KR20200015033A - Grip apparatus and grip robot having the same - Google Patents

Abstract

The present invention provides a grip device and a grip robot having the same. According to an embodiment of the present invention, the grip device can reduce damage to a gripped object and efficiently maintain a grip to prevent the gripped object from being separated. The grip device also can grip various shapes of the gripped objects. The grip device includes a first flexible cover unit, first powder, a first vacuum pressure generating unit, and a first flexible support unit. The first flexible cover unit has: a grip surface to which a target object to be gripped is attached; and a reference surface making a pair with the grip surface. The first flexible cover unit also has a first accommodation space on the inner side. The first powder is filled in the first accommodation space and is deformed in accordance with the shape of the attached target object to be griped. The first vacuum pressure generating unit is connected to the first flexible cover unit and enables the first flexible cover unit to be contracted by sucking air in the first accommodation space. The first vacuum pressure generating unit also enables the first powder deformed by corresponding to the shape of the target object to be gripped to be pressed and fixed by the first flexible cover unit contracted so that the target object to be gripped is gripped by the first flexible cover unit. Moreover, the first flexible support unit is attached to the reference surface and supports the first flexible cover unit while being deformed with the first flexible cover unit when the first flexible cover unit is deformed by being pressed by the target object to be gripped.

Description

GRIP APPARATUS AND GRIP ROBOT WITH THE SAME {GRIP APPARATUS AND GRIP ROBOT HAVING THE SAME}

The present invention relates to a grip device and a grip robot having the same, and more particularly, to reduce the damage of the gripped object and to effectively hold the grip so that the gripped object is not separated, the grip device capable of gripping various types of gripped object and the same The branch relates to the grip robot.

In general, a collaborative robot refers to a manufacturing robot that can be collaborated in a space such as a human being with enhanced safety functions for an industrial robot.

Since collaborative robots can be easily relocated, there is a significant increase in production flexibility compared to existing industrial robots. Accordingly, collaborative robots are being developed in various forms, such as a short-sized collaborative robot and a two-armed collaborative robot.

However, despite the urgent need to automate picking tasks for various types of parts and cargoes due to the increasing demand for logistics automation, the existing collaborative robot technology has a gripper in the form of a robot hand driven by a motor that looks after the human hand. Mostly. However, in order to realize the shape of a human hand, a configuration of an actuator, a rotation driving link, or the like must be provided for each part corresponding to each finger, and a configuration is complicated because a control device for controlling each actuator is required. And the control system for integrating them is also complicated.

In the case of a conventional gripper for robots, it is often difficult to catch objects of various shapes and materials. Because, in general, each robot has a limited number of objects that can be caught, and each gripper for each object must be purchased and combined, and accordingly, the controller has to be tuned to the object.

In particular, in the case of atypical flexible objects such as vegetables, there is a need for a technique for minimizing damage to the gripped object by using minimal force at the time of grasping, and effectively holding the gripped object so that the gripped object does not escape after the grip. In addition, minimizing the force that can be additionally applied to the gripped object in the case of moving in the gripped state, such as to minimize the damage of the gripped object, and various types of grip of the object without being limited to the size of the object Possible skills are required.

Republic of Korea Patent Publication No. 2012-0126576 (Nov. 21, 2012)

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

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention includes a first flexible cover portion having a first holding space on the inside having a reference surface paired with the holding surface, the holding surface is in close contact with the target holding object; A first powder body filled in the first accommodation space and deformed to correspond to a shape of the target gripping object in close contact with the first holding space; The first flexible cover part is connected to the first flexible cover part, sucks air in the first accommodation space to contract the first flexible cover part, and is deformed to correspond to the shape of the target gripping object by the contracted first flexible cover part. A first vacuum pressure generating unit configured to compress the fixed first powder body so that the target gripping object is gripped by the first flexible cover unit; And a first flexible support part provided to be in close contact with the reference surface and supporting the first flexible cover part while being deformed together when the first flexible cover part is pressed by the target holding object and deformed.

In an embodiment of the present invention, the first flexible space is provided in the first accommodation space, is formed to have a first pore of a size smaller than the size of the first powder body, and accommodates the first powder body inside It may further include a pocket portion.

In an embodiment of the present invention, the first flexible pocket portion may have a plurality of partitions to be uniformly distributed and accommodated in the first powder body accommodated therein.

In an embodiment of the present invention, the first vacuum pressure generating unit has a first suction pipe extending inwardly of the first accommodation space to suck air in the first accommodation space, and one end of the first suction pipe has the first suction pipe. 1 Can be connected to the flexible pocket part.

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

On the other hand, in order to achieve the above technical problem, one embodiment of the present invention is provided with at least one pair, each of the first fixed frame provided at one end is operated to move closer or farther from each other; A grip device coupled to the first fixed frame and provided with the gripping surface facing each other; And it provides a grip robot comprising a flexible joint for connecting the arm and the first fixed frame, the first fixed frame is rotated relative to the arm, the fixed grip device is rotated.

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

In the embodiment of the present invention, the second flexible space is provided in the second accommodation space, is formed to have a second pore size smaller than the size of the second powder body, the second flexible to accommodate the second powder body inside It may further include a pocket portion.

In the embodiment of the present invention, the flexible joint is provided to be in close contact with the outer circumferential surface of the second flexible cover portion, and the second flexible cover portion is deformed together when deformed while supporting the second flexible cover portion and A second fixing frame may be further provided on an outer circumferential surface of the second flexible support part to support the second flexible support part.

According to an embodiment of the present invention, by providing a first flexible support part to support the first flexible cover part, by reducing the amount of the first powder by reducing the thickness of the first flexible cover part, The pressing force by the target gripping object can be effectively applied. Through this, deformation of the first powder body by the target gripping object may be more effectively performed, and gripping of the target gripping object may be possible by using a relatively small force. In addition, since the target gripping object can be gripped using a relatively small force, even if the target gripping object is an object that can be easily broken, gripping can be possible while minimizing damage.

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

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

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

Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to be "connected" (connected, contacted, coupled) with another part, it is not only "directly connected" but also "indirectly connected" with another member in between. Also includes the case where In addition, when a part is said to "include" a certain component, this means that unless otherwise stated, it may further include other components rather than excluding the other components.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms “comprise” or “have” are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

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

1 is an exemplary view showing a grip device according to an embodiment of the present invention, Figure 2 is a plan view showing a center of the first flexible pocket portion of the grip device according to an embodiment of the present invention, Figure 3 Cross-sectional view showing a grip device according to an embodiment of the present invention.

As shown in FIGS. 1 to 3, the grip device 100 includes a first flexible cover part 110, a first powder body 120, a first vacuum pressure generating part 130, and a first flexible support part 140. It may include.

The first flexible cover part 110 forms one side of the first flexible cover part 110 and forms the gripping surface 111 to which the target gripping object is in close contact, and the other side surface of the first flexible cover part 110. It may have a reference surface 112 to mate with the gripping surface 111, it may have a first receiving space 113 on the inside.

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

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

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

When the target gripping object is pressed against the first flexible cover part 110, the first powder body 120 may be deformed to correspond to the shape of the target gripping object being pressed. Here, the first powder 120 is deformed means that the shape is deformed while the powder is pushed by the target holding object being pressed.

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

When air in the first accommodation space 113 is sucked by the first vacuum pressure generating unit 130, the first flexible cover part 110 may be contracted. As the first flexible cover part 110 is contracted while the air in the first accommodating space 113 escapes, the first powder body 120 may be compressed and firmly fixed. As will be described later, if the first vacuum pressure generating unit 130 sucks air in the first accommodation space 113 in a state where the target gripping object is pressed on the grip surface 111, the first powder body 120 is pressurized. As the first flexible cover part 110 contracts in a state where the shape is deformed by the target gripping object, the first flexible cover part 110 is compressed to each other, and the first powder body 120 and the first flexible cover part 110 are hardened. That is, as the target holding object is pressed against the holding surface 111, the deformed first powder body 120 hardens in a deformed state, and thus, the target holding object pressed against the holding surface 111 may be first flexible. Gripping may be performed by the cover 110.

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

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

A lower portion of the first flexible cover unit 110 may further include a frame (not shown) for supporting the first flexible cover unit 110.

On the other hand, the grip device 100 may further include a first flexible pocket portion 150.

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

The first pore 151 may be formed to have a size smaller than the size of the first powder body 120, so that the first powder body 120 accommodated in the first flexible pocket 150 is the first pore ( 151 may not leak through.

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

The first flexible pocket 150 may have a partition 153. The partition 153 may be provided in plural, and the partition 153 may be partitioned by, for example, the sewing line 154.

The first powder body 120 may be accommodated in each partition portion 153, whereby the first powder body 120 may be uniformly distributed throughout the first flexible pocket part 150.

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

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

As the air in the first accommodating space 113 exits through the first suction pipe 131, the first powder body 120 is compressed to each other, and the first powder body 120 is connected to the partition 153. Since it is partitioned and accommodated, the first powder body 120 can be prevented from being partially agglomerated in the process of compressing the first powder body 120, and is uniformly distributed throughout the first flexible pocket part 150. Can be distributed.

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

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

As shown in FIG. 4A, the target gripping object M is pressed against the gripping surface 111 of the first flexible cover part 110 in the initial state before the suction force is provided in the first accommodation space 113. In this case, the first powder body 120 pressed by the pressing force F at this time is deformed in correspondence with the target gripping object M. FIG. At the same time, the shape of the first flexible cover part 110 and the first flexible pocket part 150 may also be modified to correspond to the shape of the target gripping object M. The shape of the first flexible support part 140 may also be pressed. It can be modified.

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

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

In addition, the sum of the distributed pressing force f1 applied to the first flexible cover part 110, the first flexible pocket part 150, and the first flexible support part 140 is the pressing force F of FIG. 4A. May be equal to). Therefore, even if additional pressing force is provided after the target gripping object M is gripped, since the additionally provided forces are distributed in a small size, deformation of the first powder body 120 may be minimized. Through this, the first powder body 120 whose shape is deformed to correspond to the shape of the target gripping object M may be stably maintained, and the gripping of the target gripping object M may be stably maintained.

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

5 is an exemplary view for comparing and explaining a grip device according to an embodiment of the present invention. FIG. 5A illustrates only the first flexible cover part 10 at a height corresponding to the combined height of the first flexible cover part 110 and the first flexible support part 140 shown in FIG. 5B. The case is shown.

As shown in (a) of FIG. 5, the thicker the first flexible cover part 10 is, the greater the amount of the first powder body is accommodated. Thus, in order to deform the first powder body 120, a relatively large force is required. This is necessary.

That is, the force exerted by the target gripping object M is a force f2 for deforming the first powder body in a portion close to the target gripping object M in the first flexible cover part 10, and the target gripping object. It should be used as a force f3 for deforming up to the first powder body of the part far from (M). Therefore, the force f2 applied to the portion close to the target gripping object M is difficult to have a sufficient magnitude, and thus, the shape deformation of the first powder body close to the target gripping object M may not be effectively performed. have. That is, since the first powder body 120 of the portion close to the target gripping object M is not effectively deformed in a form corresponding to the target gripping object M, a suction force is then provided to provide the first powder body 120. Even if it is firm and hardened, the gripping force for holding the target gripping object M may be limited.

However, as shown in FIG. 5B, the thickness of the first flexible cover part 110 is reduced to reduce the amount of the first powder body 120, and the first flexible support part 140 is provided to provide a first thickness. By adopting the structure supporting the flexible cover part 110, the pressing force F by the target holding object M is effectively applied to the first powder body 120 accommodated in the thickness direction of the first flexible cover part 110. Can be applied. Therefore, when it is assumed that the pressing force F having the same magnitude as that of FIG. 5A is provided by the target gripping object M, the deformation of the first powder body 120 is made more effective, so that the target gripping object ( The adhesion area in close contact with M) may be larger, and a more firm grip may be possible.

That is, the target gripping object M may be gripped using a relatively small force, and the target gripping object M may be broken when a large pressing force is applied because of the use of a relatively small force. Even gripping may be possible with minimal damage.

The first flexible support part 140 may support the first flexible cover part 110 to help the deformation of the first flexible cover part 110 to be made more effectively.

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

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

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

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

The arm 200 may be provided with at least one pair, and each end of the arm 200 may be provided with a first fixing frame 210. The arm 200 may operate such that each of the first fixed frames 210 is close to or far from each other.

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

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

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

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

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

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

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

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

The second flexible pocket 350 may be provided in the second accommodation space 321 and may be formed to have a second pore 351 having a size smaller than that of the second powder body 330. In addition, the second flexible pocket portion 350 may accommodate the second powder body 330 therein. The second flexible pocket 350 may be formed in the same configuration as the first flexible pocket 150, and the second suction pipe 341 may be connected to the second flexible pocket 350.

As shown in FIG. 7A, when the grip device 100 is positioned at both sides of the target gripping object M, and the arm 200 is moved to the target gripping object M, the grip device 100 is moved. The target gripping object M can be pressed from both sides. In this state, when the suction force is provided through the first suction pipe 131 by the first vacuum pressure generating unit 130 as described above, the first flexible cover part 110 may grip the target gripping object M. Can be.

At this time, even if the target gripping object M is an irregular shape or a flexible object, as shown in FIG. 7B, the flexible joint 300 is deformed so that the grip device 100 may have the target gripping object M. FIG. It is possible to maintain a stable holding.

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

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

9 is a cross-sectional view showing the center of the flexible joint of the grip robot according to another embodiment of the present invention. In the present embodiment, the configuration of the second flexible support part 360 and the second fixing frame 370 may be further included. Since the other configurations are the same as those of the first embodiment, the repeated content is omitted as much as possible.

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

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

The second fixing frame 370 may be provided on an outer circumferential surface of the second flexible support part 360 to support the second flexible support part 360.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may 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 exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

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

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

Claims (9)

A first flexible cover part having a gripping surface to which a target gripping object is in close contact with a gripping surface and a reference surface paired with the gripping surface and having a first accommodation space therein;
A first powder body filled in the first accommodation space and deformed to correspond to a shape of the target gripping object in close contact with the first holding space;
The first flexible cover part is connected to the first flexible cover part, sucks air in the first accommodation space to contract the first flexible cover part, and is deformed to correspond to the shape of the target gripping object by the contracted first flexible cover part. A first vacuum pressure generating unit configured to compress the fixed first powder body so that the target gripping object is gripped by the first flexible cover unit; And
And a first flexible support part provided to be in close contact with the reference surface and supporting the first flexible cover part while being deformed together when the first flexible cover part is pressed by the target holding object and deformed. The method of claim 1,
It is provided in the first accommodation space, is formed to have a first pore size smaller than the size of the first powder body, characterized in that it further comprises a first flexible pocket for accommodating the first powder body therein; Grip device. The method of claim 2,
And the first flexible pocket part has a plurality of partitions to uniformly distribute the first powder body accommodated therein. The method of claim 2,
The first vacuum pressure generating unit has a first suction pipe extending inwardly of the first accommodation space to suck air in the first accommodation space,
One end of the first suction pipe is connected to the first flexible pocket portion, characterized in that the grip device. The method of claim 1,
Grip device characterized in that the uneven portion is further formed on the support surface of the first flexible support portion in close contact with the reference surface. An arm provided with at least one pair, the first fixing frame provided at each one end thereof moving closer or farther from each other;
The grip device described in any one of claims 1 to 5, wherein the first flexible support portion is coupled to the first fixing frame and provided with the gripping surface facing each other; And
And a flexible joint connecting the arm and the first fixing frame, allowing the first fixing frame to rotate relative to the arm, and allowing the rotated grip device to be fixed. The method of claim 6,
The flexible joint
Forming a body, one side is coupled to the arm, the other side is the elastic body portion coupled to the first fixed frame,
A second flexible cover part provided to surround the elastic body part and having a second accommodation space therein;
A second powder body filled in the second accommodation space;
The second flexible cover part is connected to the second flexible cover part and sucks air in the second accommodation space so that the second flexible cover part is contracted. Grip robot, characterized in that it has a second vacuum pressure generating portion for fixing the elastic body portion. The method of claim 7, wherein
It is provided in the second accommodation space, is formed to have a second pore size smaller than the size of the second powder body, characterized in that it further comprises a second flexible pocket for accommodating the second powder body therein; Grip robot. The method of claim 7, wherein
The flexible joint
A second flexible support part provided to be in close contact with the outer circumferential surface of the second flexible cover part and supporting the second flexible cover part while being deformed together when the second flexible cover part is deformed;
And a second fixing frame provided on an outer circumferential surface of the second flexible support part to support the second flexible support part.

Images