KR102438742B1 - Unmanned Robot Serving System - Google Patents

Abstract

Disclosed is an unmanned robot serving system, which can be applied to a wide area such as an apartment complex or high-rise building. When the product is ordered, the unmanned robot serving system automatically loads an ordered product on behalf of a human and safely delivers the loaded product to a destination. The unmanned robot serving system comprises: a serving robot in which the product is stored and which delivers the product to a delivery point included in delivery location information; and a picking robot which picks the product matched with product order information in a warehouse where products are stored and loads the product on the serving robot, wherein the picking robot adsorbs and grips the product for picking the product.

Description

Unmanned Robot Serving System

The present invention relates to an unmanned robot serving system.

In general, a robot refers to a machine that has the ability to work by itself, and is currently being applied and utilized in various fields and environments.

Recently, service-providing robots that replace human tasks or improve convenience are attracting attention.

However, since the conventional service-providing robot can implement only a limited function of delivering food to customers in a limited area such as a restaurant, the range of application is small, and it is practically difficult to apply it to an apartment complex or a high-rise building.

Accordingly, there is a demand for the development of a service-providing robot that replaces human work or improves user convenience in a wide area such as an apartment complex or a high-rise building.

Registered Patent Publication No. 10-1828674

The present invention has been devised to solve the above problems, and an object of the present invention is to be applicable to a wide area such as an apartment complex or a high-rise building, and when an order for a product is made, a product ordered automatically on behalf of a person It is to provide an unmanned robot serving system that can load and safely deliver loaded goods to their destination.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

An unmanned robot serving system according to an embodiment of the present invention for solving the above problems includes: a serving robot configured to transport the product to a delivery point that is accommodated therein and is included in the delivery location information; and a picking robot configured to pick the product matching the product order information from the warehouse in which the products are stored and receive it in the serving robot, wherein the picking robot picks the product by adsorbing and holding the product. .

The serving robot, a box-shaped product storage body configured to be opened and closed in part; storage trays disposed inside the product storage body and capable of supporting the product; a serving camera module disposed on the product storage body and configured to capture the surrounding area in real time to obtain surrounding image information; a detection sensor disposed on the product storage body and configured to detect a surrounding object; a speaker disposed on the product storage body and configured to transmit a voice signal to the surroundings; a display disposed on the product storage body and configured to display an image; an input unit disposed on the product storage body and capable of inputting a control command from the outside; electric casters disposed on the lower surface of the product storage body to support the product storage body and configured to move along the ground; a serving arm disposed on the product storage body and configured to, when the serving robot arrives at the delivery point, take out the product stored in the storage trays and store it in a product storage box disposed at the delivery point; and a serving control unit configured to control the product storage body, the serving camera module, the detection sensor, the speaker, the display, the input unit, the casters, and the serving arm. a picking hand module having an adsorption unit configured to adsorb the product, and a holding unit configured to hold the product adsorbed to the adsorption unit; a hand transfer module formed in a multi-joint structure and configured to transfer the picking hand module coupled to the end to a position in which the product matching the product order information is accommodated; a scanning unit disposed in the picking hand module and configured to scan a QR code including the product information; an identification camera module disposed in the picking hand module and configured to acquire image information about the product held by the picking hand module; and a picking control unit configured to control the picking hand module, the hand transfer module, the scanning unit, and the identification camera module.

The product storage body may include: a body housing having an open surface and having a first storage space, a second storage space, and a third storage space therein; a first temperature control unit accommodated in the body housing and configured to supply warmth to the first storage space; a second temperature control unit accommodated in the body housing and configured to supply cool air to the second storage space; opening and closing doors that are rotatably coupled to the body housing and configured to open and close an opened surface of the body housing; and a tray lifting unit disposed in the first storage space, the second storage space, and the third storage space to support the storage trays, and to adjust a distance between the storage trays while moving in the vertical direction. including, wherein the adsorption unit includes: plungers made of an elastic material configured to form an interface in contact with the outer surface of the product; a close contact cylinder that moves the plungers coupled to the ends while expanding and contracting in the front-rear direction to bring the plungers into close contact with the outer surface of the product; and a suction nozzle communicating with the plungers, and generating a suction force when the plungers are in close contact with the outer surface of the product to adsorb the product to the plungers, wherein the gripper is disposed in parallel with respect to a vertical direction, , vertical rails spaced apart from each other along the horizontal direction; vertical movement actuators installed on the vertical rails and configured to individually move along the vertical direction; horizontal rails installed on the vertical movement actuators and arranged parallel to the horizontal direction; horizontal movement actuators installed on the horizontal rails and configured to be individually moved along the horizontal direction; elastic gripping tips installed on the horizontal movement actuators and configured to press and grip the product at different positions by the horizontal movement actuators; and a gripping detection sensor accommodated in the elastic gripping tips and configured to sense a reaction force of the product applied to the elastic gripping tips when the elastic gripping tips grip the product.

The tray lifting unit may include: tray support grooves formed on an inner surface of the body housing in a vertical direction of the body housing and having a concave-convex structure coupled to both ends of the storage tray; a lifting guide groove formed on an inner surface of the body housing in a vertical direction of the body housing; a tray pressing cylinder configured to press both ends of the storage tray through the tray support grooves, and to adjust the height of the storage tray by being elevated along the lifting guide groove; and an elevating cylinder connected to the tray pressurizing cylinder and configured to elevate the tray pressurizing cylinder, wherein the accommodating tray includes: a plate-shaped tray body; It is coupled to both ends of the tray body, has tray coupling grooves having a concave-convex structure corresponding to the tray support grooves, and is inserted into the tray body when pressed by the tray pressure cylinder to be separated from the tray support grooves. support brackets configured; and elastic members accommodated in the tray body and elastically supporting the support brackets.

The serving arm may include a multi-joint arm assembly that grips the products stored in the storage trays and transfers them to the product storage box; an arm support plate supporting the articulated arm assembly; and a plate lifting unit disposed on the product storage body and configured to raise and lower the arm support plate, wherein the plate lifting unit includes: support units spaced apart from each other in a height direction of the product storage body; a screw shaft rotatably coupled to the support units; a shaft drive motor configured to rotate the screw shaft; and a lifting block that is screwed to the outer surface of the screw shaft, supports the arm support plate, and moves along the outer surface of the screw shaft when the screw shaft rotates to elevate the arm support plate.

According to an embodiment of the present invention, by implementing a robot serving system that can automatically load and transport goods, it can be applied to a wide area such as an apartment complex or a high-rise building, and the goods can be safely delivered to the destination Of course, since labor costs are not generated during loading and delivery of goods, it can have an economical effect.

The effect according to the present invention is not limited by the contents exemplified above, and more various effects are included in the present invention.

1 is a diagram schematically showing an unmanned robot serving system according to an embodiment of the present invention.
2 is a front view showing a serving robot according to an embodiment of the present invention.
3 is a view schematically showing the coupling structure of the tray lifting unit and the storage tray according to an embodiment of the present invention.
4 is a view schematically showing a serving arm according to an embodiment of the present invention.
5 is a front view showing a picking hand module according to an embodiment of the present invention.
6 is a side view schematically showing an adsorption unit according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the patent application is not limited or limited by these embodiments. It should be understood that all modifications, equivalents and substitutes for the embodiments are included in the scope of the rights.

Specific structural or functional descriptions of the embodiments are disclosed for purposes of illustration only, and may be changed and implemented in various forms. Accordingly, the embodiments are not limited to a specific disclosure form, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical spirit.

Although terms such as first or second may be used to describe various elements, these terms should be interpreted only for the purpose of distinguishing one element from another. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected” to another component, it may be directly connected or connected to the other component, but it should be understood that another component may exist in between.

Terms used in the examples are used for the purpose of description only, and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description with reference to the accompanying drawings, the same components are assigned the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In the description of the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims.

In the embodiments of the present invention, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. have meaning Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in an embodiment of the present invention, an ideal or excessively formal meaning is not interpreted as

The shapes, sizes, proportions, angles, numbers, etc. disclosed in the drawings for explaining the embodiments of the present invention are illustrative and the present invention is not limited to the illustrated matters. In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. When 'including', 'having', 'consisting', etc. mentioned in this specification are used, other parts may be added unless 'only' is used. When a component is expressed in the singular, the case in which the plural is included is included unless specifically stated otherwise.

In interpreting the components, it is interpreted as including an error range even if there is no separate explicit description.

In the case of a description of the positional relationship, for example, when the positional relationship of two parts is described as 'on', 'on', 'on', 'beside', etc., 'right' Alternatively, one or more other parts may be positioned between two parts unless 'directly' is used.

Reference to an element or layer “on” another element or layer includes any intervening layer or other element directly on or in the middle of another element. Like reference numerals refer to like elements throughout.

The size and thickness of each component shown in the drawings are illustrated for convenience of description, and the present invention is not necessarily limited to the size and thickness of the illustrated component.

Each feature of the various embodiments of the present invention may be partially or wholly combined or combined with each other, and as those skilled in the art will fully understand, technically various interlocking and driving are possible, and each embodiment may be independently implemented with respect to each other. It may be possible to implement together in a related relationship.

1 is a diagram schematically showing an unmanned robot serving system according to an embodiment of the present invention.

1 , an unmanned robot serving system 1000 (hereinafter referred to as 'unmanned robot serving system 1000') according to an embodiment of the present invention includes a serving robot 1 and a picking robot 2 . .

The serving robot 1 is configured to receive the product P therein, and transport the product P to the delivery point included in the delivery location information.

2 is a front view showing a serving robot according to an embodiment of the present invention.

1 and 2, the serving robot 1 includes a product storage body 1A, storage trays 1B, a serving camera module 1C, a detection sensor 1D, a speaker 1E, and a display 1F. ), an input unit 1G, electric casters 1H, a serving arm 1I, and a serving control unit 1J.

The product storage body 1A may be formed in a box shape, and a portion thereof may be opened and closed.

The product storage body 1A may include a body housing 1A1, a plurality of temperature control units, and opening/closing doors 1A4.

One side of the body housing 1A1 is opened, and may have a first accommodating space 1A11 , a second accommodating space 1A12 , and a third accommodating space 1A13 therein.

The first temperature control unit 1A2 may be accommodated in the body housing 1A1 and configured to supply heat to the first accommodation space 1A11. For example, the first temperature control unit 1A2 includes a heater for dissipating heat, a fan for transferring heat emitted from the heater to the first storage space 1A11, and air moving through the fan into the first storage space. and a diffusion cap configured to diffuse within (1A11).

The second temperature control unit 1A3 may be accommodated in the body housing 1A1 and configured to supply cool air to the second accommodation space 1A12. For example, the second temperature control unit 1A3 includes a chiller that radiates cold air, a fan that delivers cool air emitted from the chiller to the second storage space 1A12, and air moved through the fan into the second storage space. and a diffusion cap configured to diffuse within (1A12).

The opening/closing doors 1A4 may be rotatably coupled to the body housing 1A1 to open and close the opened one surface of the body housing 1A1. For example, the opening/closing doors 1A4 may open and close the entrances of the first accommodating space 1A11 , the second accommodating space 1A12 , and the third accommodating space 1A13 , respectively. In addition, an opening/closing driving device (not shown) capable of automatically opening and closing the opening/closing doors 1A4 may be disposed on one side of the opening/closing doors 1A4.

3 is a view schematically showing the coupling structure of the tray lifting unit and the storage tray according to an embodiment of the present invention.

2 and 3, the product storage body (1A) may further include a tray lifting unit (1A5).

The tray lifting unit 1A5 is disposed in the first storage space 1A11, the second storage space 1A12, and the third storage space 1A13 to support the storage trays 1B, and is accommodated while moving in the vertical direction. It can be configured to adjust the distance between the trays (1B).

The tray lifting unit 1A5 may include tray support grooves 1A51 , an elevation guide groove 1A52 , a tray pressing cylinder 1A53 , and an elevation cylinder 1A54 .

The tray support grooves 1A51 are formed in a concave-convex structure, are formed on the inner surface of the body housing 1A1 in the vertical direction of the body housing 1A1, and may be coupled to both ends of the storage tray 1B.

The elevating guide groove 1A52 may be formed on the inner surface of the body housing 1A1 in a vertical direction of the body housing 1A1.

The tray pressure cylinder 1A53 penetrates through the tray support grooves 1A51 to press both ends of the storage tray 1B, and is raised along the lifting guide groove 1A52 to adjust the height of the storage tray 1B. can be

The lifting cylinder 1A54 may be connected to the tray pressurizing cylinder 1A53 and configured to elevate the tray pressurizing cylinder 1A53.

1 and 2 , the storage trays 1B are disposed inside the product storage body 1A, and may support the product P.

Referring to FIG. 3 , the storage tray 1B may include a tray body 1B1 having a flat plate shape, support brackets 1B2 and elastic members 1B3 .

The support brackets 1B2 are coupled to both ends of the tray body 1B1, have tray coupling grooves 1B21 having a concave-convex structure corresponding to the tray support grooves 1A51, and pressurize the tray pressing cylinder 1A53. When it is inserted into the interior of the tray body (1B1) can be separated from the tray support grooves (1A51).

The elastic members 1B3 are accommodated in the tray body 1B1, and may elastically support the support brackets 1B2.

1 and 2 , the serving camera module 1C may be disposed on the product storage body 1A, and may be configured to capture the surrounding area in real time to obtain surrounding image information.

The detection sensor 1D is disposed on the product storage body 1A, and may be configured to detect surrounding objects.

The speaker 1E is disposed on the product storage body 1A, and may be configured to transmit a voice signal to the surroundings.

The display 1F is disposed on the product storage body 1A, and may be configured to display an image.

The input unit 1G is disposed on the product storage body 1A, and may be configured to input a control command from the outside.

The electric casters 1H are disposed on the bottom surface of the product storage body 1A to support the product storage body 1A, and may be configured to move along the ground.

The serving arm 1I is disposed on the product storage body 1A, and when the serving robot 1 arrives at the delivery point, the product P stored in the storage trays 1B is taken out and the product storage box disposed at the delivery point. It may be configured to be accommodated in (L).

The serving arm 1I may include an articulated arm assembly 1I1 , an arm support plate 1I2 , and a plate lifting unit 1I3 .

The articulated arm assembly 1I1 may grip the product P stored in the storage trays 1B and transfer it to the product storage box L. For example, the articulated arm assembly 1I1 may have at least two or more joints.

The arm support plate 1I2 may support the articulated arm assembly 1I1 .

The plate elevating unit 1I3 may be disposed on the product storage body 1A and configured to elevate the arm support plate 1I2.

4 is a view schematically showing a serving arm according to an embodiment of the present invention.

4, the plate lifting unit 1I3 includes support units 1I31 spaced apart along the height direction of the product storage body 1A, and a screw shaft rotatably coupled to the support units 1I31 ( 1I32), a shaft driving motor 1I33 configured to rotate the screw shaft 1I32, and screwed to the outer surface of the screw shaft 1I32, supporting the arm support plate 1I2, and the screw shaft 1I32 may include an elevating block 1I34 for elevating the arm support plate 1I2 while moving along the outer surface of the screw shaft 1I32 during rotation.

1 and 2, the serving control unit 1J includes a product storage body 1A, a serving camera module 1C, a detection sensor 1D, a speaker 1E, a display 1F, an input unit 1G, It may be electrically connected to the electric casters 1H and the serving arm 1I, and configured to control them.

Referring to FIG. 1 , the picking robot 2 is configured to pick a product P matching product order information from a warehouse S in which the products P are stored and receive it in the serving robot 1 . do.

At this time, the picking robot 2 is configured to pick the product P by adsorbing and holding the product P.

5 is a front view showing a picking hand module according to an embodiment of the present invention.

1 and 5 , the picking robot 2 may include a picking hand module 21 , a hand transfer module 22 , a scanning unit 23 , an identification camera module 24 and a picking control unit 25 . can

The picking hand module 21 may have an adsorption unit 211 configured to adsorb the product P, and a gripping unit 212 configured to grip the product P adsorbed to the adsorption unit 211 .

6 is a side view schematically showing an adsorption unit according to an embodiment of the present invention.

5 and 6, the adsorption unit 211 is an elastic material configured to form an interface in contact with the outer surface of the product (P) plungers 2111, the plungers coupled to the ends while stretching in the front-rear direction ( 2111) is moved to communicate with the close contact cylinder 2112 and the plungers 2111 that bring the plungers 2111 into close contact with the outer surface of the product P, and when the plungers 2111 are in close contact with the outer surface of the product P It may include a suction nozzle 2113 for generating a suction force to adsorb the product (P) to the plungers (2111).

Referring to FIG. 5 , the gripper 212 is disposed parallel to the vertical direction, and is installed on vertical rails 2121 and vertical rails 2121 spaced apart from each other along the horizontal direction, and individually the vertical Vertical movement actuators 2122 configured to move along the direction, installed on the vertical movement actuators 2122, and horizontal rails 2123 arranged in parallel to the horizontal direction, installed on the horizontal rails 2123 , The horizontal movement actuators 2124, which are individually configured to move along the horizontal direction, are installed in the horizontal movement actuators 2124, and press the product P at different positions by the horizontal movement actuators 2124. The elastic gripping tips 2125 and elastic gripping tips 2125 that are configured to grip the product P are accommodated, and when the elastic gripping tips 2125 grip the product P, the elastic gripping tips 2125 of the product (P) and a gripping detection sensor 2126 configured to sense a reaction force.

1 and 5, the hand transfer module 22 is formed in a multi-joint structure, and transfers the picking hand module 21 coupled to the end to the position in which the product P matching the product order information is accommodated. can be configured to For example, the hand transfer module 22 may have at least two or more joints.

The scanning unit 23 is disposed in the picking hand module 21 and may be configured to scan a QR code including product (P) information.

The identification camera module 24 is disposed in the picking hand module 21 , and may be configured to acquire image information about the product P held by the picking hand module 21 .

The picking control unit 25 may be configured to control the picking hand module 21 , the hand transfer module 22 , the scanning unit 23 , and the identification camera module 24 .

As such, according to an embodiment of the present invention, by implementing the robot serving system 1000 that can automatically load and transport the product (P), it can be applied to a wide area such as an apartment complex or a high-rise building, and the product ( P) can be safely delivered to the destination, and labor costs are not generated when the product P is loaded and delivered, so it can have an economical effect.

Although the embodiments of the present invention have been described in more detail with reference to the accompanying drawings, the present invention is not necessarily limited to these embodiments, and various modifications may be made within the scope without departing from the technical spirit of the present invention. . Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

1000. Unmanned Robot Serving System
1. Serving robot
1A. product storage body
1A1. body housing
1A11. 1st storage space
1A12. 2nd storage space
1A13. 3rd storage space
1A2. first temperature control unit
1A3. second temperature control unit
1A4. opening and closing doors
1A5. tray lifting unit
1A51. tray support grooves
1A52. Elevation Guide Home
1A53. tray pressurized cylinder
1A54. lifting cylinder
1B. storage tray
1B1. tray body
1B2. support brackets
1B21. Tray coupling grooves
1B3. elastic members
1C. Serving Camera Module
1D. detection sensor
1E. speaker
1F. display
1G. input
1H. electric casters
1I. serving arm
1I1. articulated arm assembly
1I2. arm support plate
1I3. plate lifting unit
1I31. support units
1I32. screw shaft
1I33. shaft drive motor
1I34. lift block
1J. Serving Control
2. Picking robot
21. Picking Hand Module
211. Adsorption part
2111. Plungers
2112. Close Cylinder
2113. Suction Nozzle
212. Grip part
2121. Vertical rails
2122. Vertical movement actuators
2123. Horizontal rails
2124. Horizontal movement actuators
2125. Elastic gripping tips
2126. Phage detection sensor
22. Hand transfer module
23. Scanning unit
24. Identification camera module
25. Picking Control
P. Commodity
S. warehouse
L. Merchandise Locker

Claims (3)

a serving robot having a product stored therein and configured to transport the product to a delivery point included in the delivery location information; and
A picking robot configured to pick the product matching product order information from the warehouse in which the products are stored and receive it in the serving robot;
The picking robot picks the product by adsorbing and holding the product,
The serving robot is
A box-shaped product storage body configured to be opened and closed in part;
storage trays disposed inside the product storage body and capable of supporting the product;
a serving camera module disposed on the product storage body and configured to capture the surrounding area in real time to obtain surrounding image information;
a detection sensor disposed on the product storage body and configured to detect a surrounding object;
a speaker disposed on the product storage body and configured to transmit a voice signal to the surroundings;
a display disposed on the product storage body and configured to display an image;
an input unit disposed on the product storage body and capable of inputting a control command from the outside;
electric casters disposed on the lower surface of the product storage body to support the product storage body and configured to move along the ground;
a serving arm disposed on the product storage body and configured to, when the serving robot arrives at the delivery point, take out the product stored in the storage trays and store it in a product storage box disposed at the delivery point; and
a serving control unit configured to control the product storage body, the serving camera module, the detection sensor, the speaker, the display, the input unit, the casters, and the serving arm;
The picking robot is
a picking hand module having an adsorption unit configured to adsorb the product and a holding unit configured to grip the product adsorbed to the adsorption unit;
a hand transfer module formed in a multi-joint structure and configured to transfer the picking hand module coupled to the end to a position in which the product matching the product order information is accommodated;
a scanning unit disposed in the picking hand module and configured to scan a QR code including information about the product;
an identification camera module disposed in the picking hand module and configured to acquire image information about the product held by the picking hand module; and
a picking control unit configured to control the picking hand module, the hand transfer module, the scanning unit, and the identification camera module;
The product storage body,
a body housing having an open surface and having a first accommodating space, a second accommodating space, and a third accommodating space therein;
a first temperature control unit accommodated in the body housing and configured to supply warmth to the first storage space;
a second temperature control unit accommodated in the body housing and configured to supply cool air to the second storage space;
opening and closing doors that are rotatably coupled to the body housing and configured to open and close an opened surface of the body housing; and
a tray lifting unit disposed in the first storage space, the second storage space, and the third storage space to support the storage trays, and to adjust a distance between the storage trays while moving in a vertical direction; includes do,
The adsorption unit,
Plungers made of an elastic material configured to form an interface in contact with the outer surface of the product;
a close contact cylinder that moves the plungers coupled to the ends while expanding and contracting in the front-rear direction to bring the plungers into close contact with the outer surface of the product; and
an adsorption unit communicating with the plungers and generating a suction force when the plungers are in close contact with the outer surface of the product to adsorb the product to the plungers; and
The grip part,
Vertical rails arranged parallel to the vertical direction and spaced apart from each other in the horizontal direction;
vertical movement actuators installed on the vertical rails and configured to be individually moved along the vertical direction;
horizontal rails installed on the vertical movement actuators and arranged parallel to the horizontal direction;
horizontal movement actuators installed on the horizontal rails and configured to be individually moved along the horizontal direction;
elastic gripping tips installed on the horizontal movement actuators and configured to press and grip the product at different positions by the horizontal movement actuators; and
A gripping detection sensor accommodated in the elastic gripping tips and configured to detect a reaction force of the product applied to the elastic gripping tips when the elastic gripping tips grip the product. delete delete

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