KR102449340B1 - Robot Gripper - Google Patents

Abstract

A robot gripper is provided. The robot gripper may include at least two finger portions facing each other symmetrically; a driving unit connected to the at least two or more fingers to operate the at least two or more fingers; and a finger tip provided at the distal end of the finger unit and interlocked with the operation of the finger unit, wherein the finger unit, the driving unit, and the finger tip are each provided in plurality, and the plurality of finger units, the driving unit and the finger tip are each other. Cross-assembly may be possible.

Description

Robot Gripper

The present invention relates to a robot gripper, and more particularly, to a robot gripper that can be assembled in various shapes according to a user's request or a gripping object.

As robot technology is gradually advanced, robots are being used in various fields such as services and logistics as well as manufacturing industries, and their scope is expanding. In particular, in industrial sites, it is necessary to drive various robots, and a method for moving and working various objects is required in order to improve the efficiency of work.

Accordingly, various work tools connected to the end of the robot have been developed in order to increase the gripping efficiency. Among these, there is a demand for technology development that can perform multi-purpose work using a single gripper to achieve high efficiency at a low cost even if various grippers are not provided. In addition, there is an increasing demand for object-tailored gripping rather than fitting the object to a gripping method.

Conventional grippers sell products as finished products, so grippers must be limited from the beginning according to gripping objects, and other grippers have to be provided to grip multiple objects or to change gripping methods according to circumstances or purposes. Therefore, there is a disadvantage in that the overall cost of using the robot gripper is improved.

Unlike the conventional gripper drive, the finger braking technology fixes one gripper finger and drives only the other gripper finger to grip. have an advantage

In addition to the conventional simple jaw grippers, adaptive grippers using 4-bar linkage are sold in the market, but they provide only simple pinch, encompassing, and spread gripping methods.

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Republic of Korea Patent Publication No. 10-1469493 (2014.12.01.)

One technical problem to be solved by the present invention is to provide a robot gripper that can be assembled in various forms according to a user's request or a gripping object.

Another technical problem to be solved by the present invention is to provide a robot gripper that can move the other finger part even when one finger part is fixed.

Another technical problem to be solved by the present invention is to provide a robot gripper functioning as a multi-tool capable of operations other than gripping.

The technical problem to be solved by the present invention is not limited to the above.

In order to solve the one technical problem, the present invention provides a robot gripper.

According to an embodiment, the robot gripper may include: symmetrically facing each other and provided with at least two finger parts; a driving unit connected to the at least two or more fingers to operate the at least two or more fingers; and a finger tip provided at the distal end of the finger unit and interlocked with the operation of the finger unit, wherein the finger unit, the driving unit, and the finger tip are each provided in plurality, and the plurality of finger units, the driving unit and the finger tip are each other. Cross-assembly may be possible.

According to an embodiment, the apparatus further includes a device recognition unit, wherein the device recognition unit includes: a recognition sensor provided in each of the plurality of fingers, the driving unit, and the finger tip; and an antenna that is provided on at least one of the plurality of fingers, the driver, and the finger tip, and receives an RF signal from the recognition sensor located within a communication radius.

According to an embodiment, each of the plurality of finger parts, the driving part and the finger tip has an ID, and further comprising a database, wherein the database stores the ID previously assigned to each of the plurality of finger parts, the driving part and the finger tip. can

According to an embodiment, it further includes a control unit, the control unit comprising: an ID recognition module for recognizing IDs of the plurality of fingers, the driving unit, and the finger tip based on the RF signal received through the antenna; When IDs individually matching IDs of the plurality of fingers, driving units and finger tips stored in the database are sequentially recognized through the ID recognition module, the finger units, driving units and finger tips corresponding to the recognized IDs are assembled Assembling determination module to determine that it has been completed; and the driving unit so that the driving unit, finger unit and finger tip corresponding to the recognized ID are operated according to the parameter information and control information previously stored in the database for the driving unit, finger unit, and finger tip corresponding to the recognized ID. It may include a driving control module for controlling the.

According to one embodiment, the finger tip may be screwed after being attached to the end of the finger part through magnetic coupling.

According to an embodiment, the plurality of finger tips include a pinch grasp tip, a long tip, a scoop tip, a cross beak tip, a cut tip, a sensor tip, an over can include over dimension tips, pinch and heating tips and mechanical tips.

According to an embodiment, any one of the at least two or more finger parts is fixed, and the mechanical tip may be provided at an end of the fixed finger part.

According to an embodiment, the mechanical tip may be provided with any one of a hang-up tip, a push-pull tip, and a single air pressure tip.

According to an embodiment, the driving unit may include a motor; and a differential gear driven by the motor and differently operating the at least two or more fingers.

According to an embodiment, it further includes a slide block, wherein the slide block is connected between the at least two or more finger parts and the differential gear to linearly move at least one of the at least two or more finger parts.

According to an embodiment of the present invention, the finger portions face each other symmetrically and are provided with at least two; a driving unit connected to the at least two or more fingers to operate the at least two or more fingers; and a finger tip provided at the distal end of the finger unit and interlocked with the operation of the finger unit, wherein the finger unit, the driving unit, and the finger tip are each provided in plurality, and the plurality of finger units, the driving unit and the finger tip are each other. Cross-assembly may be possible.

Accordingly, a robot gripper that can be assembled in various shapes according to a user's request or a gripping object may be provided.

That is, according to an embodiment of the present invention, a robot gripper capable of changing the gripping method according to the driving method, the gripping method by the finger part, and the gripping method using the finger tip can be provided.

Further, according to an embodiment of the present invention, a robot gripper capable of moving the other finger part even when one finger part is fixed may be provided, and thus various functions may be provided.

In addition, according to an embodiment of the present invention, in addition to various gripping operations, a robot gripper expandable with a multi-tool may be provided as operations other than gripping using a mechanical tip are possible.

1 is a schematic diagram for explaining the characteristics of a robot gripper according to an embodiment of the present invention.
2 and 3 are schematic diagrams for explaining a finger part of a robot gripper according to an embodiment of the present invention.
4 is a schematic cross-sectional view showing a robot gripper according to an embodiment of the present invention.
5 is an exemplary view illustrating a driving unit of a robot gripper according to an embodiment of the present invention.
6 is a schematic diagram illustrating a driving unit of a robot gripper according to an embodiment of the present invention.
7 to 18 are views showing types of finger tips of a robot gripper according to an embodiment of the present invention.
19 is a block diagram illustrating a device recognition unit and a control unit of a robot gripper according to an embodiment of the present invention.
20 is a flowchart sequentially illustrating a control method of a controller in a robot gripper according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the shape and size are exaggerated for effective description of technical content.

Also, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in this specification, 'and/or' is used in the sense of including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as “comprise” or “have” are intended to designate that a feature, number, step, element, or a combination thereof described in the specification exists, but one or more other features, numbers, steps, or configurations It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in this specification, "connection" is used in a sense including both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a schematic diagram for explaining the characteristics of a robot gripper according to an embodiment of the present invention, FIGS. 2 and 3 are schematic diagrams for explaining a finger part of a robot gripper according to an embodiment of the present invention, FIG. 4 is It is a schematic cross-sectional view showing a robot gripper according to an embodiment of the present invention, FIG. 5 is an exemplary view showing a driving unit of the robot gripper according to an embodiment of the present invention, and FIG. 6 is a robot gripper according to an embodiment of the present invention is a schematic diagram for explaining a driving part of the , and FIGS. 7 to 18 are views showing types of finger tips of a robot gripper according to an embodiment of the present invention, and FIG. 19 is an apparatus of a robot gripper according to an embodiment of the present invention It is a block diagram showing a recognition unit and a control unit.

As shown in FIG. 1 , the robot gripper 200 according to an embodiment of the present invention may include a finger unit 210 , a driving unit 220 , and a finger tip 230 .

In this case, according to an embodiment of the present invention, the finger unit 210 , the driving unit 220 , and the finger tip 230 may be detachably assembled from each other.

That is, according to an embodiment of the present invention, the finger unit 210 , the driving unit 220 , and the finger tip 230 may be provided in plurality, respectively, and the plurality of finger units 210 , the driving unit 220 and the The finger tips 230 may be cross-assembled with each other to be functionally optimized.

In this case, according to an embodiment of the present invention, a unique ID may be assigned to each of the plurality of finger units 210 , the driving unit 220 , and the finger tips 230 .

Accordingly, for example, any one finger unit 210 having a specific ID, any one driving unit 220 having a specific ID, and any one finger tip 230 having a specific ID is one robot gripper ( 200), the finger unit 210, the driving unit 220, and the finger tip 230 recognize the ID assigned to the finger unit 210, the finger unit 210, the driving unit according to the parameter and control algorithm for each ID. 220 and finger tip 230 can be operated.

That is, according to an embodiment of the present invention, even if the plurality of finger parts 210, the driving part 220 and the finger tip 230 are cross-assembled according to the shape, type, and field situation of the gripping object, for example, the By recognizing the ID, it is possible to operate it according to the characteristics and functions of the assembled robot gripper 200 .

The finger part 210 may be provided on the upper side of the driving part 220 . The finger part 210 may be provided upward from the upper side of the driving part 220 .

At least two of these finger parts 210 may be basically provided to perform an operation for gripping the gripping object. Hereinafter, for convenience of description, it is assumed that the finger parts 210 are provided as a pair.

According to an embodiment of the present invention, the pair of finger parts 210 may face each other while forming symmetry. In this case, a finger tip 230 serving as a finger tip may be provided at the distal end of each finger unit 210 .

Referring to FIG. 2 , the pair of fingers 210 may be provided to be horizontally movable on the driving unit 220 . Through this horizontal movement, the distance between the finger tips 230 on both sides can be narrowed or widened. That is, the pair of finger units 210 may perform a horizontal motion on the driving unit 220 to enable, for example, a pinch grasp of both finger tips 230 with respect to a gripping object.

At this time, according to an embodiment of the present invention, the pair of fingers 210 horizontally moving on the driving unit 220 may operate differently. For example, the pair of fingers 210 may horizontally move on the driving unit 220 at different speeds.

In addition, referring to FIG. 3 , any one of the pair of finger parts 210 according to an embodiment of the present invention may be provided in a fixed form on one side of the upper surface of the driving part 220 . . In this case, the one finger part 210 may be fixed to one side of the upper surface of the driving part 220 by an electromagnetic brake or a mechanical fixing device.

In addition, the other finger part 210 of the pair of finger parts 210 is provided to be capable of horizontal movement in a direction toward or away from the fixed one finger part 210 from the other side of the upper surface of the driving part 220 . can be

In this way, a pair of finger units 210 move at different speeds on the driving unit 220 , or one finger unit 210 is fixed on the driving unit 220 while the other finger unit 210 is fixed on the driving unit 220 . ) may be moved by the driving unit 220 asymmetrically, which will be described in more detail below.

On the other hand, the pair of finger units 210 are operated by the driving unit 220, and for an object that is difficult to pinch grasp through the finger tip 230, the encompassing grasp grasps the object in the form of enveloping it. ) mode to hold the object.

In addition, when the object is provided, for example, in a hollow cylindrical shape, the pair of finger parts 210 can grip the object in a spread grasp mode of pushing or spreading from the inside of the object to both sides in the width direction. .

According to an embodiment of the present invention, a plurality of finger units 210 may be provided according to a structure, size, and shape, and an ID may be assigned to each of the plurality of finger units 210 .

The driving unit 220 is connected to a pair of finger units 210 . The driving unit 220 may operate the pair of finger units 210 or any one of the finger units 210 so that the pair of finger units 210 may grip the object. Also, the driving unit 220 may provide a base surface serving as a palm for the finger unit 210 serving as a finger.

4 and 5 , the driving unit 220 according to an embodiment of the present invention may include a motor 221 and a differential gear 222 .

The motor 221 may be disposed below the differential gear 222 to be connected to the differential gear 222 . The motor 221 may provide a driving force to the differential gear 222 . In this case, the motor 221 may be controlled by a controller ( 250 of FIG. 19 ) to be described later.

The differential gear 222 may be operated by receiving a driving force from the motor 221 . Through the differential gear 222 , even if one finger part 210 is provided in a fixed state, the other finger part 210 can be operated.

At this time, according to an embodiment of the present invention, one finger part 210 may be fixed through, for example, an electromagnetic brake or a mechanical fixing device.

Here, the robot gripper 200 according to an embodiment of the present invention may further include a slide block 260 .

The slide block 260 may be connected between the pair of fingers 210 and the differential gear 222 . The slide block 260 may move linearly by the differential gear 222 . Accordingly, the finger part 210 connected to the slide block 260 may also linearly move in the horizontal direction.

In this case, the slide block 260 may be connected to each of the pair of finger parts 210 . Here, when any one finger unit 210 is fixed, the operation of the slide block 260 connected thereto may also be constrained by any one finger unit 210 fixed thereto.

That is, the slide block 260 connected to the other non-fixed finger unit 210 may be operated by the differential gear 222 to linearly move the other finger unit 210 .

Meanwhile, referring to FIG. 6 , the driving unit 220 according to an embodiment of the present invention may be divided into a plurality of modules. For example, the driving unit 220 includes an expansion module 220A that expands the base surface, a differential gear module 220B in which the differential gear 222 is disposed, an actuator module 220C in which the motor 221 is disposed, and the robot. It may be divided into a robot connect module 220D for connection.

In this case, the expansion module 220A, the differential gear module 220B, the actuator module 220C, and the robot connect module 220D may be provided in a form in which they are stacked in one direction.

A plurality of driving units 220 according to an embodiment of the present invention may also be provided for each performance, and an ID may be assigned to each of the plurality of driving units 220 .

The finger tip 230 may be provided at the distal end of the finger part 210 . The finger tip 230 may be linked to the operation of the finger unit 210 . The finger tip 230 may be attached to the distal end of the finger part 210 through magnetic coupling and then fixed through screw coupling.

According to an embodiment of the present invention, a plurality of finger tips 230 may be provided for each function. In this case, an ID may be assigned to each of the plurality of finger tips 230 .

Referring to FIG. 7 , a cross beak tip 230a may be provided as one of the plurality of finger tips 230 . The cross beak tip 230a may be used to grip the object like a bird's beak or interdigital fingers.

Referring to FIG. 8 , a long tip 230b may be provided as another one of the plurality of finger tips 230 . The long tip 230b may be used to grip a narrow and deep object.

Referring to FIG. 9 , as another one of the plurality of finger tips 230 , a scoop tip 230c may be provided. The scoop tip 230c may be used to grip many objects at once.

Referring to FIG. 10 , a cut tip 230d may be provided as another one of the plurality of finger tips 230 . The cut tip 230d may be used to cut out the object.

Referring to FIG. 11 , as another one of the plurality of finger tips 230 , an over dimension tip 230e may be provided. The over-dimensional tip 230e may be used to efficiently grip a large-area object.

In addition, as another one of the plurality of finger tips 230 , a pinch gripping tip for a basic pinching operation may be provided.

Also, referring to FIG. 12 , according to an embodiment of the present invention, a pinch and heating tip 230f may be provided as another one of the plurality of finger tips 230 . The pinch and heating tip 230f may be used to grip and heat the object to cut or modify.

According to an embodiment of the present invention, a pressure sensor 231 and a temperature sensor 232 may be provided in the pinch and heating tip 230f. At this time, one side of the pinch and heating tip 230f provided with the temperature sensor 232 may be provided as a heating wire or a heater.

At this time, the pinch and heating tip 230f may be assembled to a pair of fingers 210 in which one is fixed and the other is operated.

Also, referring to FIG. 13 , a cut tip 230g may be provided as another one of the plurality of finger tips 230 . The cut tip 230g may be used to cut the object by scraping the floor. Unlike the cut tip 230d of FIG. 10 , the cut tip 230g may be assembled to a pair of finger parts 210 in which one is fixed and the other is operated.

Referring to FIG. 14 , as another one of the plurality of finger tips 230 , a first scoop tip 230h capable of gripping a plurality of objects may be provided. The first scoop tip 230h may be assembled to a pair of fingers 210 in which one is fixed and the other is operated.

Also, referring to FIG. 15 , as another one of the plurality of finger tips 230 , a second scoop tip 230i capable of gripping a plurality of objects may be provided. Like the first scoop tip 230h, the second scoop tip 230i may be assembled to a pair of finger parts 210 in which one is fixed and the other is operated, and the first scoop tip 230h and may be provided in a different structure.

Meanwhile, according to an embodiment of the present invention, the plurality of finger tips 230 may include mechanical tips. A mechanical tip may be provided at the distal end of the fixed finger part 210 .

Referring to FIG. 16 , for example, a hang-up tip 230j or a push-pull tip 230k may be provided as a mechanical tip. The hang-up tip 230j may be used to walk and move the object. Also, the push-pull tip 230k may be used to press or pull the object.

The hang-up tip 230j and the push-pull tip 230k may be actuated by a wire pulling or stretching action, hydraulic or pneumatic.

To this end, the robot gripper 200 according to an embodiment of the present invention includes a piston (P) provided to be operable linearly and the piston (P) and the hang-up tip (230j) or the push-pull tip (230k). It may be provided with a connection line (L) for connecting the. Here, when the piston P is provided to be capable of linear operation, it is possible to prevent line entanglement.

The wire pulling or stretching action, hydraulic pressure and pneumatic pressure generated by the piston action of the piston P may be provided to the hang-up tip 230j or the push-pull tip 230k through the connection line L. .

Accordingly, the hang-up tip 230j may perform a hang-up operation on the object, and the push-pull tip 230k may perform a pressing and pulling operation on the object.

Also, referring to FIG. 17 , a single air pressure tip 230l may be provided as a mechanical tip. A single pneumatic tip 230l may be used to move an object using pneumatic pressure.

To this end, a horizontally moving piston (P) and a connection line (L) connecting the piston (P) and the single pneumatic tip (230l) may be provided. When pneumatic pressure is applied to the single pneumatic tip 230l through the piston action of the piston P, the object is pulled to the single pneumatic tip 230l in the direction of the arrow.

Referring to FIG. 18 , as a mechanical tip, a single pneumatic tip 230m may be provided that utilizes the degree of freedom of one finger portion 120 linearly operated in the horizontal direction.

At this time, one piston P1 is provided on one finger part 120 that operates linearly and can be operated with it, and the other piston P2 is provided on the other fixed finger part 120 . can be

One piston (P1) and the other piston (P2) may be connected to each other through a connection line (L). In this case, as both finger parts 120 come closer, that is, as one finger part 120 that operates linearly in the horizontal direction moves toward the fixed finger part 120, the control amount of pulling the object increases. do.

As described above, the plurality of finger tips 230 according to an embodiment of the present invention may have the advantage of being expandable to a multi-tool as other operations other than gripping using a mechanical tip are possible in addition to various gripping operations.

Again, referring to FIG. 4 , the robot gripper 200 according to an embodiment of the present invention may further include a device recognition unit 240 .

The device recognition unit 240 may include a recognition sensor 241 and an antenna 242 . The recognition sensor 241 may be provided in each of the plurality of finger units 210 , the driving unit 220 , and the finger tips 230 . The recognition sensor 241 may store ID information previously assigned to the corresponding finger unit 210 , the driving unit 220 , and the finger tip 230 .

According to an embodiment of the present invention, the recognition sensor 241 may be formed of, for example, a Near Field Communication (NFC) tag or a Radio Frequency Identification (RFID) tag.

The antenna 242 may be provided on any one of a plurality of finger parts 210 , a driving part 220 , and a finger tip 230 to be assembled into one robot gripper 200 .

The antenna 242 may receive an RF signal from the recognition sensor 242 located within a communication radius.

Referring to FIG. 19 , the robot gripper 200 according to an embodiment of the present invention may further include a database DB.

The database DB may store IDs previously assigned to each of the plurality of finger units 210 , the driving unit 220 , and the finger tips 230 .

Also, according to an embodiment of the present invention, the database DB may further store parameters and control algorithms for each corresponding ID.

For example, when an ID of “A” is assigned to any one finger unit 210 , the database DB may store the ID “A”, and the finger unit 210 corresponding to the ID “A”. ) of parameters and control algorithms can be stored.

Continuingly, referring to FIG. 19 , the robot gripper 200 according to an embodiment of the present invention may further include a controller 250 .

The control unit 250 may include an ID recognition module 251 , an assembly determination module 252 , and a driving control module 253 .

The ID recognition module 251 may recognize the IDs of the plurality of finger units 210 , the driver 220 , and the finger tip 230 based on the RF signal received through the antenna 242 .

The assembly determination module 252 recognizes the IDs individually matched with the plurality of finger units 210 , the drive unit 220 , and the finger tips 230 stored in the database DB through the ID recognition module 251 , sequentially. In this case, it may be determined that the finger unit 210 , the driving unit 220 , and the finger tip 230 corresponding to the recognized ID are in an assembled state.

For example, when the antenna 242 is installed in the driving unit 220 , the ID of the driving unit 220 in which the antenna 242 is installed, any one finger unit 210 among the plurality of finger units 210 . ID of and the ID of any one of the plurality of finger tips 230 are sequentially recognized through the ID recognition module 251, the recognized ID of the driving unit 220, the ID of the finger unit 210 And when the control algorithm for the gripper 200 assembled with IDs matching the ID of the finger tip 230 is stored in the database DB, the assembly determination module 252 is a driving unit corresponding to the recognized IDs. It may be determined that 220 , the finger portion 210 , and the finger tip 230 are actually assembled.

When it is determined that the driving unit 220, the finger unit 210, and the finger tip 230 corresponding to the recognized IDs are assembled through the assembly determination module 252, the driving control module 253 determines the recognized For the driving unit 220, finger unit 210, and finger tip 230 corresponding to IDs, the types, heights, When the parameter information regarding specifications such as size and the like and these parts are assembled to form the gripper 200, the control information for the gripper 200, that is, the driving unit 220 corresponding to the recognized IDs according to the control algorithm, ), the finger unit 210 and the finger tip 230 may be controlled to operate the driving unit 220 .

Hereinafter, an operation of the control unit according to an embodiment of the present invention will be described with reference to FIG. 20 .

20 is a flowchart sequentially illustrating a control method of a controller in a robot gripper according to an embodiment of the present invention.

Referring to FIG. 20 , first, the controller may check the connection of the antenna (S11).

For example, the control unit may check the connection state between the antennas 1 to n and the plurality of driving units, the fingers, and the recognition sensors ( 241 of FIG. 19 ) mounted on each of the finger tips.

Then, the control unit can recognize the ID assigned to the driving unit through the antenna (S12).

For example, the controller may recognize IDs assigned to the drivers 1 to n through the antennas 1 to n. In this case, the control unit may recognize the ID of the driving unit 1, recognize the ID of the driving unit 2, or recognize the ID of the driving unit 3 through the antenna 1 .

Then, the control unit can recognize the ID assigned to the finger unit through the antenna (S13).

For example, the controller may recognize IDs assigned to the finger units 1 to n through the antennas 1 to n. In this case, the control unit may recognize the ID of the finger unit 1, recognize the ID of the finger unit 2, or recognize the ID of the finger unit 3 through the antenna 1.

The finger units 1 to n may be assembled with any one driving unit among the driving units 1 to n.

Then, the controller can recognize the ID assigned to the finger tip through the antenna (S14).

For example, the control unit may control, through antenna 1 to antenna n, finger tip 1-1 to finger tip 1-4, finger tip 2-1 to finger tip 2-4, finger tip 3-1 to finger tip 3-4 and IDs assigned to the finger tips n-1 to n-4 may be recognized.

In this case, the finger tips 1-1 to 1-4 may be assembled with the finger part 1 . The finger tips 2-1 to 2-4 may be assembled with the finger part 2 . In addition, the finger tip 3-1 to the finger tip 3-3 may be assembled with the finger part 3 . In addition, the finger tip n-1 to the finger tip n-4 may be assembled with the finger part n.

Then, the control unit may check the gripper combination (S15). That is, when the ID of the driving unit that can be assembled with each other, the ID of the finger unit, and the ID of the finger tip are sequentially recognized through the antenna, the control unit may determine that the gripper is assembled.

Next, the controller may apply parameters of the driving unit, the finger unit, and the finger tip, which are components corresponding to the recognized ID (S16).

For example, when it is determined that the driving unit 1, the finger unit 1, and the finger tip 1-1 are assembled through ID recognition, the control unit may apply the component parameter 1 indicating their specifications.

In addition, when it is determined that the driving unit 2, the finger unit 2, and the finger tip 2-1 are assembled through ID recognition, the control unit may apply the component parameter 2 indicating their specifications.

In addition, when it is determined through ID recognition that the driving unit 3, the finger unit 3, and the finger tip 3-1 are assembled, the control unit may apply the component parameter 3 indicating their specifications.

That is, when it is determined through ID recognition that the driving unit n, the finger unit n, and the finger tip n-1 are assembled, the control unit may apply the component parameter n indicating their specifications.

Then, the control unit may apply the control algorithm to operate the assembled robot gripper.

For example, the control unit may apply the control algorithm 1 to the robot gripper to which the component parameter 1 is applied to operate.

In addition, the control unit may operate by applying the control algorithm 2 to the robot gripper to which the component parameter 2 is applied.

In addition, the control unit may operate by applying the control algorithm 3 to the robot gripper to which the component parameter 3 is applied.

That is, the controller may operate the robot gripper to which the component parameter n is applied by applying the control algorithm n.

As such, in the robot gripper according to an embodiment of the present invention, any one of the plurality of driving units may be selected, any one of the plurality of finger units may be selected, and the selected one of the plurality of finger tips may be selected. Any one finger tip that can be assembled with the finger part may be selected.

Accordingly, a change in a gripping method according to a driving method, a change in a gripping method by a finger unit, and a change in a gripping method using a finger tip may be possible.

That is, the robot gripper according to an embodiment of the present invention may be assembled in various forms according to a user's request or a gripping object, and through this, it may be used in various industries and services.

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the present invention.

200: robot gripper
210; finger part
220; drive
221; motor
222; differential gear
230; finger tip
240; device recognition unit
241; recognition sensor
242; antenna
250; control
251; ID recognition module
252; Assembly judgment module
253; drive control module
260; slide block

Claims (10)

Finger portions facing each other symmetrically and provided with at least two;
a driving unit connected to the at least two or more fingers to operate the at least two or more fingers; and
A finger tip provided at the distal end of the finger unit and interlocked with the operation of the finger unit; including,
Each of the finger part, the driving part and the finger tip is provided in plurality,
The plurality of finger parts, driving parts and finger tips can be cross-assembled with each other,
The driving unit,
motor; and
and a differential gear driven by the motor and configured to operate the at least two or more fingers differently from each other.
The method of claim 1,
It further comprises a device recognition unit,
The device recognition unit,
a recognition sensor provided on each of the plurality of fingers, the driving unit, and the finger tip; and
The robot gripper, which is provided on at least one of the plurality of fingers, the driving unit, and the finger tip, and includes an antenna for receiving an RF signal from the recognition sensor located within a communication radius.
3. The method of claim 2,
Each of the plurality of finger parts, driving parts and finger tips has an ID,
further comprising a database,
The database stores the ID previously assigned to each of the plurality of fingers, the driving unit and the finger tip, the robot gripper.
4. The method of claim 3,
It further comprises a control unit,
The control unit is
an ID recognition module for recognizing IDs of the plurality of fingers, driving units, and finger tips based on the RF signal received through the antenna;
When IDs individually matching IDs of the plurality of fingers, driving units and finger tips stored in the database are sequentially recognized through the ID recognition module, the finger units, driving units and finger tips corresponding to the recognized IDs are assembled Assembling determination module to determine that it has been completed; and
With respect to the driving unit, the finger unit, and the finger tip corresponding to the recognized ID, the driving unit is configured to operate the driving unit, the finger unit, and the finger tip corresponding to the recognized ID according to the parameter information and control information previously stored in the database. A robot gripper comprising a drive control module to control.
The method of claim 1,
The finger tip is attached to the distal end of the finger portion through magnetic coupling and then screwed together.
The method of claim 1,
The plurality of finger tips include a pinch grasp tip, a long tip, a scoop tip, a cross beak tip, a cut tip, a sensor tip, an over dimension tip. , a robotic gripper comprising a pinch and heating tip and a mechanical tip.
7. The method of claim 6,
Any one of the at least two or more finger parts is fixed,
wherein the mechanical tip is provided at the distal end of the fixed finger portion.
8. The method of claim 7,
wherein the mechanical tip is provided with any one of a hang-up tip, a push-pull tip and a single air pressure tip.
Finger portions facing each other symmetrically and provided with at least two;
a driving unit connected to the at least two or more fingers to operate the at least two or more fingers; and
A finger tip provided at the distal end of the finger unit and interlocked with the operation of the finger unit; including,
Each of the finger part, the driving part and the finger tip is provided in plurality,
The plurality of finger parts, driving parts and finger tips can be cross-assembled with each other,
It further comprises a device recognition unit,
The device recognition unit,
a recognition sensor provided on each of the plurality of fingers, the driving unit, and the finger tip; and
It is provided on at least one of the plurality of fingers, the driving unit and the finger tip, and includes an antenna for receiving an RF signal from the recognition sensor located within a communication radius,
Each of the plurality of finger parts, driving parts and finger tips has an ID,
further comprising a database,
The database stores the ID previously assigned to each of the plurality of finger units, driving units, and finger tips,
It further comprises a control unit,
The control unit is
an ID recognition module for recognizing IDs of the plurality of fingers, driving units, and finger tips based on the RF signal received through the antenna;
When IDs individually matching IDs of the plurality of fingers, driving units and finger tips stored in the database are sequentially recognized through the ID recognition module, the finger units, driving units and finger tips corresponding to the recognized IDs are assembled Assembling determination module to determine that it has been completed; and
With respect to the driving unit, the finger unit, and the finger tip corresponding to the recognized ID, the driving unit is configured to operate the driving unit, the finger unit, and the finger tip corresponding to the recognized ID according to the parameter information and control information previously stored in the database. A robot gripper comprising a drive control module to control.
The method of claim 1,
It further comprises a slide block,
The slide block is connected between the at least two or more finger parts and the differential gear to linearly move at least one of the at least two or more finger parts.

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