KR20200048950A - Gripper for an irregular object - Google Patents

Abstract

An object of the present invention relates to a gripper for gripping an atypical object, which has an atypical shape and effectively grips the atypical object such as a natural object which can be deformed when gripping, while minimizing damage to the object. The gripper for gripping the atypical object comprises: a jig unit; and a plurality of finger units connected to the lower surface of the jig unit and directly gripping the object located therein. Each of the finger units includes a fixation unit, an inside unit, an outside unit, and a hollow unit. The fixation unit is fixed to the lower surface of the jig unit, an opening unit is formed therein. The inside unit extends downward from the fixation unit and faces the object inside. The outside unit protrudes to the opposite side to the inside unit and expands according to provision of a pneumatic pressure. The hollow unit includes: a central conduit extending from the opening unit and penetrating the center of the finger unit; and an extended conduit extending from the central conduit to the outside unit.

Description

GRIPPER FOR AN IRREGULAR OBJECT

The present invention relates to a gripper, and more specifically, in gripping an atypical object such as a natural object that is irregular in shape and can be deformed when grasping, by simulating a method of holding a human object to minimize damage to the object and to grip it It relates to a gripper for gripping atypical objects.

With the development of robot technology, industrial fields mainly applied to industrial robots are expanding, and since these industrial robots are required motions for gripping objects, grippers that directly grasp objects mounted on industrial robots are also in various forms. Is being developed.

On the other hand, the types of objects to be gripped by such industrial robots are various, but it is common to repeatedly grip objects having a generally shaped shape. Accordingly, as in Korean Patent Registration No. 10-1641204, the gripper is also standardized. It has been developed as a form for effectively holding a shaped object.

However, as the field of application of robots is expanded, fields of application that require gripping of objects having an unstructured shape, that is, an irregular shape, are emerging. For example, in the case of the food field, agricultural and marine products, such as fish and squid, do not have a standardized form, and when gripping the object, the form is deformed, thereby causing damage to the object. Accordingly, a gripper that performs gripping on an irregularly shaped object should be developed in a form that minimizes damage to the object along with natural gripping on the irregularly shaped object.

Therefore, it is impossible to apply the gripper applied to the gripping for the conventionally shaped object to the gripping of the object having the irregular shape, and there is a need for the development of a gripper for gripping the object in a new concept.

Republic of Korea Registered Patent No. 10-1641204

Accordingly, the technical problem of the present invention is conceived in this regard, and the object of the present invention is that the shape is atypical and effectively grips an atypical object such as a natural object that can be deformed when grasping, but atypical that can minimize damage to the object. It relates to a gripper for gripping an object.

The gripper for gripping an atypical object according to an embodiment for realizing the object of the present invention includes a jig unit and a plurality of finger units connected to a lower surface of the jig unit to directly grip an object located therein. Includes. Each of the finger units includes a fixing portion, an inner portion, an outer portion, and a hollow portion. The fixing portion is fixed to the lower surface of the jig portion, an opening is formed. The inner portion extends downward from the fixing portion and faces the object inside. The outer portion protrudes to the opposite side to the inner portion and expands according to the provision of pneumatic pressure. The hollow portion includes a central conduit extending from the opening and penetrating the center of the finger unit, and an extended conduit extending from the central conduit to the outer portion.

In one embodiment, it is connected to the opening, it may further include a pneumatic providing unit for providing the air pressure to the central conduit and the extension conduit or to remove the provided air pressure.

In one embodiment, as the pneumatic pressure is provided to the extension conduit, the outer portion expands, and the inner portion may approach the object inside.

In one embodiment, the outer portion may include a plurality of bellows or bellows.

In one embodiment, the extension conduit may extend inside each of the bellows or bellows.

In one embodiment, the central conduit may include a plurality of central portions that are partitioned from each other and extend from the opening, so that the pneumatics are provided separately from each other.

In one embodiment, the extension conduit includes a plurality of extensions, and at least one of the extensions is connected to any one of the central parts in a group to receive the pneumatic pressure at the same time.

In one embodiment, only the outer portion where the extended portions connected to the central portions provided with the pneumatics are located expands, so that only the inner side opposite to the expanded outer portion can be approached toward the object.

In one embodiment, the inner portion may include a plurality of protrusions formed at predetermined intervals.

In one embodiment, each of the finger units may further include a sensor unit provided in the inner portion to measure the force gripping the object.

According to embodiments of the present invention, the outer portion expands in accordance with the provision of pneumatic pressure, and the inner portion approaches the object and grips the object. In this case, the force directed to the object may be variously controlled according to the size of the provided pneumatic pressure. It is possible to effectively grip an irregular object having various shapes.

That is, it is moved by a control logic by a predetermined distance, and does not grip the object, and provides a pneumatic pressure that can be controlled to change continuously, thereby enabling various control of the gripping force on the object. When gripping this atypical object, a mechanism for applying a force is simulated, thereby enabling effective gripping on the atypical object. In this case, when it is determined that the gripping of the object is sufficient, by stopping the provision of additional pneumatic pressure, it is possible to minimize damage to the object by not providing excessive gripping force to the gripped object.

In particular, since the inner portion is provided with a sensor unit for measuring the gripping force, feedback control can be performed to have an optimal gripping force.

In this case, the outer portion is provided with an extension conduit that can be provided with pneumatic pressure inside, and includes bellows or bellows that expand according to the provision of pneumatic pressure, so the inner portion naturally approaches the inner object according to the expansion of the outer portion, It is easy to perform gripping on internal objects without applying additional control algorithms.

On the other hand, the central conduit includes a plurality of central portions, and the extended conduit also includes a plurality of extensions divided into at least one group connected to any one of the central portions, so that pneumatic pressure is selectively applied to only some of the extended conduits. Can be provided. As a result, only the outer portion of the extension conduit provided with pneumatic pressure can be selectively expanded, so that only the inner portion corresponding to the expanded outer portion approaches the object.

As described above, by controlling the inner portion to approach the object selectively, the inner portion contacting the real object can be variously selected, and accordingly, optimal gripping is performed in consideration of various geometric features of the atypical object. It becomes possible.

1 is a perspective view showing a gripper for gripping atypical objects according to an embodiment of the present invention.
FIG. 2 is a perspective view showing the finger unit of FIG. 2.
3 is a cross-sectional view taken along line II ′ of FIG. 2.
4A is a cross-sectional view showing a state in which air pressure is not provided to the finger unit of FIG. 1, and FIG. 4B is a cross-sectional view showing a state in which air pressure is provided to the finger unit of FIG. 2.
5A is a perspective view showing a state in which air pressure is not provided to the gripper of FIG. 1, and FIG. 5B is a perspective view showing a state in which air pressure is provided to the gripper of FIG. 1.
6 is a cross-sectional view showing a finger unit of a gripper for gripping an irregular object according to another embodiment of the present invention.
7 is a cross-sectional view showing a state in which air pressure is provided only to the third central conduit of the finger unit of FIG. 6.

The present invention can be applied to various changes and can have various forms, and the embodiments are described in detail in the text. However, this is not intended to limit the present invention to a specific disclosure form, and it should be understood as including all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used for similar components. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from other components. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as “comprise” or “consist of” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and that one or more other features are present. It should be understood that the existence or addition possibilities of fields or numbers, steps, actions, components, parts or combinations thereof are not excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms, such as those defined in a commonly used dictionary, should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

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

1 is a perspective view showing a gripper for gripping atypical objects according to an embodiment of the present invention.

Referring to FIG. 1, the gripper 10 for gripping atypical objects according to the present embodiment (hereinafter referred to as a gripper) is similar in shape to an aquatic product such as aquatic products such as fish and agricultural products such as tangerine or tomato. The exact shape can be used to grip different so-called, atypical objects. However, the use is not necessarily limited to only the gripping of the atypical object, and of course, the gripping of the object having the normalized shape can also be performed.

The gripper 10 includes a jig unit 100 and a plurality of finger units 200.

The jig portion 100 forms an upper portion of the gripper 10 and is illustrated as having a circular plate shape, but the shape can be variously modified.

In addition, as illustrated in FIGS. 4A and 4B to be described later, the gripper 10 further includes a pneumatic providing unit 300 that provides air pressure, and the pneumatic providing unit 300 is the jig unit 100 It is connected to the top surface.

Furthermore, although not shown, in addition to the pneumatic providing unit 300, various auxiliary units for performing the operation of the gripper 10 may be connected to the upper portion of the jig unit 100, and as a part of an industrial or household robot If the gripper 10 is used, the jig portion 100 may be directly connected to the body or arm portion of the robot.

The finger units 200 are connected to the lower portion of the gripper 10 and directly grip an object (not shown) located inside the finger units 200.

In this case, it is shown that the finger units 200 are arranged at a uniform distance from each other. However, the number, arrangement, and length of each finger unit 200 may be formed in various numbers, various arrangements, and various lengths in consideration of the shape, type, and size of an object to be gripped. have.

FIG. 2 is a perspective view showing the finger unit of FIG. 2. 3 is a cross-sectional view taken along line I-I 'of FIG. 2.

More specifically, referring to FIGS. 2 and 3, each of the finger units 200 includes a fixing part 210, an inner part 220, an outer part 230, and a hollow part 270, and a sensor part It may further include (240).

The fixing part 210 is fixed to the lower surface of the jig part 100 and is formed in a plate shape having a predetermined thickness such as a circular or flat plate. In this case, an opening 201 is formed in the center of the fixing part 210, and the shape of the opening 201 is illustrated in FIG. 2, but is not limited thereto.

An opening may be formed in line with the opening 201 in the jig part 100, and if a plurality of finger units 200 are connected to the jig part 100, the openings 201 of the connected finger units 201 ), The openings are also formed in the jig portion 100 so as to be aligned with each.

Thus, the pneumatic pressure provided through the pneumatic providing unit 300 passes through the jig portion 100 and is provided to the opening 201.

The inner portion 220 extends downward from the fixing portion 210 and faces the object located therein. That is, the inner portion 220 may be referred to as a portion extending from the fixing portion 210 to the lower portion toward the object.

That is, the inner portion 220 may be formed integrally with each other and the outer portion 230, which will be described later. However, a portion facing the object located in the inner portion is opposite to the inner portion 220 and the inner portion 220. The portion facing the outside of the phosphorus is defined as the outer portion 230.

2 and 3 show that the inner portion 220 and the outer portion 230 extend straight in the vertical direction, but this is for convenience of explanation, and the extended state of the inner portion 220 and the outer portion 230 Can be changed according to the provision of pneumatics.

The inner portion 220 extends in the shape of a square plate as a whole, and may be extended to be bendable by including a flexible material.

The inner portion 220 may include a plurality of protrusions 221 protruding in the direction toward the object. In this case, when the actual protrusions are held by the protrusions 221, the protrusions 221 may be in direct contact with the objects to improve adhesion to the objects. In addition, the protrusions 221 may be variously modified in number, shape, or arrangement.

On the other hand, the sensor unit 240 is provided on the inner portion 220, the inner portion 220 may be a force measurement sensor for measuring the force gripping the object. That is, the sensor unit 240 is provided at a portion in contact with the object, and measures the force of contact between the object and the inner portion 220.

Therefore, if the inner portion 220 is in contact with the object through the protrusions 221, the sensor unit 240 is provided with at least one or more in the protrusions 221 as shown in FIG. Can be. In this case, the sensor unit 240 may be provided in each of the projections 221, it is obvious that it may be provided only in a part of the projections 221.

Thus, it is possible to determine whether or not the gripping force for the object is sufficient by individually measuring the contact force in the protrusions 221 that are in contact with the object and summing the measured force.

That is, although not illustrated, the force measured by the sensor unit 240 is synthesized through a separate control unit, and compared with a force required for gripping a pre-stored or previously derived real object, and the inner portion 220 It is possible to determine whether or not to approach the object further, based on this, the control unit can control the size of the air pressure provided to the finger units (200).

In the case of the present embodiment, it is sufficient for the control unit to control the size of the pneumatic pressure provided by synthesizing the force measured by the sensor unit as described above, and a complicated separate control algorithm for controlling the gripping force as in the prior art is unnecessary. Do. Therefore, it is possible to perform gripping on an object through an easy control algorithm.

The outer portion 230 protrudes in the direction opposite to the inner portion 220, that is, toward the outside of an object located inside the finger units 200, and expands according to the provision of the pneumatic pressure.

In this case, the outer portion 230 includes a plurality of bellows or bellows, as shown. In addition, the outer portion 230 includes a flexible material, expands to the outside when air pressure is provided inward, and contracts again when the provided air pressure is extinguished.

On the other hand, each of the bellows or bellows of the outer portion 230 is shown to have a curved rounded shape with the center projecting outward, but may be formed to have the outer side of various shapes including a square, providing pneumatic and It is sufficient to perform expansion and contraction upon disappearance.

The hollow portion 270 includes a central conduit 250 and an extended conduit 260.

The central conduit 250 is formed to extend from the opening 201 to penetrate the center of the interior of the finger unit 200, the extension conduit 260 is connected to the central conduit 250 and the outer portion ( 230).

That is, the extension conduit 260 extends in the direction toward the outside of the object, and does not extend to the inner portion 220.

In this case, since the outer portion 230 includes a plurality of bellows or bellows, the extension conduits 260 are also individually extended to the respective bellows or bellows, whereby the extension conduit 260 is the central conduit A plurality is extended from 250.

On the other hand, although shown in FIG. 3 in a cross-sectional view, extending in a straight line, when the extension conduit 260 extends to the outer portion 230, while having a shape conforming to the outer shape of the outer portion 230 Can be extended. That is, if the outer portion 230 has a rounded outer shape, the extension conduit 260 may have a rounded shape and be uniformly formed inside the outer portion 230. Thus, the provided pneumatic pressure is uniformly provided to the outer portion 230, so that the outer portion 230 can be uniformly expanded.

As described above, a hollow portion 270 in which pneumatic pressure is provided is formed inside the finger unit 200, and accordingly, pneumatic pressure provided through the pneumatic provision portion 300 is through the central conduit 250. It is provided as the extension conduit 260. In addition, since each extension conduit 260 extends inside each bellows or bellows of the outer portion 230, each bellows or bellows of the outer portion 230 expands according to the provision of pneumatic pressure.

Hereinafter, driving of the finger unit 200 will be described in more detail.

4A is a cross-sectional view showing a state in which air pressure is not provided to the finger unit of FIG. 1, and FIG. 4B is a cross-sectional view showing a state in which air pressure is provided to the finger unit of FIG. 2. 5A is a perspective view showing a state in which air pressure is not provided to the gripper of FIG. 1, and FIG. 5B is a perspective view showing a state in which air pressure is provided to the gripper of FIG. 1.

Referring to Figures 4a and 5a, the inside of the finger unit 200, that is, in the state in which no air pressure is provided to the central conduit 250 and the extended conduit 260, the finger unit 200 as a whole Maintains a curved state in the outer portion 230 direction.

Accordingly, when an object (not shown) is located inside the finger units 220, that is, below the jig unit 100, the finger units 200 are in a direction opposite to the direction toward the object. It is placed in a curved state.

Therefore, in this state, the gripper 10 has a relatively wide interior space, and thus can be moved such that an object is positioned under the jig portion 100.

Thereafter, referring to FIGS. 4B and 5B, as air pressure is provided to the interior of the finger unit 200 by the pneumatic providing unit 300, that is, the central conduit 250 and the extended conduit 260 , The finger unit 200 is bent in the direction of the inner portion 220 as a whole.

That is, the air pressure provided to the central conduit 250 is branched toward the extended conduit 260, and the outer portion 230 also expands according to the expansion of the extended conduit 260.

In this case, since the outer portion 230 includes a plurality of bellows or bellows, naturally, in order to maintain a gap between bellows or bellows adjacent to each other according to the expansion of the outer portion 230, the finger unit 200 Silver is bent in the direction of the inner part 220.

Thus, the inner portion 220, between the finger units 200, that is, toward the object located below the jig portion 100 is approached, naturally gripping the object.

In this case, since the finger units are all approached toward the object, as shown in FIG. 5B, the object located below the jig unit 100 is gripped by the finger units 200.

Meanwhile, the air pressure applied to each of the plurality of finger units may be controlled differently according to the shape of the object that is the object of the gripping. In this case, information on the shape of the object may be obtained indirectly through the sensor unit 240. That is, since the gripping force of each finger unit 200 can be measured by the sensor unit 240 according to contact with the object, the finger unit judged to have a relatively insufficient gripping force is relatively pneumatic. It can provide more, and the finger unit judged to have a relatively high gripping force can provide relatively less air pressure or maintain the provided air pressure.

As described above, on the basis of feedback control by the sensor unit 240 or information on the shape of the object, the size of the pneumatic pressure provided to each of the plurality of finger units 200 is controlled differently to more effectively control the object. For gripping.

On the other hand, when an additional operation such as transfer after gripping the object is completed, the pneumatic providing unit 300 extinguishes the provided pneumatic, and accordingly the finger unit 200 is illustrated in FIGS. 4A and 5A. As described above, it returns to the initial position.

By repeatedly performing the above-described operation, the gripper 10 according to the present embodiment can repeatedly perform gripping on an atypical object.

6 is a cross-sectional view showing a finger unit of a gripper for gripping an atypical object according to another embodiment of the present invention. 7 is a cross-sectional view showing a state in which air pressure is provided only to the third central conduit of the finger unit of FIG. 6.

The finger unit 400 of the gripper for gripping the atypical object according to this embodiment is substantially except the finger unit 200 and the hollow portion 470 of the gripper 10 described with reference to FIGS. 1 to 5B. Since it is the same, duplicate description is omitted.

That is, in the present embodiment, the fixing portion 410, the inner portion 420, the projection portion 421 and the sensor portion 440, the fixing portion 210, the inner portion 220, the projection portion 221 of the gripper 10 And since the sensor unit 240 and the shape, configuration, arrangement, operation, etc. are substantially the same, overlapping descriptions are omitted.

Meanwhile, FIG. 6 illustrates that the outer portion 430 is composed of six bellows or bellows, but this is for convenience of description, and the number is not limited.

Referring to FIG. 6, the finger unit 400 in the present embodiment includes a hollow portion 470, and the hollow portion 470 includes a central conduit 450 and an extended conduit 460.

In this case, the central conduit 450 is connected to the opening of the fixing part 410, and receives air pressure from the pneumatic providing part 300.

On the other hand, the central conduit 450 includes a plurality of central portions (451, 452, 453), each of the central portion partitions the central conduit 450 so that air pressure does not pass to each other. Accordingly, the pneumatic providing unit 300 is also separately connected to the respective central portions, so that the pneumatic pressure provided by the pneumatic providing unit 300 is individually provided to the respective central portions.

In addition, the extension conduit 460 may include, for example, first to sixth extensions 461, 462, ..., 466, and the extensions are grouped by at least one. It can be formed, it can be connected to any one of the central portion.

For example, as illustrated in FIG. 6, the first and second extension parts 461 and 462 may be formed as a group, and may be connected to the first center part 451 of the center parts. Similarly, the third and fourth extensions 463 and 464 are also formed as a group to be connected to the second central portion 452 of the center portions, and the fifth and sixth extension portions 465 and 466 are also provided. It may be formed as a group and connected to the third central portion 453 among the central portions.

In this case, the above group is only an example, and it is sufficient that at least one of the extensions is grouped into one group and connected to one central part, and the number of extensions or the number of central parts grouped into the one group is sufficient. The lamp can be variously selected depending on the design.

However, for convenience of description, the following description will be given with reference to FIG. 6. That is, the first and second extensions 461 and 462 are connected to the first central portion 451, and the third and fourth extensions 463 and 464 are connected to the second central portion 452. When the fifth and sixth extension parts 465 and 466 are connected to the third center part 453, the air pressure provided to the first center part 451 is the first and second extension parts 461 , 462) only the first and second outer portions 431 and 432 are expanded, and the air pressure provided to the second central portion 452 is provided only to the third and fourth extensions 463 and 464 Only the third and fourth outer portions 433 and 434 are expanded, and air pressure provided to the third central portion 453 is provided only to the fifth and sixth extension portions 465 and 466 to provide the fifth and sixth outer portions. Only the fields 435 and 436 are expanded.

That is, the first and second outer portions 431 and 432, the third and fourth outer portions 433 and 434, and the fifth and sixth outer portions 435 and 436 expand independently of each other. Over-shrinkage can be controlled.

Thus, as shown in FIG. 7, if air pressure is provided only through the third central portion 453, air pressure is provided only to the fifth and sixth extension portions 465 and 466, and accordingly, the fifth and fifth 6 Only the outer portions 435 and 436 are expanded.

As described above, when only the fifth and sixth outer portions 435 and 436 are expanded, only a portion of the inner portion 420 corresponding to the fifth and sixth outer portions 435 and 436 (region B in FIG. 7) It approaches the inner object, and the other inner portion 420 area (area A in FIG. 7) maintains its initial state and is positioned in a lower direction or in a direction opposite to the inner object.

That is, the finger unit 200 is bent in a shape that only the end approaches the inner object. Of course, since the finger unit 200 is formed to have flexibility as a whole, as the end of the finger unit 200 approaches the object, the upper part may not necessarily maintain the initial state, but the end does not It is not approached to the extent that it approaches toward, and accordingly, only the end of the finger unit 200 is in direct contact with the object to perform gripping.

Likewise, when air pressure is selectively provided only through the first central portion 451, only portions corresponding to the first and second outer portions 431 and 432 of the inner portion 420 approach the inner object. , The other inner portion 420 region maintains the initial state and is positioned in a lower direction or in a direction opposite to the internal object.

In addition, when air pressure is selectively provided only through the second central portion 452, only portions corresponding to the third and fourth outer portions 433 and 434 of the inner portion 420 approach the inner object. , The other inner portion 420 region maintains the initial state and is positioned in a lower direction or in a direction opposite to the internal object.

As described above, air pressure may be provided to only one of the center portions, but air pressure may be provided through two or more center portions, so that only the outer portions of the extension portions provided with the air pressure approach the inner object, It is possible to perform gripping on an object.

As described above, by controlling the outer portion to selectively expand among the outer portions, regions in contact with the real object among the inner portions can be controlled differently, and considering various shapes of the real object, the optimum contact point is the corresponding object By contacting with, it is possible to perform optimal gripping on the object.

In particular, even if the information on the shape of the object is not input in advance, as described above, from the results measured by the sensor unit 440, for each part of the inner portion of one finger unit 400 The gripping force applied to the current object can be derived. Thus, based on the information on the gripping force derived as described above and whether the current object is correctly gripped, the portion of the inner surface to additionally increase or decrease the gripping force is grasped, and the pressure is applied. Alternatively, the amount of contact to the corresponding portion can be effectively controlled through removal.

According to the embodiments of the present invention as described above, the outer portion expands according to the provision of pneumatic pressure, and the inner portion approaches the object and grips the object, and in this case, the force toward the object varies according to the size of the provided pneumatic pressure. Since it can be controlled, effective gripping for irregular objects having various shapes is possible.

That is, it is moved by a control logic by a predetermined distance, and does not grip an object, and provides a pneumatic pressure that can be controlled to change continuously, thereby enabling various control of the gripping force on the object. When gripping this atypical object, a mechanism for applying a force is simulated, thereby enabling effective gripping on the atypical object. In this case, when it is determined that the gripping of the object is sufficient, by stopping the provision of additional pneumatic pressure, it is possible to minimize damage to the object by not providing excessive gripping force to the gripped object.

In particular, since the inner portion is provided with a sensor unit for measuring the gripping force, feedback control can be performed to have an optimal gripping force.

In this case, the outer portion is provided with an extension conduit that can be provided with pneumatic pressure inside, and includes bellows or bellows that expand according to the provision of pneumatic pressure, so the inner portion naturally approaches the inner object according to the expansion of the outer portion, It is easy to perform gripping on internal objects without applying additional control algorithms.

On the other hand, the central conduit includes a plurality of central portions, and the extended conduit also includes a plurality of extensions divided into at least one group connected to any one of the central portions, so that pneumatic pressure is selectively applied to only some of the extended conduits. Can be provided. As a result, only the outer portion of the extension conduit provided with pneumatic pressure can be selectively expanded, so that only the inner portion corresponding to the expanded outer portion approaches the object.

As described above, by controlling the inner portion to approach the object selectively, the inner portion contacting the real object can be variously selected, and accordingly, optimal gripping is performed in consideration of various geometric features of the atypical object. It becomes possible.

Although described above with reference to the preferred embodiments of the present invention, those skilled in the art may variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can.

10: gripper 100: jig section
200, 400: Finger unit 201: Opening
210, 410: fixing part 220, 420: inner part
221, 421: projections 230, 430: outer portion
240, 440: sensor unit 250, 450: central conduit
260, 460: extension conduit 270, 470: hollow
300: pneumatic providing unit

Claims (10)

A jig unit, and a plurality of finger units connected to a lower surface of the jig unit to directly grip an object positioned therein, each of the finger units,
A fixing part fixed to a lower surface of the jig part and having an opening;
An inner portion extending downward from the fixing portion and facing the object inside;
An outer portion protruding to the opposite side to the inner portion and expanding according to the provision of pneumatic pressure; And
A gripper comprising a central conduit extending from the opening and penetrating the center of the finger unit, and a hollow portion including an extended conduit extending from the central conduit to the outer portion. According to claim 1,
The gripper further includes a pneumatic connection part connected to the opening to provide the pneumatic pressure to the central conduit and the extended conduit or to remove the provided pneumatic pressure. According to claim 2,
A gripper, characterized in that, as air pressure is provided to the extension conduit, the outer portion expands and the inner portion approaches the object inside. According to claim 1, The outer portion,
A gripper comprising a plurality of bellows or bellows. The method of claim 4, wherein the extension conduit,
A gripper, characterized in that extending into each of the bellows or bellows. According to claim 1, The central conduit,
A gripper, characterized in that it comprises a plurality of central portions that are separated from each other and extend from the opening, and that the pneumatics are provided separately from each other. The method of claim 6,
The extension conduit includes a plurality of extensions,
At least one of the extensions, at least one of the grippers, characterized in that connected to any one of the central parts in one group, to receive the air pressure at the same time. The method of claim 7,
The gripper, characterized in that only the inner side of the opposite side of the expanded outer side expands toward the object by expanding only the outer side where the extended portions connected to the central portions provided with the pneumatics are located. The method of claim 1, wherein the inner portion,
A gripper comprising a plurality of protrusions formed at predetermined intervals. According to claim 1, Each of the finger unit,
A gripper, which is provided on the inner portion and further includes a sensor portion for measuring the force gripping the object.

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