KR20230146885A - Gripping apparatus for gripping object through modularization and method for gripping the object using the same - Google Patents

Abstract

In the object gripping device through modularization and the object gripping method using the same, the gripping device includes a body portion, at least one module portion, a module recognition portion, a strategy establishment portion, and a central control portion. The module portion is selectively mounted on the body portion. The module recognition unit recognizes the module unit mounted on the body unit. The strategy establishment unit establishes a gripping strategy for the object based on the recognized information of the module unit and object information. The central control unit transmits a driving command to the module unit based on the established gripping strategy.

Description

Object gripping device through modularization and object gripping method using the same {GRIPPING APPARATUS FOR GRIPPING OBJECT THROUGH MODULARIZATION AND METHOD FOR GRIPPING THE OBJECT USING THE SAME}

The present invention relates to an object gripping device through modularization and an object gripping method using the same. More specifically, various gripping modules and manipulation modules are selectively attached and detachable to implement an optimal gripping module for gripping an object. The present invention relates to an object gripping device through modularization that can perform more effective and easy gripping of an object and an object gripping method using the same.

Grippers for gripping objects are being developed in various structures to effectively grip objects in various environments.

However, when using a single gripping module, it may be difficult to achieve optimal grip that matches the structure or shape of the object being gripped or the gripping situation, so the gripping module that directly grips or handles the object can be selectively exchanged. Technologies that enable this are being developed.

For example, in the case of Republic of Korea Patent No. 10-2133049, technology regarding a hand module replaceable robot arm is disclosed, through which the hand module can be replaced, providing optimal grip according to the required shape or gripping situation. The concept of implementing is disclosed.

In addition, Japanese Patent No. 6918535 discloses a structure in which a tool exchange module equipped with tools of shapes suitable for various parts is detachably connected to a robot arm, and similarly implements optimal gripping by exchanging tools. is starting.

However, the attachment and detachment of the module applied in the gripping device to date is merely a concept of replacing or replacing the entire module that performs gripping with another module.

Furthermore, the attachment and detachment of modules in this replacement or replacement method means that the replacement or replacement module is also limited to objects with a specific shape or can only be applied in a specific environment, making effective gripping of objects of more diverse shapes possible. When the gripping environment for an object is performed or the grasping environment varies widely, there is still a limitation in that adaptability is not high.

Republic of Korea Patent No. 10-2133049 Japanese Patent No. 6918535

Accordingly, the technical problem of the present invention was conceived in this regard, and the purpose of the present invention is to implement an optimal gripping module for gripping an object by selectively attaching and detaching various gripping modules and manipulation modules, thereby providing better grip for the object. The aim is to provide an object gripping device through modularization that can perform effective and easy gripping.

Additionally, another object of the present invention is to provide a method of gripping an object using the gripping device.

The gripping device according to an embodiment for realizing the object of the present invention described above includes a body portion, at least one module portion, a module recognition portion, a strategy establishment portion, and a central control portion. The module portion is selectively mounted on the body portion. The module recognition unit recognizes the module unit mounted on the body unit. The strategy establishment unit establishes a gripping strategy for the object based on the recognized information of the module unit and object information. The central control unit transmits a driving command to the module unit based on the established gripping strategy.

In one embodiment, each of the module units may include a module mounted on the body unit and a module control unit that controls the operation of the module.

In one embodiment, the driving command from the central control unit is provided to the module control unit, and the module control unit can control the operation of the corresponding module.

In one embodiment, the body part or the module part is provided with a sensor that recognizes the shape of the object, so that the object information can be obtained.

A gripping device according to another embodiment for realizing the object of the present invention described above includes a body portion and at least one module portion. The body portion includes at least one side. The module portion is selectively mounted on the side of the body portion. The module unit includes a gripping module that directly grips the object or a manipulation module that manipulates the position of the object, and the gripping module and the manipulation module are mounted on the side of the body using the same mounting part.

In one embodiment, the body part may include a cover part attached to the side in the same way as the mounting part on a side where the module part is not mounted.

In one embodiment, it may further include a central module that is mounted on the lower surface of the body and directly grips the object.

In one embodiment, the central module includes a base frame mounted on the lower surface of the body portion, a central suction portion formed to protrude downward from the center of the base frame, and a side suction portion formed around the central suction portion. It can be included.

In one embodiment, the gripping module may further include a sensor that is provided on a large-area adsorption unit for gripping the object and recognizes the shape of the object.

In one embodiment, a module recognition unit that recognizes the module unit mounted on the body unit, a strategy establishment unit that establishes a gripping strategy for the object based on the information on the recognized module unit and the object information, and the established gripping strategy Based on this, it may further include a central control unit that transmits a driving command to the module unit.

A gripping method according to another embodiment for realizing the object of the present invention described above includes the steps of selectively mounting at least one module part on the body, recognizing the module part mounted on the body, and providing information on the object to be gripped. Obtaining, establishing a grasping strategy for the object based on the recognized information on the module portion and the object information, transmitting a drive command to the module portion based on the established grasping strategy, and transmitting It includes a step of controlling the operation of the module of the module unit with the given driving command.

In one embodiment, a driving command may be transmitted to the module unit through a central control unit of the gripping device, and the operation of the module may be controlled through a module control unit provided in each of the module units.

According to embodiments of the present invention, a more effective gripping strategy for the object is established based on information about the object and the module mounted on the body, and gripping is performed based on this, so that the structure and shape of various objects Alternatively, precise and optimized gripping can be performed through an optimal gripping strategy considering the environment of the object gripping object.

In this case, the central control unit executes control commands based on the driving method of each module unit to perform the optimal gripping strategy, and the module control unit provided in each module unit directly drives the corresponding module, so various Since the corresponding module can directly control each module part that is easily attached and detached, operation can be performed regardless of the detachable module.

Additionally, in order to obtain information about the object, a sensor is provided in the module or body portion, so that sufficient information for establishing a gripping strategy can be obtained.

Furthermore, at least one of various modules can be mounted on the side of the body in various combinations, and furthermore, a central module can be mounted on the bottom of the body, so this is a conventional technique in which one module is simply replaced by another module to perform gripping. Unlike, optimal phage can be performed with a complex module configuration.

In other words, it is possible to grip a relatively large object through the large-area adsorption unit mounted on the side, the optimal grip is possible by changing the grip position or posture of the object through the manipulation module mounted on the side, and the central The central adsorption unit protruding from the center of the module enables selective gripping of objects located in narrow spaces, enabling diverse and optimal gripping taking into account various gripping environments or shapes of objects.

Figure 1 is a block diagram showing an object gripping device according to an embodiment of the present invention.
FIG. 2A is a perspective view showing the central module (first module) mounted on the body of FIG. 1, and FIG. 2B is a perspective view showing the operating state of the central module of FIG. 2A.
FIG. 3A is a perspective view showing the first and second modules mounted on the body of FIG. 1, and FIG. 3B is a perspective view showing the second module of FIG. 3A.
FIG. 4A is a perspective view showing the first and third modules mounted on the body of FIG. 1, and FIG. 4B is a perspective view showing the third module of FIG. 4A.
Figure 5 is a perspective view showing the first to third modules mounted on the body of Figure 1.
FIG. 6 is a perspective view illustrating an example of a gripping state for an object using the gripping device of FIG. 1 .
FIG. 7 is a flowchart illustrating a method of gripping an object using the gripping device of FIG. 1 .

Since the present invention can be subject to various changes and can have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms.

The above terms are used only for the purpose of distinguishing one component from another. The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as “comprise” or “consist of” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

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

Figure 1 is a block diagram showing an object gripping device according to an embodiment of the present invention.

First, the overall configuration of the gripping device 10 according to the present embodiment will be described with reference to FIG. 1, and the state in which various module parts are mounted will be described in detail with reference to the following drawings.

That is, referring to FIG. 1, the gripping device 10 according to this embodiment performs a grip on the object 20, and includes a body portion 100, a module portion 200, and a module recognition portion 300. , includes a strategy establishment unit 400 and a central control unit 500.

Referring simultaneously to the following FIG. 2A, the body portion 100, although not shown, is fixed to a separate arm portion on which the gripping device 10 is mounted, and a connection portion 150 for such fixation is provided at the top. is formed

In addition, the body portion 100 has an overall block shape, and in FIG. 2A, it is illustrated as having a square block shape with four sides, but it is not limited thereto and can be shaped like a cylindrical block, a triangular block, a pentagonal block, etc. It may also have a polygonal block shape.

The module portion 200 is detachably mounted on the sides 101 and 102 of the body portion 100 formed in this way, and further, the module portion 200 is also attached to the lower surface of the body portion 100. It can be mounted to be detachable.

Meanwhile, mounting spaces 111 and 121 having a predetermined groove shape are formed on the side surfaces 101 and 102 of the body portion 100 so that the module portion 200 can be mounted, and thus the module The part 200 is inserted into the mounting spaces 111 and 121 and is mounted on the body part 100.

At this time, separate cover parts 110 and 120 are positioned on the sides where the module part 200 is not mounted to cover the groove-shaped mounting spaces.

The cover parts 110 and 120 are fitted into the mounting spaces 111 and 121, and include mounting parts 222 and 252 fitted into the mounting spaces 111 and 121 in the module part 200. It may have substantially the same mounting structure as (see FIGS. 3b and 4b).

As described above, the module unit 200 is mounted on the side surfaces 101 and 102 or the lower surface of the body unit 100, and is selectively attached or detached to grip a required object.

In the case of this embodiment, the module unit 200 may be provided with a plurality of module units having various structures and operations, and therefore, the optimal module unit can be selectively installed depending on the object 20.

In addition, in the case of the module unit 200, modules 210, 220, ..., 250 that implement a predetermined motion for the object 20, and module control units 211, 221 that independently control the corresponding modules , ..., 251).

Therefore, when a specific module part, for example, the first module part, is mounted on the body part 100, the first module 210 directly mounted on the body part 100, and the first module 210 A first module control unit 211 that controls operations is connected to the body unit 100.

That is, the module control unit connected to each module controls the operation of the corresponding module.

The module recognition unit 300 recognizes the module unit 200 mounted on the body unit 100, identifies which modules are mounted on the side or bottom of the body unit 100, and obtains information. .

This identification information can be obtained based on the module code of each module unit 200, and a separate sensor or recognition unit may be provided on the side or bottom of the body to recognize the module unit, and this recognition method is not limited.

The strategy establishment unit 400 establishes a gripping strategy for the object 20, for example, determines the order of the mounted modules approaching the object, determines the direction of approaching the object, When gripping an object, a series of gripping actions including individual movements are specifically defined, such as determining the size or direction of the applied force.

Meanwhile, this specific definition method of grasping behavior can be implemented through a separate algorithm, and for example, an optimal grasping strategy can be derived through learning such as machine learning.

To this end, the strategy establishment unit 400 must proactively obtain information about the object 20 and identification information of the module units 200 mounted on the body unit 100.

In this case, as described above, identification information on the module units 200 mounted on the body unit 100 is provided to the strategy establishment unit 400 through the module recognition unit 300.

Meanwhile, information about the object 20, that is, information about the structure, shape, or gripping environment of the object, may be provided as information acquired through a separate sensor.

For example, although not shown, information about the gripping environment of the object may be obtained through various image sensors provided on the body portion 100.

Additionally, information about the structure, shape, etc. of the object can also be obtained through various image sensors provided in the body portion 100. Alternatively, a large-area sensor may be attached to a gripping module that directly grips an object among the module units described later, and information on the structure, shape, etc. of the object may be obtained through direct contact with the object.

As described above, based on the information about the object 20 and the information about the module unit 200 mounted on the body unit 100, the strategy establishment unit 400 holds the object 20. Once a strategy is established, the central control unit 500 performs control to comply with this gripping strategy.

That is, the central control unit 500 derives detailed driving commands for the module parts 200 mounted on the body 100 to comply with the established gripping strategy, and sends the derived driving commands to the module parts. (200) provided respectively.

Meanwhile, in this embodiment, for convenience of explanation, the central control unit 500 performs an operation of deriving and providing a driving command separately from the strategy establishment unit 400. However, in reality, it is one main control unit. It is obvious that the roles of the central control unit 500 and the strategy establishment unit 400 can be performed in an integrated manner.

In this embodiment, the central control unit 500 only transmits the derived driving command to each of the module units 200 and does not directly drive each module unit 200. That is, since various types of module parts can be mounted on the body part 100, it is difficult for the central control unit 500 to directly drive the mounted module parts each time according to these various combinations. The control unit 500 only transmits driving commands to each module unit.

Accordingly, since each module unit is provided with a module control unit that controls the operation of the corresponding module, the operation of the corresponding module is performed based on the driving command provided from the central control unit 500 when the corresponding module needs to be driven. Control.

As described above, since the corresponding module is driven through a module control unit that performs independent control for each module, more effective driving can be performed by considering the driving characteristics of the relevant module, and the module to be installed can be operated more effectively. It is possible to solve the problem of difficulty in performing consistent operation of all installed modules from the central control unit in situations where various operations are required.

Hereinafter, the state in which various module parts are mounted and operated in the body portion 100 will be described by way of example.

FIG. 2A is a perspective view showing the central module (first module) mounted on the body of FIG. 1, and FIG. 2B is a perspective view showing the operating state of the central module of FIG. 2A.

First, referring to FIG. 2A, a first module 210 (central module) may be mounted on the lower surface of the body 100.

In this case, the central module 210, unlike other modules, is mounted on the lower surface of the body 100. As described above, when the central module 210 is mounted, the central module ( A first module control unit 211 that directly controls the operation of 210 is also installed at the same time.

The central module 210 includes a base frame 212, a side suction portion 213, and a central suction portion 214.

The base frame 212 is a structure that is detachable from the lower surface of the body 100, and the side suction portion 213 and the central suction portion 214 are formed on the inside.

The central adsorption unit 214 and the side adsorption unit 213 both perform gripping through adsorption on the object 20. As shown, a plurality of suction ports (or suction holes) are formed, respectively. Negative pressure is formed through the suction port to provide suction force, and the object 20 is gripped by adsorption through the suction force provided.

At this time, the shapes of the suction ports formed in the central suction portion 214 and the side suction portion 213 may be formed in various ways. For example, all of the suction ports may have a honeycomb structure. .

Furthermore, the boundary surface or wall bordering each suction port may be a flexible structure, and accordingly, when suction force is provided to perform adsorption on the object 20, the central suction portion 214 and the side suction portion ( 213) can be modified in shape to match the shape of the object 20, thereby further improving adhesion.

Meanwhile, as shown, the diameter or size of each suction port formed in the central suction portion 214 is smaller than the diameter or size of each suction port formed in the side suction portion 213. It can be.

Thus, the central adsorption unit 214 can adsorb the object with greater precision, and the side adsorption unit 213 can adsorb the object with greater force. However, these combinations may vary in many ways other than those illustrated.

Referring to FIG. 2B, in the central module 210, the central suction part 214 may protrude a certain distance downward from the base frame 212.

That is, a protruding bar 215 connected to the base frame 212 is provided, and the central suction part 215 protrudes downward from the base frame 212 as the protruding bar 215 extends. You can.

As described above, when the central adsorption portion 215 independently protrudes downward, when the object 20 is located in a deep position, for example, inside a box or chamber, the central adsorption portion 215 is directed toward the object 20. The adsorption unit 215 can approach the object 20 more precisely to grip the object 20.

Afterwards, when the extended protruding bar 215 returns again, the object 20 adsorbed by the central adsorption unit 215 also comes into contact with the side adsorption unit 213, enabling stable gripping with a large overall adsorption force. I do it.

If the central module 210 capable of performing the above structure and operation is mounted on the body portion 100, this module portion is recognized and the characteristics of the structure and operation of the module portion are taken into consideration when gripping an object. A phage strategy can be established.

FIG. 3A is a perspective view showing the first and second modules mounted on the body of FIG. 1, and FIG. 3B is a perspective view showing the second module of FIG. 3A.

First, referring to FIG. 3A, the central module 210 (first module) may be mounted on the lower surface of the body 100, and further, the gripping module 220 (second module) may be mounted on the side of the body 100. module) can be installed.

That is, the gripping modules 220 may be mounted as a pair on the second side 102 and the third side 103 of the body 100, respectively. In this case, it is illustrated that the gripping module 220 is mounted only on two sides facing each other, but it is obvious that if there are four sides, it can be mounted on all four sides or only one side.

For this installation, as described above, the second cover part 120 that covers the second side 120 of the body 100 and the third cover part that covers the third side 103 are removed. , the second module 220 is mounted on the second mounting space 121 and the third mounting space 131, respectively.

In this way, when the central module and the grip module are mounted on the body portion 100, the module recognition unit 300 recognizes the mounted module, as previously described with reference to FIG. 1, and the strategy establishment unit In step 400, a grasping strategy is established considering the characteristics of the object as well as the characteristics of the recognized module, and based on this, the grasping of the object can be performed.

Meanwhile, referring to FIG. 3b, the gripping module 220 is a module that grips the object 20 through close contact, and includes a mounting portion 222, an extension portion 223, and a large-area adsorption portion 224. ) includes.

The mounting portion 222 has the same mounting structure as the cover portion 120, is fitted into the second or third mounting space 121, 131, and is fixed to the side of the body portion 100.

One end of the extension part 223 is rotatably fixed to the mounting part 222, and the large-area adsorption part 224 is fixed to the other end. Therefore, the posture of the large-area adsorption unit 224 with respect to the mounting unit 222 can be varied in various ways through the operation of the extension unit 223.

The large-area adsorption unit 224 substantially grasps the object 20, and as shown, may be formed to have a large area so that a relatively large surface directly contacts the object 20.

In this case, although not shown, a large-area sensor is provided in the large-area adsorption unit 224 to obtain information about the shape or structure of the object 20 that is in contact. The information obtained in this way may be provided to the strategy establishment unit 400, as described above.

In addition, as described above, the large-area adsorption unit 224 may have a structure in which suction force is provided through a suction port such as the central adsorption unit 214 or the side adsorption unit 213 and is adhered by adsorption. , It may be a structure that includes a plurality of pores and allows the pores to come into close contact with a vacuum when in contact with the object, thereby performing gripping through close contact with the object.

To this end, the large-area adsorption unit 224 may have a sponge structure or a fine mesh structure in which a plurality of pores are formed.

FIG. 4A is a perspective view showing the first and third modules mounted on the body of FIG. 1, and FIG. 4B is a perspective view showing the third module of FIG. 4A.

First, referring to FIG. 4A, the central module 210 (first module) can be mounted on the lower surface of the body 100, and further, an operation module (210) is installed on all four sides of the body 100. 230, third module) may be installed.

That is, the manipulation module 230 may be mounted on the first to fourth sides 101, 102, 103, and 104 of the body 100, respectively. In this case, it is illustrated that the manipulation module 230 is mounted on all four sides, but it is also obvious that it can be mounted on at least one or more sides.

For this installation, as described above, all cover parts that cover all sides of the body 100 are removed, and the manipulation module 230 is installed in all mounting spaces.

In this way, when the central module and the operation module are mounted on the body portion 100, the module recognition unit 300 recognizes the mounted module, as previously described with reference to FIG. 1, and the strategy establishment unit In step 400, a grasping strategy is established considering the characteristics of the object as well as the characteristics of the recognized module, and based on this, the grasping of the object can be performed.

Meanwhile, referring to FIG. 4b, the manipulation module 250 performs an operation of holding an object by contact or changing the position or direction of the object, and includes a mounting part 252, a coupling part 253, and a rotating part ( 254) and a tongs 255.

The mounting portion 252 has the same mounting structure as the cover portion 120, is fitted into the mounting spaces 121 and 131, and is fixed to the side of the body portion 100.

The coupling portion 253 is a unit rotatably coupled to the mounting portion 252, and a rotating portion 254 is connected to the coupling portion 253, so that the rotating portion 254 moves relative to the mounting portion 252. It operates so that it can rotate.

The tongs 255 extend along the lower part of the rotating part 254, and their position or posture changes depending on the rotation of the rotating part 254. In addition, in the case of the tongs 255, as shown, it is configured to include a plurality of joints, and is driven in the same manner as the joints are folded inward to grip or manipulate the object 20 located inside. can do.

That is, the end of the tongs 255 is not provided with a separate adsorption force, but is formed to have a predetermined friction force, so that it can provide a predetermined contact force or gripping force with respect to the surface of the object 20. Accordingly, direct gripping can be performed for objects with simple structures or light structures, and precise manipulation can be performed to change the position or posture of the objects to facilitate gripping for objects with relatively complex structures or heavy objects.

Figure 5 is a perspective view showing the first to third modules mounted on the body of Figure 1.

Referring to FIG. 5, the central module 210 (first module) is mounted on the lower surface of the body 100, and the first and fourth sides 101 and 4 face each other of the body 100. A manipulation module (230, third module) is mounted on the side 104, and a gripping module (220) is mounted on the two opposing second sides 102 and third sides 103 of the body portion 100. 2 modules) can be installed.

That is, the manipulation module 230 and the gripping module 220 may be alternately mounted on the first to fourth sides 101, 102, 103, and 104 of the body portion 100.

For this installation, as described above, all cover parts covering all sides of the body 100 are removed, and the manipulation module 230 and the gripping module 220 are installed in all mounting spaces, respectively. This is the same as described previously.

In this way, when the central module and the operation module are mounted on the body portion 100, the module recognition unit 300 recognizes the mounted module, as previously described with reference to FIG. 1, and the strategy establishment unit In step 400, a grasping strategy is established considering the characteristics of the object as well as the characteristics of the recognized module, and based on this, the grasping of the object can be performed.

Hereinafter, a gripping method using this gripping device 10 will be described with reference to the example of FIG. 6.

FIG. 6 is a perspective view illustrating an example of a gripping state for an object using the gripping device of FIG. 1 . FIG. 7 is a flowchart showing a method of gripping an object using the gripping device of FIG. 1 .

Referring to Figures 6 and 7, in the object gripping method, first, at least one module part is selectively mounted on the body part 100 (step S10).

For example, a central module 210 is mounted on the lower surface of the body 100, and manipulation modules 230 are mounted on the first and third sides 101 and 103 of the body 100. A gripping module 220 may be mounted on the fourth side 104 of the body 100.

Afterwards, the module part mounted on the body part 100 is recognized (step S20).

That is, the module units mounted on the body unit 100 are recognized through the module recognition unit 300. In the case of FIG. 6, in the module recognition unit 300, a central module 210, an operation module 230, and a grip module 220 are provided on the lower surface of the body 100 and three different sides, respectively. You can recognize that it is installed.

Afterwards, information on the object 20 to be grasped is obtained (step S30).

As described above, information on the object 20 may be obtained by capturing an image through a separate image sensor provided on the body 100, although not shown. Alternatively, information about the object 20 may be obtained by directly contacting the object 20 through a large-area sensor provided in the gripping module 220.

Afterwards, the information on the object 20 obtained in this way and the information on the recognized module unit are provided to the strategy establishment unit 400, and the strategy establishment unit 400 establishes the gripping strategy ( Step S40).

For example, in the case of FIG. 6, the object 20 has a cylindrical upper side, and when equipped with a central module 210, two manipulation modules 230, and one gripping module 220, , (i) primarily grips and lifts the side of the object through two manipulation modules and one gripping module, (ii) additionally, the central module grips the upper surface of the object through adsorption, (iii) A strategy to move to the final target location can be established.

Accordingly, the central control unit 500 transmits a driving command to each of the module units based on the established gripping strategy (step S50).

That is, the central control unit 500 derives a driving command according to the operation to be implemented by each module unit according to the established gripping strategy, and is a module control unit that controls the operation of each module through the operation of each module. Deliver the derived drive command.

Accordingly, each module control unit controls the operation of the corresponding module to grip the object 20.

That is, the module control unit of the manipulation module 230 controls the drive so that the end of the manipulation module 230 faces the side of the object 20, and through this, the end of the manipulation module 230 is directed to the object 20. The side of (20) is contacted and gripped.

In addition, the module control unit 221 of the gripping module 220 also controls the operation of the large-area adsorption unit 224 of the gripping module 220 to come into close contact with the side of the object 20, and through this, A part of the side surface of (20) is adsorbed by the gripping module (220).

Furthermore, the module control unit of the operation module 230 and the module control unit 221 of the gripping module 220 control the position elevation of the manipulation module 230 and the gripping module 220.

Therefore, although not shown in FIG. 6, the object 20 is located on the lower surface of the central module 210. Accordingly, the module control unit 211 of the central module 210 controls the central module 210. The drive is controlled to adsorb the object 20, and through this, the upper surface of the object 20 can be additionally adsorbed and held.

As described above, based on information about the composition of the object and the module portion, an optimal gripping strategy can be established to perform the most effective and optimal gripping.

According to the embodiments of the present invention as described above, a more effective gripping strategy for the object is established based on the module part mounted on the body and information about the object, and gripping is performed based on this, so that various objects can be grasped. Precise and optimized gripping can be performed through an optimal gripping strategy considering the structure, shape, or environment of object gripping.

In this case, the central control unit executes control commands based on the driving method of each module unit to perform the optimal gripping strategy, and the module control unit provided in each module unit directly drives the corresponding module, so various Since the corresponding module can directly control each module part that is easily attached and detached, operation can be performed regardless of the detachable module.

Additionally, in order to obtain information about the object, a sensor is provided in the module or body portion, so that sufficient information for establishing a gripping strategy can be obtained.

Furthermore, at least one of various modules can be mounted on the side of the body in various combinations, and furthermore, a central module can be mounted on the bottom of the body, so this is a conventional technique in which one module is simply replaced by another module to perform gripping. Unlike, optimal phage can be performed with a complex module configuration.

In other words, it is possible to grip a relatively large object through the large-area adsorption unit mounted on the side, the optimal grip is possible by changing the grip position or posture of the object through the manipulation module mounted on the side, and the central The central adsorption unit protruding from the center of the module enables selective gripping of objects located in narrow spaces, enabling diverse and optimal gripping taking into account various gripping environments or shapes of objects.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the following patent claims. You will understand that it is possible.

10: gripping device 20: object
100: body part 200: module part
210: first module (central module) 213: side adsorption unit
214: Central adsorption unit 220: Second module (grip module)
224: Large-area adsorption unit 230: Third module (operation module)
255: Clamp part 211, 221, 251: Module control part
300: Module recognition unit 400: Strategy establishment unit
500: Central control unit

Claims (12)

body part;
At least one module portion selectively mounted on the body portion;
a module recognition unit that recognizes the module unit mounted on the body;
a strategy establishment unit that establishes a gripping strategy for the object based on the recognized module unit information and object information; and
A gripping device including a central control unit that transmits a driving command to the module unit based on the established gripping strategy. The method of claim 1, wherein each of the module units:
a module mounted on the body; and
A gripping device comprising a module control unit that controls the operation of the module. According to paragraph 2,
The driving command from the central control unit is provided to the module control unit,
A gripping device, characterized in that the module control unit controls the operation of the corresponding module. According to paragraph 1,
A gripping device, characterized in that the body part or the module part is provided with a sensor that recognizes the shape of the object, and the object information is obtained. a body portion including at least one side; and
Comprising at least one module portion selectively mounted on a side of the body portion,
The module unit includes a gripping module that directly grasps the object or a manipulation module that manipulates the position of the object,
The gripping device is characterized in that the gripping module and the manipulation module are mounted on the side of the body using the same mounting part. The method of claim 5, wherein the body portion,
A gripping device comprising a cover part attached to the side in the same way as the mounting part on a side where the module part is not mounted. According to clause 5,
A gripping device further comprising a central module mounted on a lower surface of the body portion to directly grip an object. The method of claim 7, wherein the central module,
A base frame mounted on the lower surface of the body portion;
a central adsorption portion formed to protrude downward from the center of the base frame; and
A gripping device comprising a side suction portion formed around the central suction portion. The method of claim 5, wherein the gripping module is:
A gripping device further comprising a sensor provided on a large-area adsorption unit for gripping an object and recognizing the shape of the object. According to any one of claims 5 to 9,
a module recognition unit that recognizes the module unit mounted on the body;
a strategy establishment unit that establishes a gripping strategy for the object based on the recognized module unit information and object information; and
A gripping device further comprising a central control unit that transmits a driving command to the module unit based on the established gripping strategy. Selectively mounting at least one module portion to the body portion;
Recognizing a module part mounted on the body part;
Obtaining information on an object to be grasped;
Establishing a gripping strategy for the object based on the recognized module unit information and the object information;
transmitting a driving command to the module unit based on the established gripping strategy; and
A gripping method comprising controlling the operation of the module of the module unit with the transmitted driving command. According to clause 11,
A driving command is transmitted to the module unit through the central control unit of the gripping device,
A gripping method characterized in that the operation of the module is controlled through a module control unit provided in each of the module parts.

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