit by the difference in stiffness of the contact area of each of the unit grip units. A control method of a grip device, characterized in that it has an adjustment step of adjusting. 12. The method of claim 11,
When the transfer object to be gripped is placed on the floor, between the moving step and the gripping step, a picking unit disposed adjacent to the roller-type grip unit moves the transfer object placed on the floor between the roller-type grip units. A control method of a gripping device comprising the step of picking to lift. The grip device according to claim 1;
an additional gripping device that is spaced apart from the rear of the gripping device and fixes the cable so as not to move; And
and a moving part for moving the grip device forward;
The roller-type grip unit of the grip device is pressed by the cable to increase the rigidity of the contact area in contact with the cable in a deformed state,
When the grip device is moved forward by the moving part, the roller-type grip unit presses the cables to align them. As a cable arranging method using the cable arranging device according to claim 14,
a fixing step of fixing the additional gripping device so that the cable is not moved;
a rigidity increasing step of increasing the rigidity of a contact region in contact with the cable in a state in which the roller-type grip unit of the gripping device is pressed by the cable and deformed; And
and an aligning step in which the moving part moves the gripping device forward, and the roller-type grip unit presses and aligns the cables.

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