KR20220074722A - Gripping Membrane-based Object Gripping Apparatus And Object Gripping Method Using The Same - Google Patents

Abstract

Disclosed are a gripping membrane-based object gripping apparatus and an object gripping method using the same. A cavity space is provided which is laterally surrounded by the lower portions of the first and second gripping fingers facing each other and the first and second cavity walls facing each other and the upper portion surrounded by the cavity membrane. A gripping film is fixed to the upper end of the first and second gripping fingers parallel to the cavity film. The cavity wall, gripping finger, cavity membrane and gripping membrane are made of an elastic material whose shape is deformed and restored reversibly. The cavity wall has a lower modulus of elasticity than the gripping finger, and the upper cavity wall has a lower modulus than the lower cavity wall. When the pressure of the cavity space in the gripping finger part is lowered, the cavity space contracts and the upper part of the cavity wall part contracts before the lower part, and as a result, the gripping finger shrinks. Accordingly, it is possible to grip the object while the gripping film disposed at the uppermost end of the cavity space is depressed and folded.

Description

Gripping Membrane-based Object Gripping Apparatus And Object Gripping Method Using The Same}

The present invention relates to a technique for gripping an object, and more particularly, a device for gripping various objects such as a sheet-like object such as a fabric or a textile fabric, or a cylindrical object using a gripping membrane that is deformed by a pressure difference, and an object using the same It relates to the gripping method.

A process of manufacturing clothes using fabrics for manufacturing clothes includes various manufacturing processes. The garment manufacturing process includes numerous processes, including the process of grabbing fabric one by one and transferring or aligning it to a cutting machine or sewing machine. Most of the textile fabrics used in the manufacture of clothing have a soft property of being folded well or easily deformed in shape according to an applied force. Because of these properties, it is not easy to handle textile fabrics. In many cases, delicate and sophisticated handling or work is required. In addition, the development of hardware technology capable of handling delicate work on fabrics for garment manufacturing is not sufficiently supported. For this reason, a large part of the garment manufacturing process is not automated and still relies on the manual work of workers.

Several sheets of textile fabric to be put into the sewing process are stacked in a bundle, and it is common to pick up one sheet and use it. In the process of picking up a piece of soft fabric, it is important to control so that only one piece of fabric stacked in a bundle can be picked up and put down again at a desired point. It is also important to minimize the possibility of damage or contamination of the fabric during this process.

The operation of picking up the textile fabric into a single sheet and transporting it to a desired location has not yet been automated using machines. Many workers are still being put into this work. Due to this indispensable use of manpower, the entire sewing process is incompletely automated. This work is one of the obstacles blocking the organic design and optimization of the garment production system. The core of the future apparel industry lies in automation and intelligence that encompasses design, production, logistics, and distribution. However, this is limited by the non-automation of single-sheet gripping and transport of textile fabrics. In addition, there is a problem in that the reduction of labor and labor costs cannot be efficiently achieved, such as limiting the productivity improvement and increasing the cost.

To solve these problems, more and more attempts are being made to develop a technique for gripping textile fabrics, etc. one by one. As a prior art for gripping a textile fabric, a vacuum suction cup-based gripper, a needle-based fabric gripper, and an electrostatic-based gripper are known. The vacuum suction cup-based gripper is greatly affected by the air permeability of the fabric, so it is necessary to control the vacuum pressure for each type of fabric. The needle-based fabric gripper can grip the fabric in such a way that the needle installed behind the flat and hard contact surface is controlled along the guide, penetrates the contact surface and the fabric sequentially, is inserted into the fabric, and the needle is recovered and the fabric is separated. have.

This technology is currently being used in the process of picking up shoe soles and the like. However, the easy-to-control needle installed in the guide has a diameter that is too large to be used for fabric, and may cause damage such as making a conspicuous hole in the fabric, so there is a limit to its use as a gripper on fabric. The static electricity-based gripper grips the fabric using static electricity, but it is difficult to commercialize because it is not suitable for mass production process due to its slow operation speed.

1. Republic of Korea Patent Registration No. 10-1988219 (Method and device for holding fabric)

The present invention is to compensate for the disadvantages of the prior art. In order to solve the above problems, a gripping membrane that can be folded by a pressure difference is used to limit the properties of the object to be gripped, and damage to the object is reduced during gripping. An object of the present invention is to provide a gripping membrane-based object gripping device capable of quickly and accurately gripping the object without applying the .

Another object of the present invention is to provide a method for gripping the surface or edge of a fabric and other types of objects using such a gripping membrane-based object gripping device.

According to one aspect of the exemplary embodiments for achieving the above object, there is provided a gripping film-based object gripping device including a gripping finger portion and a base portion. The gripping finger part is made of an elastic material in which shape deformation and recovery are reversible, and the gripping membrane disposed at the uppermost end of the cavity space is opened due to a change in shape according to a drop in atmospheric pressure of the cavity space provided therein. It is configured to release the gripping of the object while being depressed toward the cavity space and being folded to grip the object, and return to the original shape when the pressure drop is resolved. The base portion is integrally coupled with the bottom surface of the gripping finger portion to support the gripping finger portion from below, and a through hole connected to the cavity space is provided therein.

According to an exemplary embodiment, the gripping finger portion may include first and second cavity walls, first and second gripping fingers, a cavity film, and a gripping film. The first and second cavity walls may be spaced apart from each other in the first direction to block the two facing sides of the cavity space. The first and second gripping fingers are spaced apart from each other in a second direction orthogonal to the first direction to block the remaining two sides of the cavity space, and the lower portions of each of the first and second cavity walls are integrally coupled with each other to block all sides of the cavity space, and the remaining upper portions of each may be configured to face each other by extending longer than the first and second cavity walls by a predetermined length. The cavity film may completely cover an upper portion of the cavity space, and an edge portion may be integrally fixed to upper ends of the first and second cavity walls and a boundary line between lower and upper portions of the first and second gripping fingers. The gripping film may be arranged such that opposite corners are respectively fixed to upper ends of the first and second gripping fingers to cover an upper space of the cavity film between the first and second gripping fingers.

According to an exemplary embodiment, the elastic material constituting the first and second cavity walls has a lower elastic modulus than the elastic material constituting the first and second gripping fingers, and the first and second The cavity wall may have a lower modulus of elasticity at the top than at the bottom.

According to an exemplary embodiment, each of the first and second cavity walls includes lower and upper cavity walls stacked in a two-step structure, and the modulus of elasticity of a first elastic material constituting the upper cavity wall is the lower cavity wall. It may be lower than the elastic modulus of the second elastic material constituting the wall.

According to an exemplary embodiment, the first and second cavity walls are made of a single elastic material, and the lower portion of each may be thicker than the upper portion.

According to an exemplary embodiment, each of the first and second cavity walls has a stepped structure in which a thickness difference between the lower cavity wall and the upper cavity wall is discontinuously changed, or a structure in which the thickness difference between the lower cavity wall and the upper cavity wall is continuously thinned from the lower part to the upper part , or a structure in which these two structures are combined.

According to an exemplary embodiment, when the atmospheric pressure inside the cavity space becomes lower than the atmospheric pressure outside, the first and second cavity walls are more contracted and deformed than the first and second gripping fingers, and the first and second The upper portion of the second cavity wall may be contracted and deformed to be greater than the lower portion, so that the upper portions of the first and second gripping fingers are retracted to be closer to each other, and the gripping film is recessed and folded toward the cavity space.

According to an exemplary embodiment, the elastic material may be at least one selected from silicone rubber, natural or synthetic rubber, silicone, and polymers having elasticity.

According to an exemplary embodiment, the object gripping device may further include a sensor capable of detecting the number of objects gripped by the gripping film in a folded state by being embedded in or bonded to the gripping film.

According to an exemplary embodiment, the sensor may include: an elastic substrate that can be folded or unfolded together with the gripping film; and first and second electrode plates disposed on the elastic substrate to face each other in the folded state, although located on the same plane in the unfolded state, the capacitance value between the first and second electrode plates It may be configured to detect the number of objects gripped by the gripping film by measuring .

According to an exemplary embodiment, the object gripping device is connected to the through hole of the base portion to lower the air pressure in the cavity space to grip the object, and to release the gripping state of the object in the cavity space. It may further include a vacuum device configured to release the pressure drop.

According to another aspect of the exemplary embodiments for achieving the above object, there is provided a gripping membrane-based object gripping device further comprising a sensor in addition to the gripping finger portion and the base portion. The sensor is embedded in or bonded to the gripping film so as to detect the number of objects gripped by the gripping film in a folded state. The gripping finger portion may include: first and second cavity walls spaced apart from each other in a first direction to block two opposing sides of the cavity space; Spaced apart along a second direction orthogonal to the first direction to block the remaining two sides of the cavity space, each lower portion is integrally coupled to the first and second cavity walls, respectively, of the cavity space first and second gripping fingers blocking all sides, each of the remaining upper portions extending a predetermined length longer than the first and second cavity walls to face each other; a cavity film completely covering an upper portion of the cavity space and having an edge portion integrally fixed to upper ends of the first and second cavity walls and to the boundary lines between lower and upper portions of the first and second gripping fingers; and a gripping film disposed so that both opposite edges are fixed to the upper ends of the first and second gripping fingers, respectively, to cover an upper space of the cavity film between the first and second gripping fingers.

According to one aspect of the exemplary embodiments for achieving the above another object, there is provided a method for gripping an object using the above-mentioned gripping film-based object gripping device. The object gripping method includes the steps of bringing a center portion of the gripping film into contact with an edge portion of a distal end, which is a gripping target object; By using a vacuum device having an air pressure control function to lower the air pressure in the cavity space to contract the upper part of the cavity space, the first and second gripping fingers are retracted, and the gripping membrane is depressed toward the cavity space and folded. drawing an edge portion of the fabric; and moving the gripping film to a desired position by firmly edge-lifting the edge portion of the fabric while maintaining the pressure drop in the cavity space while the gripping membrane is completely folded in half.

According to another aspect of the exemplary embodiments for achieving the above object, the object gripping method includes the steps of bringing an entire area of the gripping film into contact with the surface of a distal end, which is a gripping object; A vacuum device having an air pressure control function lowers the air pressure in the cavity space to contract the upper part of the cavity space, so that the first and second gripping fingers are retracted, and the gripping membrane is depressed toward the cavity space and folded. Folding the contact portion of the drawing step; and moving the gripping membrane to a desired position by firmly pinching the folded distal part pulled in while the gripping membrane is completely folded in half by continuously maintaining the drop in air pressure in the cavity space.

According to another aspect of the exemplary embodiments for achieving the another object, the object gripping method may include contacting the gripping film with a surface of a gripping target object; A vacuum device having a pneumatic pressure control function lowers the air pressure in the cavity space to contract the upper part of the cavity space, so that the first and second gripping fingers are retracted, and the gripping film is depressed toward the cavity space and folded, and the object drawing inside; and moving the gripping film to a desired position by firmly gripping the gripping film by expanding a contact area with the surface of the object by continuously maintaining the drop of atmospheric pressure in the cavity space.

As such, the gripping membrane-based object gripping apparatus and method according to embodiments of the present invention uses a method in which the gripping finger pinches the fabric when a pressure drop (vacuum) occurs in the cavity, which is the internal space of the gripper. As the cavity space shrinks, the cavity wall portion, which has a relatively low modulus of elasticity, contracts, and as a result, the gripping finger retracts. At the same time as the gripping finger retracts, the gripping film is depressed and folded to grip the fabric.

In the gripping device according to the embodiments of the present invention, the gripping film is a flexible and soft film made of an elastic material such as natural or synthetic polymer rubber, silicone rubber, silicone, etc. can house The gripping membrane (membrane) made of a thin polymer rubber film can be quickly and efficiently picked up one by one from a pile of fabrics stacked with multiple fabrics without being restricted by the material or properties of the fabric. In addition, it is possible to determine the number of gripped fabrics using a fabric sensor built into the gripping membrane.

The gripping device according to the embodiments may be manufactured by, for example, a molding process using an elastic material such as silicone rubber, natural or synthetic rubber, silicone, or elastic polymers. Since a gripping device can be manufactured by injecting such an elastic material in liquid form into a mold, it is possible to repeatedly mass-produce.

The gripping device according to the embodiments may grip not only textile fabrics, leather, and other flexible thin articles, but also articles of various shapes such as spherical, cylindrical, and oval in a manner such as pinching or edge lifting.

When the gripping device according to an embodiment of the present invention is combined with another transport device such as a robot arm, the fabric can be gripped as a sheet and transported to a desired position. Therefore, it can contribute to the automation of the garment production process, and it is economical because it is possible to effectively reduce the cost and manpower consumed for simple tasks. In addition, the present invention can be usefully utilized to enable automation that encompasses the entire scope of the clothing process by being utilized in the construction of a clothing smart factory. Through this, the organicity of the production system can be improved and productivity can be improved.

1 is a perspective view illustrating an external appearance of a gripping device according to a first embodiment of the present invention.
FIG. 2 is a cross-sectional view taken along the cutting line A-A' in the gripping device of FIG. 1 .
FIG. 3 shows that the shape of the gripping finger part is changed due to a decrease in the pressure of the cavity in the gripping device of FIG. 1. FIG. 4 is a perspective view illustrating the appearance of the gripping device according to the second embodiment of the present invention.
FIG. 5 is a cross-sectional view taken along the cutting line B-B' in the gripping device of FIG. 4 .
FIG. 6 shows an operation process of gripping the middle part of the fabric using the gripping device of FIG. 1 .
7 illustrates an edge lifting operation process for gripping an edge portion of a fabric using the gripping device of FIG. 1 .
FIG. 8 shows an operation process of gripping a cylindrical article using the gripping device of FIG. 1 .
9 is a perspective view illustrating a gripping device according to a third embodiment of the present invention in which a far-end sensor is added to the gripping device of FIG. 1 .
FIG. 10 is a view for explaining the principle of recognizing the gripped fabric by the far end sensor of the gripping device of FIG. 9 .
11 exemplifies the experimental results regarding the capacitance size of the far-end sensor according to the thickness and number of the fabric in the gripping device according to the exemplary embodiments of the present invention.
12 shows the results of testing the effect of the gripping film in the gripping apparatus according to the exemplary embodiments of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and repeated descriptions of the same components are omitted.

1 shows an appearance of a gripping device according to a first embodiment. FIG. 2 is a cross-sectional view taken along the cutting line A-A' in the gripping device of FIG. 1 .

The gripping device 10 according to the first embodiment will be described with reference to FIGS. 1 to 3 . The gripping device 10 may include a gripping finger portion 14 and a base portion 12 .

The gripping finger portion 14 is depressed toward the bottom from the unfolded state of the gripping film 18 disposed at the front of the upper portion due to a change in shape due to a drop in pressure inside the cavity space 26 provided at the bottom to be folded into a folded state. It can be changed, and when the pressure drop is resolved, the shape change is resolved so that the gripping film 18 can be restored to an unfolded state.

In an exemplary embodiment, the gripping finger portion 14 includes first and second gripping fingers 16a, 16b, first and second cavity walls 24a, 24b, a gripping film 18, and a cavity It may include a membrane 20 . The gripping finger portion 14 may be made of an elastic material that can be reversibly deformed and restored to its original state. The first and second cavity walls 24a and 24b may be disposed to be spaced apart along the y-axis direction to block two opposing sides of the cavity space 26 . The first and second gripping fingers 16a and 16b may be spaced apart along the x-axis direction (orthogonal to the y-axis direction) to block the remaining two sides of the cavity space 26 . In addition, the lower portions of the first and second gripping fingers 16a and 16b are integrally coupled with the first and second cavity walls 24a and 24b, respectively, to block all sides of the cavity space 26, and the first and the remaining upper portions of the second gripping fingers 16a and 16b may be configured to face each other by extending longer than the first and second cavity walls 24a and 24b by a predetermined length. The cavity film 20 completely covers the upper side of the cavity space 26, and the edge portions are the upper ends of the first and second cavity walls 24a, 24b and the lower portions of the first and second gripping fingers 16a, 16b. and can be integrally fixed to the boundary line of the upper part. The gripping film 18 has a cavity film 20 between the first and second gripping fingers 16a and 16b, with opposite edges fixed to the top of the first and second gripping fingers 16a and 16b, respectively. ) can be arranged to cover the upper space.

In the exemplary embodiment, the components of the gripping finger portion 14, namely the first and second gripping fingers 16a, 16b, the first and second cavity walls 24a, 24b, the gripping film ( 18), and the cavity film 20 may be made of an elastic material. Also, in addition to the gripping finger portion 54 , the base portion 52 may also be made of an elastic material. Examples of suitable elastic materials include silicone rubber, natural or synthetic rubber, silicone, elastic polymers (for example, polydimethylsiloxane, or a polymer having elasticity corresponding to polydimethylsiloxane), and the like. However, it is not necessarily limited thereto. For example, the gripping film 18 may be made of, for example, silicone rubber, and the gripping fingers 16a and 16b, the cavity walls 24a and 24b, and the cavity film 20 may be made of, for example, rubber. The gripping finger part 14 and/or the base part 12 may be manufactured using, for example, a polymer that can be manufactured by a casting method.

In an exemplary embodiment, the first and second gripping fingers 16a and 16b may be disposed side by side while facing each other while being spaced apart by a predetermined distance d along the first direction (x-direction). In addition, each of the first and second gripping fingers 16a and 16b is a rectangular member having a predetermined width w and a height h ₂ , and may be disposed parallel to the yz plane. The first and second gripping fingers 16a and 16b may be made of an elastic material having excellent shape deformation and recovery force. The gripping fingers 16a and 16b made of such an elastic material can easily change their shape by an applied external force, and when the external force is removed, they can be restored to their original shape.

In an exemplary embodiment, each of the first and second cavity walls 24a, 24b may be disposed at the left and right ends between the first and second gripping fingers 16a, 16b. The first and second gripping fingers 16a and 16b extend linearly in the x-axis direction while having substantially the same length as the spacing d of the first and second gripping fingers 16a and 16b. The second height h ₂ may be lower than the first height h ₁ . The first and second cavity walls 24a and 24b are spaced apart from each other by a predetermined distance, for example, the width w of the first or second gripping fingers 16a, 16b along the second direction (y direction), and face each other while facing each other. They can be placed side by side. As illustrated, the first and second cavity walls 24a and 24b may have a rectangular shape, but may also have a rectangular plate shape gently or sharply curved out of the cavity space 26 .

In an exemplary embodiment, the first and second gripping fingers 16a, 16b and the first and second cavity walls 24a, 24b may be disposed in a vertically upright configuration on the same plane (xy plane). . and a lower portion of each of the first and second gripping fingers 16a, 16b (ie, a lower portion by a height h ₁ of the first and second cavity walls 24a, 24b) and the first and second gripping fingers 16a, 16b. The two-cavity walls 24a and 24b may be connected to each other's edge portions to provide a rectangular space therein. That is, the lower portions as much as the height h ₁ of the first and second gripping fingers 16a and 16b and the first and second cavity walls 24a and 24b form four side walls surrounding the rectangular space. can do. The remaining upper portion h ₂ -h ₁ above the height h ₁ of each of the first and second gripping fingers 16a, 16b serves as a substantial finger directly gripping the distal end through the gripping film 18 . part

In an exemplary embodiment, the cavity film 20 is a rectangular film whose transverse and longitudinal lengths are substantially equal to the spacing d and width w of the first and second gripping fingers 16a, 16b. can The cavity film 20 has four corners fixed to the upper ends of the first and second gripping fingers 16a and 16b and the sidewalls of the first and second gripping fingers 16a and 16b, respectively, so as to completely fill the rectangular space. It may be arranged to cover and close the upper part.

Accordingly, the rectangular space may be a space surrounded by the side wall and the cavity membrane 20 . The side wall may include a lower portion of each of the first and second gripping fingers 16a and 16b facing each other, and first and second cavity walls 24a and 24b facing each other. The cavity film 20 may cover the upper portion of the cavity space to close and an edge portion may be fixed to the upper end of the side wall. Accordingly, the rectangular space can be formed as a cavity space 26 in which four sides and an upper side are closed and only a lower side is open.

In the exemplary embodiment, the gripping film 18 is a rectangle whose transverse and longitudinal lengths are substantially equal to the spacing d and width w of the first and second gripping fingers 16a and 16b. can be blocked The gripping film 18 has opposite corners fixed to the upper ends of the first and second gripping fingers 16a and 16b, and is higher than the cavity film 20 by a predetermined height (h ₂ -h ₁ ). It may be disposed side by side with the cavity film 20 in the .

The base portion 12 has an upper surface integrally coupled with the bottom surface of the gripping finger portion 14 to support the gripping finger portion 14 from below, and a through hole connected to the cavity space 26 may be provided therein. .

In the exemplary embodiment, the base portion 12 is disposed under the gripping finger portion 14, and the lower surface of the gripping finger portion 14 is integrally connected with the upper surface of the base portion 12 to form the gripping finger portion ( 14) can be supported from below. The base 12 may be provided with a through hole 27 penetrating in the vertical direction (z-axis direction) in the central portion. The through hole 27 communicates with the cavity space 26 inside the gripping finger portion 14 . The wall portion of the base portion 12 surrounding the through hole 27 may have a thickness greater than that of the cavity walls 24a, 24b and the gripping fingers 16a, 16b.

According to an exemplary embodiment of the present invention, two methods are provided for effectively retracting the first and second gripping fingers 16a and 16b when a pressure difference occurs between the inside and outside of the cavity space 26 . can be

As a first method, the first and second cavity walls 24a and 24b may be made of an elastic material having a relatively lower elastic modulus than the first and second gripping fingers 16a and 16b. With such an elastic material, when the same force is applied, the first and second cavity walls 24a and 24b can be deformed more than the first and second gripping fingers 16a and 16b.

As a second method, in an exemplary embodiment, each of the first and second cavity walls 24a and 24b may include lower and upper cavity walls stacked in a two-tier structure as shown in FIGS. 1 to 2 . have. In addition, in each of the first and second cavity walls 24a and 24b, the elastic material constituting the first and second upper cavity walls 22a and 22b is formed by the first and second lower cavity walls 23a and 23b. It may have a lower modulus of elasticity compared to the elastic material constituting it. Specifically, the first cavity wall 24a has a two-stage structure including a first lower cavity wall 23a fixed to the upper surface of the base part 12 and a first upper cavity wall 22a laminated thereon. It can consist of walls. Similarly, the second cavity wall 24b is also the same as the first cavity wall 24a, the second lower cavity wall 23b fixed to the upper surface of the base part 12 and the second upper cavity wall (23b) laminated thereon 22b) as a two-tiered cavity wall. At this time, each of the first cavity wall 24a and the second cavity wall 24b of the two-stage structure may be formed of, for example, two elastic materials having different hardness. The elastic material may be, for example, silicone, rubber (synthetic rubber, natural rubber), silicone rubber, or the like.

As such, since the first and second lower cavity walls 23a, 23b have a higher modulus of elasticity than the first and second upper cavity walls 22a, 22b, when the same force is applied to them, the first and second The second upper cavity walls 22a , 22b may deform to a greater extent than the first and second lower cavity walls 23a , 23b . In the above two methods, when the internal pressure (P _c ) of the cavity space (26) is lower than the atmospheric pressure (Pa) outside the cavity space (26) due to _a drop in atmospheric pressure inside the cavity space (26), the cavity space (26) The walls surrounding the , that is, the first and second cavity walls 24a, 24b can be contracted to a greater extent than the first and second gripping fingers 16a, 16b, and also the upper cavity walls 22a, 22b. It can be contracted to a greater extent than the lower cavity walls 23a and 23b. Accordingly, a phenomenon in which the lower portions of the first and second gripping fingers 16a and 16b are reduced into the cavity space 26 before the upper portions 16a and 16b of the gripping fingers are prevented from being recessed into the first and second gripping fingers 16a and 16b. It effectively retracts the tops of the fingers 16a, 16b to bring them closer together.

FIG. 3 shows that the shape of the gripping finger portions 16a and 16b is changed to grip the object by reducing the pressure of the cavity space 26 in the gripping device 10 of FIG. 1 .

Referring to FIG. 3 , when the internal pressure P _c of the cavity space 26 is equal to the atmospheric pressure P _a outside the cavity space 26 , as shown in (A), the gripping finger 14 is the original keep the shape However, as shown in (B), when the internal pressure (P _c ) of the cavity space ( 26 ) _is lowered compared to the external pressure (Pa ), the components surrounding the cavity space (66), that is, the first and The second cavity walls 24a and 24b, the first and second gripping fingers 16a and 16b, and the cavity film 20 are subjected to pressure directed toward the center of the cavity space 66 . At this time, due to the difference in modulus of elasticity of the cavity walls, the first and second cavity walls 24a and 24b are contracted relatively more than the first and second gripping fingers 16a and 16b, and at the same time, The first and second upper cavity walls 22a, 22b retract more than the first and second lower cavity walls 23a, 23b. Accordingly, a shape change occurs in which the upper space of the cavity space 26 is contracted more than the lower space, and as a result, the upper portions of the first and second gripping fingers 16a and 16b are concave and close to each other. The ripping film 18 is folded while being depressed into the empty space 28 . In this process, the gripping film 18 is able to grip an object in contact with itself.

Here, the air pressure drop in the cavity space 26 may be generated by an external vacuum device 45 such as a pneumatic pump, a compressor, a compressed air generator, or the like. Regarding the technology for controlling gripping of an object through control of the pressure (P _c ) inside the cavity space 26, Korean Patent Registration No. 10-1988219 (method and device for gripping fabric) in FIG. 3 and the specification Since it can be understood from the configuration and description of the automatic fabric gripping and conveying device, the description thereof will be omitted here.

4 is an external view of a gripping device according to a second embodiment of the present invention, and FIG. 5 is a cross-sectional view taken along the cutting line B-B' in the gripping device shown in FIG. 4 .

4 and 5 , the gripping device 50 according to the second embodiment has a base portion 52 and a gripping portion integrally fixed to the upper surface of the base portion 52 as in the first embodiment. 54) may be included. The base portion 52 may be configured substantially the same as the base portion 12 of the first embodiment. The gripping portion 54 may include first and second gripping fingers 56a , 56b , first and second cavity walls 64a , 64b , a gripping film 58 , and a cavity film 60 . can

The gripping part 54 of the second embodiment may have substantially the same configuration as the gripping part 14 of the first embodiment except for the difference in the configuration of the cavity walls 64a and 64b, which will be described later. That is, the first and second gripping fingers 56a and 56b may be spaced apart from each other in the first direction (x-axis direction) and fixed to the upper surface of the base part 52 while facing each other upright. The first and second cavity walls 64a and 64b are spaced apart from each other in a second direction (y-axis direction) orthogonal to the first direction and are fixed to the upper surface of the base part 52 while facing each other. 2 It may be integrally connected with the edge of the lower portion (height h ₁ ) of the gripping fingers 56a and 56b. The cavity film 60 may have four corners fixed to the upper surfaces of the first and second cavity walls 64a and 64b and the inner walls (height h ₁ ) of the first and second gripping fingers 56a and 56b, respectively. have. Accordingly, a rectangular space is provided surrounded by the first and second cavity walls 64a, 64b and the lower portions (height h ₁ ) of the first and second gripping fingers 56a, 56b, the rectangular space being the cavity membrane. A cavity space 66 covered with 60 and having only a lower portion open may be formed. The gripping film 58 is fixed to the top of the first and second gripping fingers 56a and 56b and is parallel to the cavity film 60 . This configuration is substantially the same as that of the first embodiment.

The gripping device 50 according to the second embodiment is different from the gripping device 50 according to the first embodiment in the configuration of the first and second cavity walls 64a and 64b of the gripping portion 54 . In order for the modulus of elasticity of the lower cavity wall to be greater than the modulus of elasticity of the upper cavity wall, the first and second cavity walls 64a and 64b are formed of a single elastic material, and the first and second cavity walls ( The thickness of the lower cavity walls 63a and 63b of 64a and 64b may be thicker than the thickness of the upper cavity walls 62a and 62b. For example, each of the first and second cavity walls 64a and 64b may be formed in a stepped shape in which a step is formed due to a difference in thickness between the lower portion and the upper portion at an approximate center height.

The gripping device 50 according to the second embodiment has the advantage that the gripping finger part 54 can be manufactured from a single material. Furthermore, not only the gripping finger 54 but also the base 52 may be made of a single material. An elastic material suitable as the single material may include, for example, silicone rubber, natural or synthetic rubber, and silicone, but is not necessarily limited thereto. The gripping finger part 54 and/or the base part 52 may be manufactured using, for example, a polymer having elasticity that can be manufactured by a casting method.

As illustrated in FIG. 5 , the thickness change of the upper and lower portions of the first and second cavity walls 64a and 64b may be discontinuous, but as another example, the thickness change may be continuously narrowed from the lower part to the upper part, and these two It is also possible to determine the thickness of the upper and lower parts in the form of a combination. When the thickness of the upper part of the first and second cavity walls 64a and 64b is made thinner than the lower part, a difference in elastic modulus between the lower part and the upper part may occur.

In this case as well, as described in FIG. 3 , when the pressure P _c in the cavity space 66 drops and becomes lower than the pressure P _c outside the cavity, the components surrounding the cavity space 66, that is, The first and second cavity walls 64a and 64b, the first and second gripping fingers 56a and 56b, and the cavity membrane 60 are subjected to pressure directed toward the center of the cavity space 66 . At this time, the first and second cavity walls 64a and 64b are relative to the first and second gripping fingers 56a and 56b due to the difference in elastic modulus of the components constituting the gripping finger portion 54 . , and at the same time, the first and second upper cavity walls 62a, 62b elongate more than the first and second lower cavity walls 63a, 63b. Accordingly, as the upper space of the cavity space 66 contracts more than the lower space, the gripping film 58 is collapsed while being depressed into the empty space 68 .

FIG. 6 shows an operation process of gripping the middle part of one uppermost fabric sheet of the laminated fiber fabric 30 using the gripping device 10 of FIG. 1 .

Referring to FIG. 6 , the cavity space 26 of the gripping device 10 may communicate with a pneumatically adjustable vacuum device 45 through a connecting hose 29 , and the gripping device 10 may be, for example, It may be mounted on the transfer unit 47, such as a robot arm. This operating environment is also the same in FIGS. 7 and 8, which will be described later. In a state where the gripping finger portion 14 of the gripping device 10 is in contact with the surface of the textile fabric 30 (refer to FIG. 6(A) ), the cavity using a vacuum device 45 having a pneumatic pressure control function When the space 26 is made into a vacuum atmosphere, as described above with reference to FIG. 3 , the upper portion of the cavity space 26 is contracted by the pressure difference between the inside and the outside of the cavity space 26 , and accordingly the first and second The upper portions of the gripping fingers 16a and 16b are retracted and approach each other, and the gripping film 18 is depressed toward the cavity space 26 and folded (see FIG. 6B). During this pinching process, the atmospheric pressure drop in the cavity space 26 is continued, and as the uppermost fabric 30-1 in contact with the gripping film 18 is folded, it is depressed along the gripping film 18 and folded. It can be gripped in a tightly pinched manner by the ripping film 18 . Through this process, the gripping of the textile fabric 30 is completed (refer to (C) of FIG. 6). By operating the transfer unit 47, the gripped fabric 30-1 may be moved to a desired position.

The gripping device 10 may grip not only the center portion of the textile fabric 30 but also the edge portion, and may grip objects other than the textile fabric. In this regard, FIG. 7 shows an edge lifting operation process for gripping the edge portion of the fabric using the gripping device of FIG. 1 . FIG. 8 shows an operation process of gripping a cylindrical object using the gripping device of FIG. 1 .

First, referring to FIG. 7 , the process of gripping the edge portion of the textile fabric 30 - 2 is also substantially the same as in the previous case. In a state where the center of the gripping membrane 18 is in contact with the edge of the textile fabric 30-2, the pressure of the cavity space 26 is lowered using the vacuum device 45 so that the upper part of the cavity space 26 is can make it shrink. As a result, the first and second gripping fingers 16a and 16b are retracted, and the gripping film 18 is depressed toward the cavity space 26 and folded. In such a deformation process, the gripping membrane 18 can draw in the edge portion of the textile fabric 30-2, and if the air pressure drop in the cavity space 26 is maintained, the gripping membrane 18 is completely cut in half. It is possible to grip the edge portion of the textile fabric 30-2 while being folded in close contact. By operating the transfer unit 47, the fiber fabric 30-2 can be edge-lifted to move it to a desired position.

In addition, referring to FIG. 8 , in a state in which the gripping film 18 is in contact with the surface of the cylindrical object 35 , the pressure in the cavity space 26 is lowered by using the vacuum device 45 to reduce the pressure in the cavity space 26 . The upper part can be contracted. As a result, the first and second gripping fingers 16a and 16b are retracted, and the cylindrical object 35 may be pulled while the gripping film 18 is depressed toward the cavity space 26 . If the atmospheric pressure drop of the cavity space 26 is continued, the gripping film 18 increases the contact area with the outer surface of the cylindrical object 35 so that it can be gripped. Although Fig. 8 takes a cylindrical object as an example, other shaped articles such as spherical or ellipsoidal articles can be gripped in the same way. In the gripping state, the transfer unit 47 may be operated to move the object to a desired position.

Although the gripping operation using the gripping device 10 according to the first embodiment has been shown and described with reference to FIGS. 6 to 8 , the gripping device 50 according to the second embodiment and a third embodiment to be described later A gripping operation using the gripping device 70 according to FIG. If the cavity wall is constructed using two elastic materials having different modulus of elasticity, or is made of only one elastic material but the thickness and shape thereof are changed, the gripping operation may be performed in substantially the same manner.

Meanwhile, FIG. 9 is a perspective view illustrating a gripping device according to a third embodiment of the present invention in which a far-end sensor is added to the gripping device of FIG. 1 .

Referring to FIG. 9 , the gripping device 70 according to the third embodiment is different from the gripping device 10 of FIG. 1 in the configuration of the gripping film 78 . The difference is that the far end sensor 80 is built into the gripping film 78 so that the number of pieces of the far end gripped by the gripping film 78 can be detected. It goes without saying that the far-end sensor 80 may also be added to the gripping film of the gripping device 50 according to the second embodiment in the same manner. The far-end sensor 80 may be attached to the gripping film 78 in a bonded form.

In an exemplary embodiment, the far-end sensor 80 may be a conductive silicon-based sensor. For example, the far-end sensor 80 includes an elastic substrate having elasticity so that it can be folded or unfolded together with the gripping film 78, and the elastic substrate is located on the same plane in an unfolded state, but faces each other in a folded state. It may include first and second electrode plates 80a and 80b disposed thereon. Each of the first and second electrode plates 80a and 80b includes two conductive plates, and although not shown, the two conductive plates are connected to each other and the capacitance between the first and second electrodes 80a and 80b This can be measured.

A capacitance measuring instrument (not shown) may be connected to the first electrode 80a and the second electrode 80b to measure the capacitance. The far-end sensor 80 can be interpreted in a similar way to a single capacitor. As shown in FIG. 10 (A), the fabric sensor 80 is flatly unfolded, and as shown in FIG. 10 (B), the gripping membrane 78 and the far-end sensor 80 are folded in half. The magnitude of the capacitance between the two electrodes 80a and 80b of the far-end sensor 80 varies greatly between the gripping states of the far-end 90 - 1 . Paying attention to this point, by measuring the capacitance value between the two electrodes 80a and 80b of the far-end sensor 80, the number of pieces of the fabric gripped between the gripping films 78 can be determined.

The operating principle of the far-end sensor 80 is as follows. When a vacuum is applied to the cavity space 26 after contact between the gripping film 78 and the far end 90-1, the gripping film 78 is depressed and the far end sensor 80 as shown in FIG. 10(B). The two electrodes 80a and 80b are folded to face each other. In this case, the capacitance value of the far-end sensor 80 is determined according to the distance between the two facing electrodes 80a and 80b. For example, when the two electrodes 80a and 80b of the far-end sensor 80 are in a folded state but the gripping film 78 does not grip the far-end, the two electrodes 80a and 80b of the far-end sensor 80 are As the distance between them is very close, the capacitance is measured to be high, and as the number of the far-ends gripped between the gripping films 78 increases, the distance between the two electrodes 80a and 80b of the far-end sensor 80 increases. is decreased

fabric thickness (mm) Air permeability (CFM) texture #One 0.190 30 noodle #2 0.188 150 Cotton (25%), Polyester (75%) #3 0.242 739 polyester #4 0.053 0.9 polyester #5 0.235 >1500 polyester

11 exemplifies the experimental results regarding the capacitance size of the far-end sensor 80 according to the thickness and number of the fabric in the gripping device according to the exemplary embodiments. Table 1 shows the fabric characteristics used in the performance evaluation experiment of the fabric sensor 80 . As shown below, the difference in capacitance can be confirmed according to the characteristics of the fabric.

Referring to FIG. 11 , in the blank bar graph, hatched bar graph, and shaded histogram, for each of the five types of fabrics (#1-#5) having different thicknesses, not a single piece of fabric is gripped by the gripping film 78. It is the result of measuring the correction capacitance of the far-end sensor 80 when not, when only one sheet is gripped, and when two sheets are gripped. In each far-end, the capacitance of the far-end sensor 80 gradually decreases as the number of gripped fabrics increases. In addition, the capacitance value when the thickest fabric #5 is gripped is smaller than the capacitance value when the thinnest fabric #4 is gripped.

12 shows the results of testing the effect of the gripping film in the gripping apparatus according to the exemplary embodiments.

Referring to FIG. 12 , the graph of (A) shows the thickness and gripping force of a flexible sheet (eg, flexible fiber fabric, etc.) gripped by the gripping membranes 18 , 58 , 78 . shows the correlation of For example, when the gripping film has a thickness of 0.393 mm, it has a greater gripping force than when it has a thinner thickness (0.144 mm) or a thicker thickness (0.687 mm), and also has a larger gripping force than when there is no gripping film. Has ripping power. That is, it can be seen that the gripping film has the greatest gripping force when it has an optimal thickness.

The graph of FIG. 12B shows the correlation between the vacuum pressure applied to the gripping device by the vacuum device 45 and the gripping force. It can be seen that, regardless of the thickness of the gripping film, the greater the vacuum pressure applied to the cavity space, the greater the gripping force of the gripping film.

The graph of FIG. 12(C) shows the edge lifting performance of the gripping membrane. Edge lifting refers to lifting by gripping the edge of the fabric without folding the gripping membrane of the gripping device as illustrated in FIG. 7 . As shown in the graph of (C), if the gripping film is present, the area for performing edge lifting without folding the fabric exists widely, and if the gripping film does not exist, it can be confirmed that the implementation of edge lifting is impossible.

On the other hand, the fabric gripping devices 10 , 50 , 80 according to the embodiments of the present invention use, for example, elastic materials such as silicone rubber, natural or synthetic rubber, silicone, and elastic polymers, and perform a molding process. can be manufactured. Since a gripping device can be manufactured by injecting such an elastic material in liquid form into a mold, it is possible to repeatedly mass-produce.

In the gripping device according to the embodiments of the present invention, since the gripping membrane is a flexible and soft membrane made of an elastic material such as natural or synthetic polymer rubber, silicone rubber, silicone, etc., it is possible to pick up the fabric without damage or contamination of the fabric. have. The gripping membrane (membrane) made of a thin polymer rubber film can separate sheets of fabric without being restricted by the material or properties of the fabric. In addition, by embedding a fabric sensor inside the gripping membrane, it is possible to determine the number of gripped fabrics.

The gripping device according to the embodiments of the present invention is a method of pinching or edge lifting various various articles such as textile fabric, leather, other flexible thin articles, or articles of various shapes such as spherical, cylindrical, oval, etc. It can be used as a technique for moving by gripping. For example, it can be used universally for tasks such as automation of simple repetitive tasks in the garment production process, fabric transfer, and sewing support. For example, it can be used in the numbering operation, which is the operation of assigning a unique number to the fabric to improve the quality of clothing production. In the numbering operation, since the technique of separating the pieces of fabric from the stack of fabrics is a major technique, the gripping device according to the embodiments of the present invention can be very usefully used to automatically perform this operation. In this way, when the gripping device according to the embodiments of the present invention is used for the fabric numbering operation, it is possible to reduce the dependence on manpower, improve the process speed, and reduce the defect rate. As such, this technology can be widely used in the overall process of managing textile fabrics, and when applied to the market, it is expected to contribute to the activation of the clothing market by supporting automation of the clothing production process, improving production speed and efficiency, and improving quality.

Although the embodiments have been described with reference to the limited drawings as described above, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can. For example, even if the components of the described structures, devices, etc. are combined or combined in a form different from the described methods, or replaced or substituted by other components or equivalents, appropriate results may be achieved. Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

10, 50, 70: gripping device 12, 52: base part
14, 54: gripping finger portions 16a, 56a: first gripping finger
16b, 56b: second gripping finger 18, 58: gripping membrane
20, 60: cavity membrane 24a, 64a: first cavity wall
24b, 64b: second cavity wall 26, 66: cavity space
45: vacuum device 80: sensor

Claims (21)

It is made of an elastic material in which shape deformation and recovery are reversible, and the gripping membrane disposed at the top of the cavity space is depressed toward the cavity space in an unfolded state due to a change in shape due to a drop in atmospheric pressure of the cavity space provided therein. a gripping finger portion capable of gripping an object while being folded, and configured to release gripping of the object while returning to an original shape when the pressure drop is resolved; and
and a base part integrally coupled with a bottom surface of the gripping finger part to support the gripping finger part from below, and a base part having a through hole connected therein to the cavity space. According to claim 1, wherein the gripping finger portion, the first and second cavity walls spaced apart along the first direction to block the two opposite sides of the cavity space; Spaced apart along a second direction orthogonal to the first direction to block the remaining two sides of the cavity space, each lower portion is integrally coupled to the first and second cavity walls, respectively, of the cavity space first and second gripping fingers blocking all sides, each of the remaining upper portions extending a predetermined length longer than the first and second cavity walls to face each other; a cavity film completely covering an upper portion of the cavity space and having an edge portion integrally fixed to upper ends of the first and second cavity walls and to the boundary lines between lower and upper portions of the first and second gripping fingers; and a gripping film having opposite edges fixed to the upper end of the first and second gripping fingers, respectively, and disposed to cover an upper space of the cavity film between the first and second gripping fingers. Gripping Membrane-based object gripping device. According to claim 2, wherein the elastic material constituting the first and second cavity walls has a lower elastic modulus than the elastic material constituting the first and second gripping fingers, the first and second cavity A gripping membrane-based object gripping device, characterized in that the wall has a lower modulus of elasticity at the top than at the bottom. 4. The lower cavity wall according to claim 3, wherein each of the first and second cavity walls includes lower and upper cavity walls stacked in a two-stage structure, and the elastic modulus of a first elastic material constituting the upper cavity wall is the lower cavity wall. A gripping membrane-based object gripping device, characterized in that it is lower than the elastic modulus of the second elastic material constituting the . 4. The gripping membrane-based object gripping device according to claim 3, wherein the first and second cavity walls are made of a single elastic material, and the lower portion of each is thicker than the upper portion. The method according to claim 5, wherein each of the first and second cavity walls has a stepped structure in which a difference in thickness between the lower cavity wall and the upper cavity wall is discontinuously varied, or a structure that is continuously thinned from the bottom to the top, Or a gripping membrane-based object gripping device, characterized in that the structure is a combination of these two structures. 4. The method according to claim 3, wherein when the atmospheric pressure inside the cavity space becomes lower than the atmospheric pressure outside, the first and second cavity walls are more contracted and deformed than the first and second gripping fingers, and the first and first 2 The upper portion of the cavity wall is contracted to be larger than the lower portion, so that the upper portions of the first and second gripping fingers are retracted to be closer to each other, and the gripping film is recessed and folded toward the cavity space. Ripping Membrane-based object gripping device. The gripping membrane-based object gripping device according to claim 1, wherein the elastic material is at least one selected from silicone rubber, natural or synthetic rubber, silicone, and elastic polymers. The gripping film-based object according to claim 2, further comprising a sensor capable of detecting the number of objects gripped by the gripping film in a folded state by being embedded in or bonded to the gripping film. ripping device. 10. The method of claim 9, wherein the sensor comprises: an elastic substrate that can be folded or unfolded together with the gripping film; and first and second electrode plates disposed on the elastic substrate to face each other in the folded state, although located on the same plane in the unfolded state, the capacitance value between the first and second electrode plates The gripping film-based object gripping device, characterized in that it is configured to detect the number of objects gripped by the gripping film by measuring . The method according to claim 1, wherein it is connected to the through hole of the base to lower the air pressure in the cavity space to grip the object, and to release the drop in air pressure in the cavity space to release the gripping state of the object. A gripping membrane-based object gripping device, characterized in that it further comprises a configured vacuum device. It is made of an elastic material in which shape deformation and recovery are reversible, and the gripping membrane disposed at the top of the cavity space is depressed toward the cavity space in an unfolded state due to a change in shape due to a drop in atmospheric pressure of the cavity space provided therein. a gripping finger portion capable of gripping an object while being folded, and configured to release gripping of the object while returning to an original shape when the pressure drop is resolved;
a base portion integrally coupled to a bottom surface of the gripping finger portion to support the gripping finger portion from below, and having a through hole provided therein for connecting to the cavity space; and
and a sensor built into or bonded to the gripping film and configured to detect the number of objects gripped by the gripping film in a folded state;
The gripping finger portion may include: first and second cavity walls spaced apart from each other in a first direction to block two opposing sides of the cavity space; Spaced apart along a second direction orthogonal to the first direction to block the remaining two sides of the cavity space, each lower portion is integrally coupled to the first and second cavity walls, respectively, of the cavity space first and second gripping fingers blocking all sides, each of the remaining upper portions extending a predetermined length longer than the first and second cavity walls to face each other; a cavity film completely covering an upper portion of the cavity space and having an edge portion integrally fixed to upper ends of the first and second cavity walls and to the boundary lines between lower and upper portions of the first and second gripping fingers; and a gripping film having opposite edges fixed to the upper end of the first and second gripping fingers, respectively, and disposed to cover an upper space of the cavity film between the first and second gripping fingers. Gripping Membrane-based object gripping device. 13. The method of claim 12, wherein the elastic material constituting the first and second cavity walls has a lower elastic modulus than the elastic material constituting the first and second gripping fingers, and the first and second cavity walls A gripping membrane-based object gripping device, characterized in that the wall has a lower modulus of elasticity at the top than at the bottom. The lower cavity wall according to claim 13, wherein each of the first and second cavity walls includes lower and upper cavity walls stacked in a two-step structure, and the elastic modulus of a first elastic material constituting the upper cavity wall is the lower cavity wall. A gripping membrane-based object gripping device, characterized in that it is lower than the elastic modulus of the second elastic material constituting the . 14. The gripping membrane-based object gripping device according to claim 13, wherein the first and second cavity walls are made of a single elastic material, each lower part being thicker than the upper part. 14. The method according to claim 13, wherein when the atmospheric pressure inside the cavity space becomes lower than the atmospheric pressure outside, the first and second cavity walls are more contracted and deformed than the first and second gripping fingers, and the first and first 2 The upper portion of the cavity wall is contracted to be larger than the lower portion, so that the upper portions of the first and second gripping fingers are retracted to be closer to each other, and the gripping film is recessed and folded toward the cavity space. Ripping Membrane-based object gripping device. The gripping membrane-based object gripping device according to claim 12, wherein the elastic material is at least one selected from silicone rubber, natural or synthetic rubber, silicone, and elastic polymers. 13. The method of claim 12, wherein it is connected to the through-hole of the base to lower the air pressure in the cavity space to grip the object, and release the drop in air pressure in the cavity space to release the gripping state of the object. A gripping membrane-based object gripping device, characterized in that it further comprises a configured vacuum device. A method for gripping an object using the gripping membrane-based object gripping device of any one of claims 1 to 18, comprising:
contacting a center portion of the gripping film with an edge portion of a distal end that is a gripping object;
By using a vacuum device having an air pressure control function to lower the air pressure in the cavity space to contract the upper part of the cavity space, the first and second gripping fingers are retracted, and the gripping membrane is depressed toward the cavity space and folded. drawing an edge portion of the fabric; and
and moving the gripping film to a desired position by firmly edge-lifting the edge portion of the fabric while maintaining the drop in air pressure in the cavity space while the gripping membrane is completely folded in half. How to grip. A method for gripping an object using the gripping membrane-based object gripping device of any one of claims 1 to 18, comprising:
bringing the entire area of the gripping film into contact with a surface of a fabric to be gripped;
A vacuum device having an air pressure control function lowers the air pressure in the cavity space to contract the upper part of the cavity space, so that the first and second gripping fingers are retracted, and the gripping membrane is depressed toward the cavity space and folded. Folding the contact portion of the drawing step; and
continuously maintaining the drop of atmospheric pressure in the cavity space so that the gripping film is completely folded in half and brought into close contact while gripping the folded fabric part drawn in in a strongly pinched manner to move an object to a desired position; How to grip. A method for gripping an object using the gripping membrane-based object gripping device of any one of claims 1 to 18, comprising:
contacting the gripping film with the surface of the object to be gripped;
A vacuum device having a pneumatic pressure control function lowers the air pressure in the cavity space to contract the upper part of the cavity space, so that the first and second gripping fingers are retracted, and the gripping film is depressed toward the cavity space and folded, and the object drawing the inside; and
The method of gripping an object, characterized in that by continuously maintaining the drop of atmospheric pressure in the cavity space, the gripping film expands a contact area with the surface of the object, grips it firmly and moves it to a desired position; .

Images