KR102402898B1 - Absorption unit and absorption apparatus including absorption unit - Google Patents

Abstract

An embodiment of the present invention provides an adsorption unit with improved adsorption performance of an object, an adsorption device including the same, and a method for controlling the adsorption device. Here, the adsorption unit includes a flexible adsorption pad, a holding block, a negative pressure control unit, and a connection line. The front end of the flexible adsorption pad is in contact with the adsorption object. The holding block is coupled to the rear end of the flexible suction pad, and supports the flexible suction pad. The negative pressure control unit is disposed at the rear end of the holding block and controls the negative pressure inside the flexible suction pad to generate a suction force. The connection line connects the negative pressure control unit and the flexible suction pad. The flexible suction pad has different axial rigidity and transverse rigidity.

Description

Adsorption unit and adsorption device including the same

The present invention relates to an adsorption unit, an adsorption device including the same, and a method for controlling the adsorption device, and more particularly, to an adsorption unit with improved adsorption performance of an object, an adsorption device including the same, and a method for controlling the adsorption device.

A vacuum gripper is a device that absorbs and grips a gripping object using a negative pressure applied by a vacuum pump. In general, a vacuum gripper is installed and used in a transport device for transporting articles.

A single vacuum pad is used as the vacuum gripper according to the size of the object to be gripped, or a vacuum pad arranged in plurality is used.

When a single vacuum pad is used, there is a problem in that the gripping target object having a hole penetrating through the area covered by the vacuum pad cannot be gripped because it is difficult to generate an adsorption force. Of course, in order to solve this problem, a vacuum pad can be attached to a part avoiding the penetrating area of the gripping target using a small vacuum pad, but in this case, the area in which the vacuum is maintained is small, which may cause a problem in that the gripping force is reduced. have.

In addition, when the gripping object has a curved shape, a vacuum pad with increased flexibility can be used so that the vacuum pad can be easily deformed to correspond to the curved shape. . And in order to solve this problem, there is a problem that an additional configuration is required, such as a guide must be inserted into the edge of the vacuum pad.

On the other hand, when a plurality of arranged vacuum pads are used, since an empty space is generated between the arranged vacuum pads, the overall adsorption area is reduced, and thus adsorption efficiency may be lowered.

In addition, since the negative pressure line providing negative pressure is branched and connected to each vacuum pad, if the individual vacuum pads are not completely absorbed by the object to be gripped, the adsorption force is relatively low, and the possibility of gripping failure may increase. .

Republic of Korea Patent Publication No. 1784780 (2017.10.16. Announcement)

In order to solve the above problems, it is an object of the present invention to provide an adsorption unit with improved adsorption performance of an object, an adsorption device including the same, and a method for controlling the adsorption 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 a flexible adsorption pad in which the front end is in contact with the adsorption object; a holding block coupled to the rear end of the flexible suction pad and supporting the flexible suction pad; a negative pressure control unit disposed at the rear end of the holding block and configured to control the negative pressure inside the flexible suction pad to generate a suction force; and a connection line connecting the negative pressure control unit and the flexible suction pad, wherein the flexible suction pad is partitioned by a pad body, a partition formed in the pad body, and the partition wall, the negative pressure control unit has a plurality of suction cells that generate a suction force for adsorbing the object to be adsorbed in contact with the front end by controlling the internal negative pressure by It provides an adsorption unit, characterized in that the width direction rigidity of the suction cell is greater than that of the pad body portion in the axial direction of the suction cell so as to generate resistance to the transverse shrinkage deformation.

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In an embodiment of the present invention, the pad body portion may be formed of a meta material.

In an embodiment of the present invention, the pad body portion is formed flat in the width direction of the suction cell, is spaced apart along the axial direction of the suction cell, and a plurality of first material layers having a first rigidity; A second material layer provided between the first material layers and having a second stiffness smaller than the first stiffness may be provided.

In an embodiment of the present invention, a support ring provided in the circumferential direction of the suction cell may be included in each of the suction cells to generate resistance to the contraction and deformation of the suction cell in the width direction.

In an embodiment of the present invention, the support ring may be provided in the circumferential direction of the suction cell, and a plurality of rings may be arranged at preset intervals along the axial direction of the suction cell.

In an embodiment of the present invention, the outer diameter of the support ring is formed to correspond to the inner diameter of the suction cell may be inscribed on the inner peripheral surface of the suction cell.

In an embodiment of the present invention, the outer diameter of the support ring is formed larger than the inner diameter of the suction cell, the inner peripheral surface of the suction cell may be formed with a seating groove into which the support ring is inserted.

In an embodiment of the present invention, it may include a check valve that is provided in each of the connection lines and closes when a suction flow rate exceeding a preset suction flow rate occurs.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a body portion; an extension part connected to the body part and extending to the outside of the body part; an adsorption unit provided at one end of the extension; a plurality of arms each having one end coupled to the body portion and moving so that the other ends spaced apart from each other at regular intervals move closer to each other; and a holding part provided at the other end of the arm and configured to press and hold the object to be adsorbed when the arms move closer to each other.

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According to an embodiment of the present invention, the flexible suction pad may be formed to have a width direction stiffness greater than an axial stiffness. Accordingly, even if the suction cell is compressed in the axial direction by the object to be absorbed, the deformation in the width direction may be reduced. And through this, since the suction cell can be prevented from being clogged and the suction force can be continuously generated in the suction cell, the adsorption performance of the object to be adsorbed can be improved.

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 an adsorption unit according to an embodiment of the present invention.
Figure 2 is an exemplary view showing the flexible suction pad of Figure 1.
3 is a cross-sectional view comparing the deformation of the barrier rib of Comparative Example 1 with the flexible suction pad of FIG. 1 .
Figure 4 is an operation example of the flexible suction pad of Figure 1 and Comparative Example 2.
5 is a cross-sectional view of the flexible suction pad of FIG. 1 .
6 is another cross-sectional view of the flexible suction pad of FIG. 1 .
7 is a cross-sectional view showing the check valve of the adsorption unit of FIG. 1 as a center.
8 and 9 are views illustrating an operation of the check valve of FIG. 7 .
10 is an exemplary view showing an adsorption device according to an embodiment of the present invention.
11 is a flowchart illustrating a method for controlling an adsorption device according to an 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 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 an adsorption unit according to an embodiment of the present invention, FIG. 2 is an exemplary view showing the flexible adsorption pad of FIG.

1 and 2 , the adsorption unit 1000 may include a flexible adsorption pad 100 , a holding block 200 , a negative pressure control unit 300 , and a connection line 400 .

The flexible suction pad 100 may have a front end in contact with the object to be adsorbed, and may allow the object to be adsorbed by using a suction force.

The holding block 200 may be coupled to the rear end of the flexible suction pad 100 , and may support the flexible suction pad 100 .

The negative pressure control unit 300 is disposed at the rear end of the holding block 200 and can control the negative pressure inside the flexible suction pad 100 so that a suction force is generated in the flexible suction pad 100 .

And, the connection line 400 may connect the negative pressure control unit 300 and the flexible suction pad 100 .

In detail, the flexible suction pad 100 may have a pad body 110 , a partition wall 120 , and a suction cell 130 .

The pad body 110 may form a body of the flexible suction pad 100 .

The partition wall 120 may be formed in the pad body part 110 . The partition wall 120 may be a part of the pad body part 110 , and thus the partition wall 120 may be flexible.

The suction cell 130 may be formed by being partitioned by the partition wall 120 . That is, the suction cell 130 may be a portion in which the pad body 110 is penetrated, and the suction cell 130 may be formed so that both ends are open. A plurality of suction cells 130 may be formed.

The pad body 110 may be formed of a material through which air does not pass. For example, the pad body 110 may be formed of a flexible polymer material. Therefore, the air sucked into one suction cell 130 cannot pass through the partition wall 120 and move to another suction cell 130.

The partition walls 120 between the suction cells 130 may all have the same thickness. In addition, the suction cell 130 may be a polygonal shape having the same shape and size of a cross-section perpendicular to the axial direction B1 of the suction cell 130 . The polygonal shape may be, for example, any one of a triangle, a square, and a hexagon. In the present invention, the hexagonal shape is described, and according to this, the flexible suction pad 100 may be in the form of a honeycomb. Since the suction cell 130 is partitioned by the partition wall 120 , the empty space between the suction cells 130 is reduced, so that the overall adsorption area can be increased, and the adsorption efficiency can be increased. In particular, since the suction cell 130 is formed to have a hexagonal cross-section, when the suction cell 130 is pressed by an object to be absorbed, the shape of the suction cell 130 collapses and the suction cell 130 is clogged. This phenomenon can be prevented further.

The holding block 200 may be coupled to the rear end of the flexible suction pad 100 . The holding block 200 may have a connection hole 210 , and each connection hole 210 may be connected to the suction cell 130 .

One end of the connection line 400 may be connected to the connection hole 210 , and the other end of the connection line 400 may be connected to the negative pressure control unit 300 .

When the negative pressure control unit 300 is operated, the air inside the suction cell 130 may be sucked through the connection line 400 , and a negative pressure may be formed inside the suction cell 130 . The negative pressure control unit 300 may control the magnitude of the negative pressure inside the suction cell 130 . As the internal negative pressure of the suction cell 130 is controlled by the negative pressure control unit 300, a suction force of an appropriate size may be generated inside the suction cell 130, and at the front end 101 of the flexible suction pad 100 The contacted adsorption object may be adsorbed to the flexible adsorption pad 100 .

The flexible suction pad 100 pressed by the adsorption object can be compressed in the axial direction (B1) of the suction cell 130, in the present invention, the flexible suction pad 100 is the rigidity of the axial direction (B1), that is, the axis The stiffness in the direction and the stiffness in the width direction B2, that is, the stiffness in the width direction, are different from each other, and in particular, it can be formed such that the stiffness in the width direction is greater than the stiffness in the axial direction. have.

Figure 3 is a cross-sectional view comparing the deformation of the barrier rib of the flexible suction pad of Figure 1 and Comparative Example 1, Figure 3 (a) shows the deformation of the barrier rib of Comparative Example 1, Figure 3 (b) is the present invention The deformation of the barrier rib of the flexible adsorption pad according to

As shown in Figure 3 (a), in the case of the flexible suction pad 10, the width direction stiffness is not formed greater than the axial stiffness, the flexible suction pad 10 by the adsorption object 90 in the axial direction (B1) ), the partition wall can be greatly deformed in the width direction B2 while being compressed in the axial direction B1. can be clogged Then, since the suction force cannot be generated in the clogged suction cell 13 , it may not be possible to stably adsorb the object 90 to be absorbed.

On the other hand, as shown in (b) of FIG. 3 , when the flexible suction pad 100 has greater widthwise stiffness than the axial stiffness, resistance to the widthwise shrinkage deformation of the suction cell 130 may be generated. , even if the suction cell 130 is compressed in the axial direction (B1) by the adsorption object 90, the deformation in the width direction (B2) may be small. Through this, since the suction cell 130 can be prevented from being clogged and the suction force can be continuously generated in the suction cell 130, the adsorption performance of the adsorption target 90 can be improved.

In order to generate resistance to the transverse shrinkage deformation of the suction cell 130 , in this embodiment, the flexible suction pad 100 may be formed of a metamaterial having greater transverse rigidity than axial rigidity.

Metamaterial may refer to a material composed of a periodic arrangement of meta atoms designed as a metal or dielectric material made to a size much smaller than the wavelength of light in order to realize properties that do not exist in nature. In this embodiment, the flexible suction pad 100 may be an artificially manufactured metamaterial so that the width direction stiffness is greater than the axial stiffness. As shown in FIG. 2 , the pad body 100 may include a first material layer 111 and a second material layer 112 .

The first material layer 111 may be in the form of a plate, and may be provided flat in the width direction B2 of the suction cell 130 . The first material layer 111 may be spaced apart along the axial direction B1 of the suction cell 130 . The first material layer 111 may have a first rigidity.

In addition, the second material layer 112 may be provided between the first material layers 111 and may have a second stiffness smaller than the first stiffness. The second material layer 112 may be formed of a flexible polymer. Since the second material layer 112 has less rigidity than the first material layer 111, when the pad body 100 is compressed in the axial direction B1, the second material layer 112 can be compressed well. And through this, the pad body part 100 can be easily compressed in the axial direction (B1).

On the other hand, since the first material layer 111 has greater rigidity than the second material layer 112, when the pad body 100 is compressed in the axial direction B1, the first material layer 111 moves in the width direction ( The deformation to B2) may be small, and through this, resistance to the widthwise shrinkage deformation of the suction cell 130 may be provided.

4 is a view showing an operation example of the flexible suction pad of FIG. 1 and Comparative Example 2, FIG. 4 (a) shows the form in which the adsorption object is gripped by the adsorption unit according to this embodiment, FIG. 4 (b) shows the form in which the object to be adsorbed is gripped by the conventional adsorption unit in the form of a sponge.

First, as shown in Fig. 4 (a), when the adsorption target 90 is adsorbed to the front end 101 of the flexible suction pad 100, the front end 101 of the flexible suction pad 100 is the adsorption target ( 90) can be pressurized.

Since the flexible suction pad 100 according to the present invention has a suction cell 130 partitioned by a partition wall 120 , the suction cell 130a in contact with the absorption object 90 is pressurized by the absorption object 90 , The shape can be effectively deformed. And, the portion pressed by the adsorption object 90 among the front end of the flexible adsorption pad 100 comes into contact with the surface of the adsorption object 90 . At this time, the shape of the remaining suction cells 130b is not deformed.

On the other hand, as shown in Fig. 4 (b), when the conventional adsorption unit 20 in the form of a sponge is pressurized by the adsorption object 90, the entire surface 21 of the adsorption unit 20 is compressed and the adsorption object ( The area of the portion 22 in contact with the 90 is relatively small. That is, since the flexible suction pad 100 according to the present invention has a large volume ratio of the suction cell 130 to the total volume of the flexible suction pad 100, the absorption target 90 when compared with the conventional adsorption unit 20 ) and the surface area in contact with the becomes wider, and accordingly, the suction force applied to the adsorption object 90 is increased, so that the adsorption force may be further increased.

And, in the conventional adsorption unit 20 in the form of a sponge, since the internal pores are connected to each other, the suction force applied to the adsorption object 90 becomes relatively smaller, whereas according to the present invention, air is Since it does not pass through 120 , the suction power of the suction cell 130a to which the target object 90 is adsorbed can be fully applied to the target object 90 , so that the suction power can be further increased.

5 is a cross-sectional view of the flexible suction pad of FIG. 1 .

As shown in FIG. 5 , the adsorption unit 1000 may include a support ring 500 .

The support ring 500 may be provided in the circumferential direction of the suction cell 130 inside each suction cell 130 , and may provide resistance to contraction and deformation in the width direction. A plurality of support rings 500 may be arranged at predetermined intervals along the axial direction B1 of the suction cell 130 .

The outer diameter of the support ring 500 may be formed to correspond to the inner diameter of the suction cell 130 to be inscribed on the inner circumferential surface of the suction cell 130 . The support ring 500 may be provided at the same height in all the suction cells 130 , or may be provided at a different height for each suction cell 130 .

6 is another cross-sectional view of the flexible suction pad of FIG. 1 .

6, the outer diameter of the support ring 500 may be formed larger than the inner diameter of the suction cell (130). In addition, a seating groove 121 into which the support ring 500 is inserted may be formed on the inner circumferential surface of the suction cell 130 . The support ring 500 is seated in the seating groove 121 so that the position of the suction cell 130 can be stably fixed even when the suction cell 130 is deformed.

Meanwhile, the adsorption unit 1000 may include a check valve 600 . The check valve 600 may be provided in a partial area (A, see FIG. 1 ) of the connection line 400 , and may open and close the connection line 400 individually.

7 is a cross-sectional view showing the check valve of the adsorption unit of FIG. 1 as a center.

7, the check valve 600 includes a valve body 601, a support ring 603, a ball 605, a stopper 606, an elastic member 607, a coupling ring 608, and a compression cover. (609).

The valve body 601 may be fixed by screwing 602 with the connection hole 210 of the holding block 200 . The center of the valve body 601 may be formed through the axial direction.

The support ring 603 may be provided at one end of the valve body 601 , and a through hole 604 may be formed in the center thereof.

The ball 605 may be provided inside the valve body 601 . The ball 605 may be formed with a larger diameter than the through hole 604 of the support ring 603 .

The stopper 606 may be formed to extend in the axial direction of the valve body 601 inside the valve body 601 . The center of the stopper 606 may be formed through in the axial direction, and may have the same central axis as the through hole 604 of the support ring 603 . The inner diameter of the stopper 606 may be formed smaller than the diameter of the ball 605 .

The elastic member 607 may be provided to surround the stopper 606 . One end of the elastic member 607 is in close contact with the valve body 601 , and the other end is in close contact with the ball 605 to elastically support the ball 605 in the direction of the support ring 603 . In the initial state, the ball 605 may be elastically supported by the elastic member 607 to seal the through hole 604 .

The coupling ring 608 may be coupled to one end of the connection line 400 , and may be coupled to the other end of the valve body 601 .

The compression cover 609 may be coupled to the other end of the valve body 601 to fix the coupling ring 608 . The compression cover 609 may be screw-coupled to the valve body 601 .

On the other hand, in the check valve 600, the valve body 601 is not coupled to the holding block 200, but may be coupled to the connection line 400, through which one end and the other end of the check valve 600 are All of them may be provided to be coupled to the connection line 400 .

8 and 9 are views illustrating the operation of the check valve of FIG. 7, and FIG. 8 shows the operation of the check valve connected to the suction cell (corresponding to the suction cell 130a in FIG. 4) to which the object to be adsorbed is adsorbed. 9 shows the operation of the check valve connected to the suction cell (corresponding to the suction cell 130b in FIG. 4) to which the object to be adsorbed is not adsorbed.

8, when a negative pressure is provided through the connection line 400 and a suction force is generated in the suction cell, the air SA is sucked by the suction force, and the ball 605 moves in the direction of the stopper 606. will be pushed to Then, the elastic member 607 is compressed, the through-hole 604 is opened, and when the suction force is continuously provided, the adsorption target 90 can be continuously adsorbed to the corresponding suction cell 130a. Then, when the suction target 90 completely seals the suction cell 130a, there is no air flow to be sucked in, the line becomes a vacuum state, and the ball 605 is a through hole by the elastic restoring force of the elastic member 607. (604) is blocked.

On the other hand, when the air flow rate sucked into each suction cell in a state where the adsorption target 90 is not adsorbed to the flexible adsorption pad 100 is the first flow rate, as described above, in the suction cell where the adsorption target is adsorbed, the ball Since the 605 blocks the through hole 604 so that no air flow occurs, a second flow rate larger than the first flow rate is generated in the suction cell in which the object to be adsorbed is not adsorbed. Then, as shown in FIG. 9 , the elastic member 607 is further compressed and the ball 605 can seal the stopper 606 .

The second flow rate may be preset as a suction flow rate for closing the check valve 600, and thus, when a suction flow rate exceeding the preset suction flow rate occurs, the check valve 600 may be closed. . Through this, the check valve provided in the connection line connected to the suction cell 130b to which the object to be adsorbed is not adsorbed among the check valves may be closed by the suction force of the suction cell. When the suction of air is not made in the entire suction cell of the flexible suction pad 100 , the absorption target 90 may be more strongly adsorbed to the suction cell 130a.

10 is an exemplary view showing an adsorption device according to an embodiment of the present invention.

As shown in FIG. 10 , the adsorption device may include a body part 2000 , an extension part 3000 , an adsorption unit 1000 , an arm 4000 , and a holding part 4500 .

The extension part 3000 may be connected to the body part 2000 and may extend outside the body part 2000 . In addition, the adsorption unit 1000 may be provided at one end of the extension part 3000 . The extension part 3000 may move the adsorption unit 1000 closer to or away from the body part 2000 . The extension part 3000 may be linearly moved so that the adsorption unit 1000 approaches or moves away from the body part 2000 .

When the adsorption unit 1000 adsorbs the upper surface of the adsorption target 90 , the extension part 3000 may lift the adsorption unit 1000 upward.

A plurality of arms 4000 may be provided, and one end of each may be coupled to the body portion 2000 . The other ends of the arms 4000 may be provided to be spaced apart from each other, and the other ends spaced apart from each other may be moved to approach each other. The arm 4000 may be hinge-connected to the body part 2000 as shown, but is not limited thereto.

The holding part 4500 may be provided at the other end of the arm 4000 . The holding unit 4500 may press and hold the side of the adsorption object 90 when the arms 4000 move closer to each other.

The operation order of the adsorption unit 1000 and the holding unit 4500 is not particularly limited. For example, as shown in FIG. 10A , the extension part 3000 moves upward in a state in which the object 90 to be adsorbed to the adsorption unit 1000 is first adsorbed, and then, the arms 4000 are connected to each other. By moving closer, the holding unit 4500 can press and hold the side of the adsorption object 90 (see (b) of FIG. 10), and through this, the adsorption object 90 can be more stably held .

Hereinafter, a method for controlling the adsorption device will be described.

11 is a flowchart illustrating a method for controlling an adsorption device according to an embodiment of the present invention.

11 , the method for controlling the adsorption apparatus may include an adsorption step (S5100), a pickup step (S5200), and a holding step (S5300).

The adsorption step ( S5100 ) may be a step in which the adsorption unit adsorbs one surface of the adsorption object.

The pick-up step (S5200) may be a step of lifting the adsorbed object by raising the extension.

In addition, the holding step ( S5300 ) may be a step of moving the other ends of the plurality of arms to be closer to each other, and holding the holding part by pressing the side of the adsorption target.

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.

100: flexible suction pad 110: pad body portion
120: bulkhead 121: seating groove
130: suction cell 200: holding block
300: negative pressure control unit 400: connection line
500: support ring 600: check valve
1000: adsorption unit 2000: body part
3000: extension 4000: female
4500: holding unit

Claims (11)

a flexible adsorption pad in which the front end is in contact with the adsorption object;
a holding block coupled to the rear end of the flexible suction pad and supporting the flexible suction pad;
a negative pressure control unit disposed at the rear end of the holding block and configured to control the negative pressure inside the flexible suction pad to generate a suction force; and
and a connection line connecting the negative pressure control unit and the flexible suction pad,
The flexible adsorption pad is
a pad body,
a partition wall formed in the pad body portion;
It has a plurality of suction cells that are partitioned by the partition wall and generate a suction force so that an object to be adsorbed in contact with the front end is adsorbed by controlling an internal negative pressure by the negative pressure control unit,
The flexible suction pad has different axial rigidity and widthwise rigidity, so that resistance to contraction and deformation of the suction cell in the width direction is generated, the pad body portion in the width direction of the suction cell rather than the axial rigidity of the suction cell Adsorption unit, characterized in that greater rigidity. delete The method of claim 1,
The adsorption unit, characterized in that the pad body is formed of a meta material. 4. The method of claim 3,
The pad body part
A plurality of first material layers formed flat in the width direction of the suction cell, spaced apart along the axial direction of the suction cell, and having a first rigidity;
and a second material layer provided between the first material layers and having a second stiffness smaller than the first stiffness. The method of claim 1,
The suction unit comprising a support ring provided in the circumferential direction of the suction cell inside each of the suction cell so as to generate resistance to the contraction and deformation of the suction cell in the width direction. 6. The method of claim 5,
The support ring is provided in the circumferential direction of the suction cell, a plurality of suction unit characterized in that it is arranged at a preset interval along the axial direction of the suction cell. 6. The method of claim 5,
The outer diameter of the support ring is formed to correspond to the inner diameter of the suction cell, the suction unit, characterized in that inscribed in the inner peripheral surface of the suction cell. 6. The method of claim 5,
The outer diameter of the support ring is formed larger than the inner diameter of the suction cell, the suction unit, characterized in that the inner peripheral surface of the suction cell is formed with a seating groove into which the support ring is inserted. The method of claim 1,
and a check valve provided in each of the connection lines and closed when a suction flow rate exceeding a preset suction flow rate occurs. body part;
an extension part connected to the body part and extending outside the body part;
The adsorption unit according to any one of claims 1 and 3 to 9, and provided at one end of the extension;
a plurality of arms each having one end coupled to the body portion and moving such that the other ends spaced apart from each other at regular intervals move closer to each other; and
and a holding part provided at the other end of the arm and configured to press and hold the object to be adsorbed when the arms move closer to each other. delete

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