WO2023038378A1

WO2023038378A1 - Gripper device for electronic device

Info

Publication number: WO2023038378A1
Application number: PCT/KR2022/013268
Authority: WO
Inventors: 최영철; 이득녕; 정기현
Original assignee: 삼성전자 주식회사; 메이드테크(주)
Priority date: 2021-09-13
Filing date: 2022-09-05
Publication date: 2023-03-16
Also published as: KR20230039126A

Abstract

A gripper device may comprise: a cylinder assembly; a first sliding member and a second sliding member that linearly move according to the operation of the cylinder assembly; a first finger movable along a first LM guide rail formed on the first sliding member; a second finger movable along a second LM guide rail formed on the second sliding member; a first roller structure operatively connected to the cylinder assembly, the first sliding member, and the first finger; and a second roller structure operatively connected to the cylinder assembly, the second sliding member, and the second finger. The first roller structure may be configured such that the first finger moves a second distance greater than a first distance in the first direction when the first sliding member moves the first distance in the first direction. The second roller structure may be configured such that the second finger moves a fourth distance greater than a third distance in a second direction when the second sliding member moves the third distance in the second direction.

Description

Gripper device in electronic devices

Embodiments disclosed in this document relate to a gripper device of an electronic device.

In automated production equipment, a gripper device for pick and place is used to move an object to be supplied to a specific position or to a position of a process to be performed after gripping, and is widely used in various industrial fields. there is.

For example, in the manufacturing process of an electronic device such as a smart phone, the gripper device grips the assembled smart phone and places it in a position for inspection (e.g., a jig for inspection), or The smart phone that has passed the process can be gripped and transported to the location of the packaging and shipping process of the final product.

According to the development of the electronic industry and the popularization of smart phones, smart phones are manufactured in various shapes and sizes for each manufacturer or model, so products having different sizes are difficult to apply to the same production line. For example, since the travel distance (or opening/closing distance) of the gripper device is determined based on the size of the product to be manufactured, it may be difficult to apply a product having a size exceeding the travel distance of the gripper device to such a production line. .

In order to apply products of different sizes in the same production line, it is possible to build a line in which products are mixed and a change line applied by product, but a foldable type that is much larger than a general bar type smartphone ( Due to its characteristics, a foldable type smartphone has limitations in size response.

As a method for producing products of different sizes in one line, there is a method of preparing gripper devices corresponding to the various sizes of products and replacing instruments and electrical equipment applied according to the product. However, in this method, since devices applied to each product must be provided (even though they may not be operated) and devices must be replaced according to products, unnecessary cost and time may be consumed.

It is possible to build a dedicated production line for each product, but this method may reduce production efficiency according to changes in demand for each product, and has difficulties in various matters such as securing facility space and increasing investment costs.

According to the present disclosure, it is possible to provide a gripper device capable of picking and placing electronic devices having different sizes without changing a manufacturing process.

According to the present disclosure, a gripper device of an electronic device includes a cylinder assembly; A first sliding member and a second sliding member connected to the cylinder assembly and linearly moving according to the operation of the cylinder assembly, wherein the first sliding member and the second sliding member move away from each other or in a direction closer to each other. configured to move; a first finger formed below the first sliding member and configured to be movable along a first linear motion (LM) guide rail extending in a direction parallel to a moving axis of the first sliding member; a second finger formed under the second sliding member and configured to be movable along a second LM guide rail extending in a direction parallel to a moving axis of the second sliding member; a first roller structure operatively connected to the cylinder assembly, the first sliding member, and the first finger; and a second roller structure operatively coupled to the cylinder assembly, the second sliding member, and the second finger, wherein the first roller structure is configured to cause the first sliding member to move in a first direction. When moving by 1 distance, the first finger is configured to move by a second distance greater than the first distance in the first direction, and the second roller structure is such that the second sliding member moves in the first direction. When moving by a third distance in the opposite second direction, the second finger may be configured to move by a fourth distance greater than the third distance in the second direction.

In the system for controlling the gripper device according to the present disclosure, the gripper device has a first mode in which the stop member of the variable stopper is raised and a second mode in which the stop member of the variable stopper is lowered. a mode, wherein the system includes an input, an output operatively connected with the gripper device, and a control operatively connected with the input, the gripper device, and the output, wherein the input comprises: the first mode or a user input for the second mode, the controller transmits a control signal based on the received user input to the output unit, and the output unit responds to the received control signal to perform the gripper It may cause the device to operate in either the first mode or the second mode.

According to the present disclosure, a gripper device of an electronic device includes a cylinder assembly; A first sliding member and a second sliding member connected to the cylinder assembly to be linearly movable along an axial direction, wherein the first sliding member and the second sliding member are configured to move together in a direction away from each other or in a direction closer to each other. become; a first LM guide rail fixed to the first sliding member and extending in a direction substantially parallel to the axial direction; A first LM block connected to the first LM guide rail to be movable along the first LM guide rail; a second LM guide rail fixed to the second sliding member and extending in a direction substantially parallel to the axial direction; A second LM block connected to the second LM guide rail to be movable along the second LM guide rail; a first roller and a second roller disposed on the first sliding member; a first wire member including a first upper wire and a first lower wire extending substantially parallel to the axial direction and surrounding the first roller and the second roller; a first upper wire fixing member fixedly coupled to the first upper wire of the first wire member and the cylinder assembly; a first lower wire fixing member disposed to move together with the first LM block and fixedly coupled to the first lower wire of the first wire member; a third roller and a fourth roller disposed on the second sliding member; a second wire member including a second upper wire and a second lower wire extending substantially parallel to the axial direction and surrounding the third roller and the fourth roller; a second upper wire fixing member fixedly coupled to the second upper wire of the second wire member and the cylinder assembly; a second lower wire fixing member disposed to move together with the second LM block and fixedly coupled to the second lower wire of the second wire member; a first grip finger arranged to move along with the movement of the first LM block; and a second grip finger arranged to move along with the movement of the second LM block.

According to the embodiments disclosed in this document, it is possible to provide a gripper device capable of picking and placing an electronic device having a length or width that is greater than the stroke distance of a cylinder assembly, and reducing space and cost of manufacturing facilities through the gripper device. can save

According to the embodiments disclosed in this document, a gripper device capable of gripping electronic devices having various sizes or shapes may be provided.

According to embodiments disclosed in this document, a gripper device capable of gripping electronic devices of various sizes or shapes may be provided by varying the grippable length according to the operation of the variable stopper. Through this, it may be possible to manufacture electronic devices of various shapes or sizes without changing instruments or other electrical devices in the same production line.

In addition to this, various effects identified directly or indirectly through this document may be provided.

1 is an exploded perspective view of a gripper device according to an exemplary embodiment.

2 is a front view of a gripper device according to an exemplary embodiment.

3 is a perspective view of a gripper device according to an embodiment.

4 is a perspective view of a gripper device according to an exemplary embodiment.

5A is a view showing a cylinder body of a cylinder assembly according to an embodiment.

5B is a diagram illustrating movement of a chuck member according to an exemplary embodiment.

6 is a diagram illustrating various shapes of grip fingers according to an exemplary embodiment.

7A is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.

7B is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.

7C is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.

7D is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.

8 is a block diagram illustrating a control system of a gripper device according to an exemplary embodiment.

In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar elements.

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that this is not intended to limit the present invention to the specific embodiments, and includes various modifications, equivalents, and/or alternatives of the embodiments of the present invention.

2 is a front view of a gripper device according to an exemplary embodiment.

3 is a perspective view of a gripper device according to an embodiment.

In this disclosure, an axial direction (AX) may be defined. For example, the axial direction AX may be a direction substantially parallel to an axis along which the first chuck member 14 and/or the second chuck member 16 linearly move. For another example, the axial direction AX may be a direction substantially parallel to an axis along which the first sliding member 20 and/or the second sliding member 30 linearly move. For another example, the axial direction AX may be a direction substantially parallel to an axis along which the first grip finger 86 and/or the second grip finger 88 move linearly.

An axial direction AX defined in the present disclosure may include a first direction ① and a second direction ② opposite to the first direction ①. For example, the first direction ① of the axial direction AX may be a direction from the first sliding member 20 toward the second sliding member 30 . For another example, the first direction ① of the axial direction AX may be a direction from the first grip finger 86 to the second grip finger 88 .

1, 2, 3, and 4, the gripper device 1 according to an embodiment includes a base member 15, a variable stopper 90, a cylinder assembly 10, and a first sliding member. (20), second sliding member (30), first LM structure (linear motion structure) 40, second LM structure 50, first roller structure 60, second roller structure 70, A first connection finger 82 , a first grip finger 86 , a second connection finger 84 , and a second grip finger 88 may be included.

In one embodiment, the base member 15 may be configured to install various parts of the gripper device 1 . In one embodiment, the base member 15 may include a seating portion 153 , a first extension portion 151 , and a second extension portion 152 . In one embodiment, the cylinder assembly 10 and the variable stopper 90 may be disposed on the seating portion 153. In one embodiment, the first extension portion 151 may extend from one side of the seating portion 153 (eg, a side portion of the seating portion 153 in the -y direction). In one embodiment, the second extension portion 152 may extend from the other side of the seating portion 153 (eg, a side portion of the seating portion 153 facing the +y direction).

In one embodiment, other components of the gripper device 1 not shown are arranged on the base element 15, for example the first extension 151 and/or the second extension 152, and/or the gripper. Other devices (eg, a robot arm) distinct from the device 1 may be operatively connected, but are not limited by the above examples.

In one embodiment, the shape of the base member 15 may have a substantially flat plate shape. However, it is not limited thereto, and various design changes may be possible. For example, the base member 15 may include an at least partially bent portion, unlike the illustration. For another example, the first extension part 151 and/or the second extension part 152 may be omitted.

In one embodiment, the variable stopper 90 may be installed on the base member 15 . In one embodiment, the variable stopper 90 may be disposed on the seating portion 153 of the base member 15 . For example, the variable stopper 90 may be disposed on the side of the seating part 153 in the second direction (②). In one embodiment, the variable stopper 90 includes a third port 99, a housing 92 (or cylinder body), a piston rod 94, a first guide rod 96, and a second guide rod 98 , and a stop member 95. The housing 92 may include a cylinder structure operated by a working fluid (or pressure fluid) (eg, compressed air or oil, but not limited thereto) supplied through the third port 99 . The piston rod 94 may reciprocate according to the operation of the cylinder structure. The first guide rod 94 and the second guide rod 96 may be disposed on both sides of the piston rod 94 to stably guide the movement of the piston rod 94 . The stop member 95 may be disposed at the ends of the first guide rod 96 , the second guide rod 98 and the piston rod 94 . For example, the stop member 95 is the end farther from the housing 92 among the ends of the first guide rod 96, the second guide rod 98, and the piston rod 94 (eg, -z direction) end) can be placed. In one embodiment, the stop member 95 may move downward or upward according to the operation of the variable stopper 90, and the variable stopper 90 may maintain the state in which the stop member 95 moves downward or upward. For example, the variable stopper 90 may move up or down in a direction substantially perpendicular to the axial direction AX. In one embodiment, the variable stopper 90 may be configured to engage with the protruding portion 26 of the first sliding member 20 when the stopping member 95 descends. For example, when the stop member 95 descends, the protruding portion 26 is positioned in the first direction (①) of the stop member 95, so that the second direction (②) of the first sliding member 20 movement may be restricted. In one embodiment, the operation of the variable stopper 90 is controlled by a control unit (eg, the control unit 810 of FIG. 8 ), which will be described later, or a switch (not shown) operatively connected to the variable stopper 90. can be controlled through In one embodiment, the variable stopper 90 is, when viewed from above the base member 15 (eg, when viewed in the z-axis direction), the stop member 95 is at least the movement path of the first sliding member 20 They may be arranged to partially overlap.

In one embodiment, the cylinder assembly 10 may be positioned below the base member 15 (eg, in the -z direction) and connected to the base member 15. For example, the cylinder assembly 10 may be disposed below the seating portion 153 of the base member 15 . The cylinder assembly 10 may be coupled to the seating portion 153. In one embodiment, the cylinder assembly 10 may be coupled to the base member 15 and fixedly disposed below the base member 15 . For example, the cylinder assembly 10 is connected to the base member 15 through a fastener formed to correspond to each other on the cylinder body 12 and the mounting portion 153 and a fastening member (eg, a screw) coupled to the fastener. ) can be combined. However, it is not limited by the above examples.

In one embodiment, the cylinder assembly 10 includes a cylinder body 12, a first chuck member 14, a second chuck member 16, a first port 18, and a second port 19. can do.

In one embodiment, the first port 18 and the second port 19 are connected to one side of the cylinder body 12 (eg, the cylinder body facing the +x direction) so as to communicate with the pressure chamber formed in the cylinder body 12. side of (12)).

In one embodiment, a guide rail 125 guiding movement of the first chuck member 14 and the second chuck member 16 may be formed on the cylinder body 12 . In one embodiment, the guide rail 125 may be formed on one surface of the cylinder body (12). For example, the guide rail 125 may be formed on a lower surface (eg, a surface facing the -z direction) of the cylinder body 12 . In one embodiment, the guide rail 125 may extend in a direction substantially parallel to the axial direction AX. In one embodiment, the first chuck member 14 and the second chuck member 16 may be disposed on the cylinder body 12 so as to be movable along the guide rail 125 .

In one embodiment, the first chuck member 14 and the second chuck member 16 are connected via the first port 18 and/or the second port 19 to a working fluid (eg pressurized air or oil, However, it is not limited thereto) may move along the guide rail 125 by being supplied and/or discharged. For example, referring to FIG. 5A , a first cylinder 121 and a second cylinder 122 may be formed in the cylinder body 12 . In one embodiment, the first cylinder 121 and the second cylinder 122 may be separated by the cylinder body 12 and extend parallel to each other. For example, the first cylinder 121 and the second cylinder 122 may each extend in a direction substantially parallel to the axial direction AX. In one embodiment, the first piston 121P may be disposed inside the first cylinder 121, and the second piston 122P may be disposed inside the second cylinder 122. In one embodiment, a first pressure chamber 121a and a second pressure chamber 121b formed with the first piston 121P interposed therebetween may be formed inside the first cylinder 121 . In one embodiment, the first pressure chamber 121a may communicate with the first port 18 . In one embodiment, a third pressure chamber 122a and a fourth pressure chamber 122b formed with the second piston 122P interposed therebetween may be formed inside the second cylinder 122 . In one embodiment, the third pressure chamber 122a may communicate with the second port 19 .

In one embodiment, the working fluid may be supplied to the third pressure chamber 122a of the second cylinder 122 through the second port 19 . The working fluid supplied to the third pressure chamber 122a is formed inside the cylinder body 12 and communicates the third pressure chamber 122a and the second pressure chamber 121b of the first cylinder 121 to the first pressure chamber 121b. It may flow into the second pressure chamber 121b of the first cylinder 121 through a passage (not shown). At the same time, the working fluid in the first pressure chamber 121a of the first cylinder 121 may be discharged through the first port 18 . As the working fluid in the first pressure chamber 121a is discharged, the second pressure chamber 121a is formed in the cylinder body 12 and communicates with the fourth pressure chamber 122b of the second cylinder 122. The working fluid in the fourth pressure chamber 122b may be discharged through the first port 18 through a passage (not shown). As described above, by supplying and discharging the working fluid through the first port 18 and the second port 19, the first piston 121P moves in the first direction ① of the axial direction AX. and the second piston 122P can move in the second direction (②) of the axial direction (AX). In a principle opposite to that described above, the first piston 121P can move in the second direction ②, and the second piston 122P can move in the first direction ①.

In one embodiment, an interlocking member 123 may be disposed between the first piston 121P and the second piston 122P. In one embodiment, the interlocking member 123 may be connected to the first piston 121P and the second piston 122P. The interlocking member 123 may interlock the movement of the first piston 121P and the second piston 122P. For example, the interlocking member 123 may include a pinion gear. The pinion gear meshes with and rotates a first rack (not shown) formed on the first piston 121P and a second rack (not shown) formed on the second piston 122P, thereby causing the first piston 121P and the second piston to rotate. The movement of 122P may be interlocked with each other. However, it is not limited by the above examples.

1 and 5A, in one embodiment, the first chuck member 14 is fixedly coupled to the first piston 121P, and the second chuck member 16 is fixedly coupled to the second piston 122P. It can be. For example, although not shown, the first chuck member 14 and the second chuck member 16 are connected through a connecting member such as a pin that penetrates the cylinder body 12 and is fitted so as to be caught on the chuck member and the piston, respectively. , It may be fixedly coupled to each of the first piston (121P) and the second piston (122P). However, it is not limited thereto.

Referring to FIG. 5B , the first chuck member 14 according to an embodiment may include a first table member 141 and a first arm member 143 extending from the first table member 141. . In one embodiment, the first table member 141 may be disposed in a form that is at least partially fitted to the guide rail 125 protruding from the cylinder body 12 . In one embodiment, the first table member 141 may have a substantially plate shape, but is not limited thereto. In one embodiment, the surface of the first table member 141 facing the cylinder body 12 ( Or part) may be formed with a groove corresponding to the guide rail 125 . In one embodiment, the first arm member 143 may extend along the first direction ① from the first table member 141 . In one embodiment, the first arm member 143 may be at least partially accommodated in a first guide groove 126 formed on one side of the guide rail 125 and extending along the guide rail 125 . In one embodiment, the first arm member 143 may extend along the guide rail 125 within the first guide groove 126 .

The second chuck member 16 according to an embodiment may include a second table member 161 and a second arm member 163 extending from the second table member 161 . In one embodiment, the second table member 161 may be disposed in a form that is at least partially fitted into the guide rail 125 protruding from the cylinder body 12 . In one embodiment, the second table member 161 may have a substantially plate shape, but is not limited thereto. In one embodiment, the surface of the second table member 161 facing the cylinder body 12 ( Or part) may be formed with a groove corresponding to the guide rail 125 . In one embodiment, the second arm member 163 may extend along the second direction ② from the second table member 161 . In one embodiment, the second arm member 163 is formed on the opposite side of the first guide groove 126 in the guide rail 125 and is in the second guide groove 127 extending along the guide rail 125. at least partially acceptable. In one embodiment, the second arm member 163 may extend along the guide rail 125 within the second guide groove 127 . In one embodiment, in order to facilitate flow along the guide rail 125, the first chuck member 14 and the second chuck member 16 are, for example, rolled in contact with the cylinder body 12. It may include, but is not limited thereto.

Referring to FIG. 5B together with FIG. 5A , the first chuck member 14 and the second chuck member 16 are supplied through the first port 18 and the second port 19, according to an embodiment. and/or may move in opposite directions depending on the discharged working fluid. For example, in the first state 501 (eg, the state in which the first piston 121P and the second piston 122P are positioned as shown in FIG. 5A), the first chuck member 14 is the first piston ( 121P) may move in the first direction (①), and the second chuck member 16 may move in the second direction (②) opposite to the first direction (①) according to the movement of the second piston 122P. ) can be moved. Accordingly, the first chuck member 14 and the second chuck member 16 may move in a direction closer to each other and may be positioned as in the second state 503 . In the second state 503, the first arm member 143 of the first chuck member 14 is at least between the second table member 161 and the first guide groove 126 (or the cylinder body 12). may be partially located. In the second state 503, the second arm member 163 of the second chuck member 16 is at least between the first table member 141 and the second guide groove 127 (or the cylinder body 12). may be partially located. In FIG. 5B , portions where the first arm member 143 and the second arm member 163 overlap the second table member 161 and the first table member 141 are indicated by dotted lines. Contrary to the above, in the second state 503 (eg, the state where the first piston 121P and the second piston 122P are positioned opposite to those shown in FIG. 5A), the first chuck member 14 It can move in the second direction (②) according to the movement of one piston 121P, and the second chuck member 16 can move in the first direction (①) according to the movement of the second piston 122P. Accordingly, the first chuck member 14 and the second chuck member 16 may be moved in a direction away from each other and positioned as in the first state 501 .

Referring to FIG. 5A, a double-acting cylinder structure including a plurality of pistons has been described so that the first chuck member 14 and the second chuck member 16 move in opposite directions, but are not limited thereto, and are parallel to each other. Various cylinder structures capable of opening and closing can be applied.

Referring back to FIGS. 1, 2, 3, and 4 , the first sliding member 20 according to an exemplary embodiment may be positioned below the first chuck member 14 (eg, in the -z direction). . In one embodiment, the first sliding member 20 may be connected to the first chuck member 14 . In one embodiment, the first sliding member 20 is fixedly coupled to the first chuck member 14 and may move together with the first chuck member 14 . For example, the first sliding member 20 may reciprocate along the axial direction AX together with the first chuck member 14 .

In one embodiment, the second sliding member 30 may be positioned below the second chuck member 16 (eg, in the -z direction). In one embodiment, the second sliding member 30 may be connected to the second chuck member 16 . In one embodiment, the second sliding member 30 is fixedly coupled to the second chuck member 16 and may move together with the second chuck member 16 . For example, the second sliding member 30 may reciprocate along the axial direction AX together with the second chuck member 16 . In one embodiment, the first sliding member 20 and the second sliding member 30 are close together or close to each other, such as the first chuck member 14 and the second chuck member 16 shown in FIG. 5B. You can move in a farther direction.

In one embodiment, the first sliding member 20 includes a first coupling portion 22 coupled to the first chuck member 14 and a first extension portion 24 extending from the first coupling portion 22. , and a protruding portion 26 formed on the first extension portion 24 . In one embodiment, the first extension portion 24 of the first sliding member 20 extends from the first coupling portion 22 in a direction away from the first chuck member 14 (eg, in the -x direction). It can be. For example, the first extension part 24 may extend from the first coupling part 22 in the second direction ② of the axial direction AX. In one embodiment, the first extension portion 24 of the first sliding member 20 is, when the gripper device 1 is viewed from above (eg, when viewed in the z-axis direction), the first chuck member 14 and It may or may not partially overlap. In one embodiment, the protruding portion 26 may protrude from the first extension portion 24 in a direction toward the variable stopper 90 (eg, a +z direction). For example, the protruding portion 26 may extend from the first extending portion 24 in a direction substantially perpendicular to the axial direction AX. In one embodiment, the protruding portion 26 may selectively limit the movement of the first sliding member 20 according to the operation of the variable stopper 90 . When the movement of the first sliding member 20 is limited by the variable stopper 90, the first piston of the cylinder assembly 10 (eg, the first piston 121P of FIG. 5A) and the second piston (eg, the first piston 121P of FIG. 5A) Since the movement of the second piston 122P of FIG. 5A is interlocked with each other, the movement of the second sliding member 30 may also be limited. This will be described later with reference to FIGS. 7C and 7D.

In one embodiment, the second sliding member 30 includes a second engagement portion 32 engaged with the second chuck member 16 and a second extension portion 34 extending from the second engagement portion 32. , and a protruding portion 26 formed on the second extension portion 34 . In one embodiment, the second extension portion 34 of the second sliding member 30 extends from the second engagement portion 32 in a direction away from the second chuck member 16 (eg, +x direction). It can be. For example, the second extension part 34 may extend from the second coupling part 32 in the first direction ① of the axial direction AX. In one embodiment, the second extension portion 34 of the second sliding member 30 is, when the gripper device 1 is viewed from above (eg, when viewed in the z-axis direction), the second chuck member 16 and They may be partially overlapping or non-overlapping. In one embodiment, the second sliding member 30, unlike the first sliding member 20, may not include a protruding part (eg, protruding part 26) for limiting movement.

In one embodiment, the first LM structure 40 may include a first LM guide rail 42 and a first LM block 44 . In one embodiment, the first LM guide rail 42 may be disposed under the first sliding member 20 (eg, in the -z direction). In one embodiment, the first LM guide rail 42 may be formed on the lower surface of the first sliding member 20. The first LM guide rail 42 may be fixedly coupled to the first sliding member 20 . In one embodiment, the first LM guide rail 42 has been described as a configuration coupled to the first sliding member 20 and distinguished from the first sliding member 20, but is not limited thereto, and the first LM guide rail 42 and the first sliding member 20 may be integrally formed.

In one embodiment, the first LM guide rail 42 may extend along the axial direction AX. In one embodiment, the first LM block 44 may be connected to the first LM guide rail 42 so as to be linearly movable. For example, the first LM block 44 has a receiving groove formed in the first LM block 44 to fit the shape of the first LM guide rail 42, so that the first LM guide rail 42 can be connected to The first LM block 44 may include a plurality of steel balls in contact with the first LM guide rail 42, and smoothly linearly move along the first LM guide rail 42 through the rolling motion of the plurality of steel balls. can do. However, it is not limited by the above examples.

The above description of the first LM structure 40 may be applied to the second LM structure 50 in substantially the same, similar, or corresponding manner. For example, the second LM structure 50 includes a second LM guide rail 52 fixedly coupled to the second chuck member 16 and a second LM connected to the second LM guide rail 52 and capable of linear motion. Block 54 may be included.

In one embodiment, the first roller structure 60 (or the first pulley structure) includes a first shaft 63, a first roller 61, a second shaft 64, a second roller 62, a first It may include a first wire member 65 , a first upper wire fixing member 66 , and a first lower wire fixing member 67 .

In one embodiment, the first shaft 63 may extend in a direction substantially perpendicular to the axial direction AX. In one embodiment, the first shaft 63 may be coupled to the first extension portion 24 of the first sliding member 20 . For example, the first shaft 63 may be at least partially inserted into an opening formed in the first extension portion 24 of the first sliding member 20 . In one embodiment, the first roller 61 may be disposed at an end of the first shaft 63 in one direction (eg, a direction away from the first sliding member 20 or a -y direction). In one embodiment, the first roller 61 may be disposed at an end of the first shaft 63 in a form in which a hollow of the first roller 61 passes through the first shaft 63 . In one embodiment, the first roller 61 rotates about a direction parallel to the direction in which the first shaft 63 extends (eg, a direction substantially perpendicular to the axial direction AX, or the y-axis direction). It can be connected to the first shaft 63 to be possible. For example, the first roller 61 may be rotatably connected to the first shaft 63 through a bearing disposed between the hollow of the first roller 61 and the outer circumferential surface of the first shaft 63. , It is not limited by the above example.

In one embodiment, the second shaft 64 may extend in a direction substantially perpendicular to the axial direction AX (eg, the y-axis direction). In one embodiment, the second shaft 64 may be coupled to the first coupling portion 22 of the first sliding member 20 . For example, the second shaft 64 may be at least partially inserted into an opening formed in the first coupling portion 22 . In one embodiment, the second roller 62 may be disposed at an end of the second shaft 64 in one direction (eg, an end in the -y direction). In one embodiment, the second roller 62 is rotatable about a direction parallel to the extending direction of the second shaft 64 (eg, a direction substantially perpendicular to the axial direction AX or a y-axis direction) To do so, it may be connected to the second shaft 64. For example, the second roller 62 may be rotatably connected to the second shaft 64 through a bearing disposed between the hollow of the second roller 62 and the outer circumferential surface of the second shaft 64. , It is not limited by the above example.

In one embodiment, the axis of rotation of each of the first roller 61 and the second roller 62 may be substantially parallel. In one embodiment, the first roller 61 and the second roller 62 may be at least partially aligned along the axial direction AX. For example, the first roller 61 and the second roller 62 may at least partially overlap when viewed in the axial direction AX.

In one embodiment, the first wire member 65 may be formed in an annular shape and disposed to surround both the first roller 61 and the second roller 62 . For example, the first wire member 65 is a first upper wire 651 extending from the first roller 61 to the second roller 62 based on the illustration of FIG. 2, the first upper wire 651 ), a first portion (not shown) extending in a clockwise direction to partially surround the second roller 62 from, below the first upper wire 651 (eg, in the -z direction) the first portion (or the first portion) The first lower wire 652 extending from the second roller 62) to the first roller 61, and the first roller 61 partially extending from the first lower wire 652 to the first upper wire 651 It may include a second portion (not shown) extending in a clockwise direction so as to surround it. In one embodiment, the first upper wire 651 and the first lower wire 652 may extend in a direction substantially parallel to the axial direction AX. In one embodiment, the first wire member 65 may rotate together with the first roller 61 and the second roller 62 . In one embodiment, the first wire member 65 may be formed of metal (eg, steel), but is not limited thereto.

In one embodiment, the first upper wire fixing member 66 may be connected to the cylinder body 12 and the first wire member 65. In one embodiment, the first upper wire fixing member 66 may be fixedly coupled to the side surface of the cylinder body 12 and the first upper wire 651 of the first wire member 65 .

In one embodiment, the first lower wire fixing member 67 may be arranged to be movable together with the first LM block 44. For example, the first lower wire fixing member 67 may be fixed to the first LM block 44 . For another example, the first lower wire fixing member 67 may be fixed to the first connecting finger 82 connected to the first LM block 44 . In one embodiment, the first lower wire fixing member 67 may be fixedly coupled to the first lower wire 652 of the first wire member 65 .

The description of the first roller structure 60 described above may be applied to the second roller structure 70 in substantially the same, similar, or corresponding manner. For example, the second roller structure 70 (or second pulley structure) includes a third shaft 73, a third roller 71, a fourth shaft 74, a fourth roller 72, and a second A wire member 75 , a second upper wire fixing member 76 , and a second lower wire fixing member 77 may be included. For example, the third shaft 73 is coupled to the second extension part 34 of the second sliding member 30, and the third roller 71 is rotatably attached to the end of the third shaft 73. can be placed. For example, the fourth shaft 74 is coupled to the second coupling part 32 of the second sliding member 30, and the fourth roller 72 is rotatably attached to the end of the fourth shaft 74. can be placed. For example, the third roller 71 and the fourth roller 72 may be at least partially aligned along the axial direction AX. For example, the second wire member 75 may be formed in an annular shape and wound around the third roller 71 and the fourth roller 72 to rotate together with the third roller 71 and the fourth roller 72. there is. For example, the second wire member 75 may include a second upper wire 751 and a second lower wire 752 extending in a direction substantially parallel to the axial direction AX. For example, the second upper wire fixing member 76 may be fixedly coupled to the side surface of the cylinder body 12 and the second upper wire 751 of the second wire member 75 . For example, the second lower wire fixing member 77 may be disposed to be movable along with the movement of the second LM block 54 (or the second connecting finger 84). For example, the second lower wire fixing member 77 may be fixed to the side of the second LM block 54 or the second connecting finger 84 connected to the second LM block 54 . The second lower wire fixing member 77 may be fixedly coupled to the second lower wire 752 of the second wire member 75 .

In one embodiment, the first connection finger 82 may be connected to the first LM block 44 and fixedly disposed under the first LM block 44 (eg, in the -z direction). In one embodiment, the first connection finger 82 may extend along the axial direction AX. In one embodiment, the first connection finger 82 may include a portion extending parallel to the axial direction AX. In one embodiment, the first connection finger 82 may move along with the movement of the first LM block 44 .

In one embodiment, the first grip finger 86 may be arranged to move together with the first LM block 44 . For example, the first grip finger 86 may be disposed on one side of the first connection finger 82 connected to the first LM block 44 . For example, the first grip finger 86 may be disposed at an end of the first connection finger 82 in the second direction (②). In one embodiment, the first grip finger 86 extends from the end of the first connection finger 82 in the second direction (②) below the first connection finger 82 (eg, in the -z direction) It can be. In one embodiment, the first grip finger 86 extends from the end of the first connection finger 82 in the second direction (②) in a direction perpendicular to the axial direction AX and away from the first sliding member 20. It can be. In one embodiment, the first grip finger 86 is fixed to the first connection finger 82 and can move together with the first connection finger 82 . In another embodiment, the first connection finger 82 is omitted, in which case the first grip finger 86 may be directly connected to the first LM block 44, and substantially the same as the first connection finger 82 function can be For example, the first lower wire fixing member 67 may be fixed to the first grip finger 86 . In one embodiment, the first grip finger 86 may be provided in plurality like the first member 861 and the second member 862 shown in FIG. 1, but is not limited thereto.

In one embodiment, the second connection finger 84 may be connected to the second LM block 54 and fixedly disposed under the second LM block 54 (eg, in the -z direction). In one embodiment, the second connection finger 84 may extend along the axial direction AX. In one embodiment, the second connection finger 84 may include a portion extending parallel to the axial direction AX. In one embodiment, the second connection finger 84 may move along with the movement of the second LM block 54.

In one embodiment, the second grip finger 88 may be arranged to be movable together with the second LM block 54 . For example, the second grip finger 88 may be disposed on one side of the second connection finger 84 connected to the second LM block 54 . For example, the second grip finger 88 may be disposed at an end of the second connection finger 84 in the first direction (①). In one embodiment, the second grip finger 88 extends from the end of the second connection finger 84 in the first direction (①) below the second connection finger 84 (eg, in the -z direction) It can be. In one embodiment, the second grip finger 88 is perpendicular to the axial direction AX and away from the second sliding member 30 from the end of the first direction (①) of the second connection finger 84 may be extended. In one embodiment, the second grip finger 88 is fixedly disposed on the second connecting finger 84 and can move together with the second connecting finger 84 . In another embodiment, the second connecting finger 84 is omitted, in which case the second gripping finger 88 may be directly connected to the second LM block 54, or substantially the same as the first connecting finger 82. can do the same thing. For example, the first lower wire fixing member 67 may be fixed to the first grip finger 86 . all. In one embodiment, the second grip finger 88 may be provided in plurality like the third member 881 and the fourth member 882 shown in FIG. 1 , but is not limited thereto.

In another embodiment, the first connection finger 82 and the first grip finger 86 may be integrally formed.

In another embodiment, the second connection finger 84 and the second grip finger 88 may be integrally formed.

In an embodiment, the gripper device 1 may grip the electronic device using the first grip finger 86 and the second grip finger 88 . For example, as shown in FIG. 2 , the gripper device 1 directly contacts the electronic device 2 through first grip fingers 86 and second grip fingers 88 . can grasp. For example, surfaces of the first grip finger 86 and the second grip finger 88 facing each other may come into contact with the electronic device 2 according to the operation of the gripper device 1 . In one embodiment, the first grip finger 86 and the second grip finger 88 may be formed of a material capable of stably gripping the electronic device 2 according to the shape or material of the electronic device 2. there is. For example, the first grip finger 86 and/or the second grip finger 88 may be made of plastic (eg, acetal, polyether ether ketone (PEEK)), metal (eg, aluminum, stainless steel). (stainless steel)), and/or rubber. In one embodiment, in order to prevent foreign matter from remaining on a portion in contact with the electronic device 2, the first grip finger 86 and/or the second grip finger 88 are coated with a coating layer (not shown) formed on the surface thereof. may further include. The coating layer may be formed through processes such as, for example, urethane coating, tosical coating, or anodizing, but is not limited thereto.

In one embodiment, the first grip finger 86 and the second grip finger 88 are configured to easily grip the electronic device 2 according to the shape or material of the electronic device 2. can be configured. For example, referring to reference numeral 601 in FIG. 6 , the surface 610 on which the grip fingers come into contact with the electronic device may include a protrusion structure including a plurality of concave portions 612 and a plurality of protrusions 614. can For another example, referring to reference numeral 602 in FIG. 6 , the surface 620 on which the grip finger contacts the electronic device has a rectangular cross-sectional shape and a direction perpendicular to the axial direction AX (eg, the y-axis direction). ), from the first edge of the first groove 622, the first inclined surface 624 extending from the first edge of the groove 622 to be inclined toward the opposing grip finger, and the second edge of the first groove 622 It may include a second inclined surface 626 extending to be inclined toward the opposing grip fingers. The first inclined surface 624 and the second inclined surface 626 may extend away from each other from each edge of the first groove 622 . For another example, referring to reference numeral 603 of FIG. 6 , unlike reference numeral 602, the first groove 622 may be omitted from the surface 630 where the grip finger contacts the electronic device. . In this case, the surface 630 where the grip fingers come into contact with the electronic device may include a first inclined surface 634 and a second inclined surface 636 that obliquely extend away from each other toward the grip fingers facing each other. The second groove 632 may be defined by the first inclined surface 634 and the second inclined surface 636 . A cross-sectional shape of the second groove 632 may have a substantially 'V' shape. For another example, referring to reference numeral 604 in FIG. 6 , the surface 640 of the grip finger contacting the electronic device may be formed substantially flat. In one embodiment, the shape of the grip finger is not limited by the illustrated example, and various design changes may be possible.

An operation of the gripper device 1 according to an exemplary embodiment will be described with reference to FIGS. 7A to 7D .

Referring to FIG. 7A , according to an embodiment, the position of the first chuck member 14 may be the first position P1, and the position of the first LM block 44 may be the second position P2. there is. In one embodiment, the position of the second chuck member 16 may be the third position (P3), and the position of the second LM block 54 may be the fourth position (P4). In one embodiment, the stop member 95 of the variable stopper 90 may be in an elevated state. In one embodiment, the distance between the first grip finger 86 and the second grip finger 88 may be the first length D1.

Referring to FIGS. 7A and 7B , in one embodiment, the cylinder assembly 10 operates through the working fluid provided through the first port 18 and the second port 19, so that the first chuck member 14 ) may move by a first distance S1 in the second direction ②, and the second chuck member 16 may move by a third distance S3 in the first direction ①. In one embodiment, the first distance S1 may be substantially equal to the third distance S3.

In one embodiment, when the first chuck member 14 moves by the first distance S1 in the second direction ②, the first sliding member 20 connected to the first chuck member 14 moves the first sliding member 20 to the first chuck member 14. It can move in the same direction and by the same distance as the chuck member 14 . For example, the first sliding member 20 may move by a first distance S1 in the second direction ② as shown in FIG. 7B from the position shown in FIG. 7A. In one embodiment, when the second chuck member 16 moves by the third distance S3 in the first direction ①, the second sliding member 30 connected to the second chuck member 16 moves the second sliding member 30 to the second chuck member 16. It can move in the same direction and by the same distance as the chuck member 16 . For example, the second sliding member 30 may move by a third distance S3 in the first direction ① as shown in FIG. 7B from the position shown in FIG. 7A.

In one embodiment, when the first sliding member 20 moves in the second direction (②), power is applied to the first upper wire of the first wire member 65 through the first upper wire fixing member 66. (651). In one embodiment, since the first upper wire fixing member 66 is fixedly coupled to the cylinder body 12 and the first upper wire 651, it moves in the second direction (②) of the first sliding member 20. The direction of the force may be converted to a force in the first direction (①) and transmitted to the first upper wire 651. In one embodiment, when the first sliding member 20 moves by the first distance S1 in the second direction ②, the first roller 61 and The second roller 62 rotates in the clockwise direction C1 at an angle corresponding to the first distance S1, and at the same time, the first wire member 65 rotates in the clockwise direction C1. In this case, the first upper wire 651 may move by a first distance S1 in a first direction (①) opposite to the direction in which the first sliding member 20 moves, and the first lower wire 652 ) may move by a first distance S1 in the same second direction ② as the moving direction of the first sliding member 20 .

In one embodiment, when the second sliding member 30 moves in the first direction (①), power is applied to the second upper wire of the second wire member 75 through the second upper wire fixing member 76. (751). In one embodiment, since the second upper wire fixing member 76 is fixedly coupled to the cylinder body 12 and the second upper wire 751, the second sliding member 30 moves in the first direction ①. The direction of the force may be converted into a force in the first direction (①) and transmitted to the second upper wire 751. In one embodiment, when the second sliding member 30 moves by the third distance S3 in the first direction ①, the third roller 71 and the second upper wire fixing member 76 The fourth roller 72 rotates in the counterclockwise direction C2 at an angle corresponding to the third distance S3, and at the same time, the second wire member 75 rotates in the counterclockwise direction C2. . In this case, the second upper wire 751 may move by a third distance S3 in a second direction (②) opposite to the direction in which the second sliding member 30 moves, and the second lower wire 752 ) may move by a third distance S3 in the same first direction ① as the direction in which the second sliding member 30 moves.

In one embodiment, when the first sliding member 20 moves by the first distance S1 in the second direction, the first LM connected through the first sliding member 20 and the first LM guide rail 42 The block 44 can move in the same direction and by the same distance as the first sliding member 20 . For example, when the first sliding member 20 moves by the first distance S1 in the second direction ②, the first LM block 44 also moves the first distance S1 in the second direction ②. ) can move as much as In one embodiment, when the first wire member 65 rotates clockwise (C1), the first lower wire 652 moves in the second direction (②), the first lower wire 652 And through the first lower wire fixing member 67 fixedly coupled to the first connection finger 82, it may be transmitted to the first LM block 44. In one embodiment, when the first lower wire 652 moves by the first distance S1 in the second direction (②), by the first lower wire fixing member 67, the first LM block 44 may further move by a first distance S1 in the second direction (②), which is the same direction and distance in the direction in which the first lower wire 652 moves along the first LM guide rail 42. In one embodiment, the first LM block 44 is moved by a first distance S1 by the first sliding member 20, and the first wire member 65 and the first lower wire fixing member 67 As a result, it is possible to further move along the first LM guide rail 42 by a first distance S1. In one embodiment, the first LM block 44 is moved by a second distance S2 in the second direction from the second position P2 in FIG. 7A, as shown in FIG. 7B. can In one embodiment, the second distance S2 may be twice the first distance S1.

In one embodiment, when the second sliding member 30 moves by the third distance S3 in the first direction, the second LM connected to the second sliding member 30 through the second LM guide rail 52 The block 54 can move in the same direction and by the same distance as the second sliding member 30 . For example, when the second sliding member 30 moves by the third distance S3 in the first direction ①, the second LM block 54 also moves the third distance S3 in the first direction ①. ) can move as much as In one embodiment, when the second wire member 75 rotates in the counterclockwise direction (C2), the second lower wire 752 moves in the first direction (①), the second lower wire (752) ) And through the second lower wire fixing member 77 fixedly coupled to the second connection finger 84, it can be transmitted to the second LM block 54. In one embodiment, when the second lower wire 752 moves by the third distance S3 in the first direction ①, the second LM block 54 by the second lower wire fixing member 77 may further move along the second LM guide rail 52 by a third distance S3 in the first direction (①), which is the same direction and distance as the direction in which the second lower wire 752 moved. In one embodiment, the second LM block 54 is moved by a third distance S3 by the second sliding member 30, and the second wire member 75 and the second lower wire fixing member 77 By the second LM guide rail 52 along the third distance (S3) can be further moved. In one embodiment, the second LM block 54 is moved by a fourth distance S4 from the fourth position P4 in FIG. 7A in the first direction from the fourth position P4 as shown in FIG. 7B. can In one embodiment, the fourth distance S4 may be twice the third distance S3.

In one embodiment, the first connection finger 82 and the first grip finger 86 are positioned in the position shown in FIG. 7A, as shown in FIG. 7B, according to the movement of the first LM block 44. It can move as much as the second distance (S2) in two directions (②).

In one embodiment, the second connection finger 84 and the second grip finger 88 are positioned in the position shown in FIG. 7A, as shown in FIG. 7B, according to the movement of the second LM block 54. It can move by the fourth distance S4 in one direction (①).

In one embodiment, as shown in FIG. 7B , when the gripper device 1 is opened, the distance between the first grip finger 86 and the second grip finger 88 may be the second length D2 . In one embodiment, the second length D2 may be greater than the first length D1 in the closed state of the gripper device 1 of FIG. 7A. For example, the second length D2 is the moving distance between the first LM block 44 and the second LM block 54 (eg, the second distance S2 + the second length D1). 4 distance (S4)).

Through the operation of the gripper device 1 described above, an un-grip operation (eg, an operation of releasing the gripped state of the electronic device) of the electronic device (eg, the electronic device 2 of FIG. 2 ) can be performed, Contrary to what has been described above, when the gripper device 1 operates, a gripping operation of the electronic device (eg, an operation of gripping the electronic device) may be performed.

As described above, in the gripper device 1 according to an embodiment, the first upper wire fixing member 66 and the second upper wire fixing member 76 function like a fixing pulley, and the first lower wire fixing member Since 67 and the second lower wire fixing member 77 function like a movable pulley, twice the stroke distance of the cylinder assembly 10 (eg, the first distance S1 + the second distance S2) It may have a stroke distance (eg, the second distance S2 + the fourth distance S4).

The gripper device 1 according to an embodiment may grip an electronic device having a length or width greater than the stroke distance of the cylinder assembly 10 . The gripper device 1 according to an embodiment can hold an electronic device having a volume greater than the volume suitable for the cylinder capacity even when a chuck cylinder having a small capacity is used, thereby reducing space and cost of a manufacturing facility. .

Referring to FIG. 7C , unlike FIG. 7A , the stop member 95 of the variable stopper 90 may be in a lowered state.

7c and 7d, the cylinder assembly 10 operates, the first chuck member 14 moves in the second direction (②), and the second chuck member 16 moves in the first direction (①). can move to In one embodiment, when the first chuck member 14 moves in the second direction, the first sliding member 20 connected to the first chuck member 14 moves along with the first chuck member 14 in the second direction. You can move to (②). In one embodiment, when the second chuck member 16 moves in the first direction, the second sliding member 30 connected to the second chuck member 16 moves along with the second chuck member 16 in the first direction. You can move to (①).

In one embodiment, when the first sliding member 20 moves in the second direction (②), the protruding portion 26 of the first sliding member 20 and the stopping member 95 of the variable stopper 90 Since it is caught, the moving distance of the first sliding member 20 may be limited. In one embodiment, when the movement distance of the first sliding member 20 connected to the first chuck member 14 is limited, the movements of the first chuck member 14 and the second chuck member 16 are interlocked with each other. Therefore, the movement distance of the second sliding member 30 connected to the second chuck member 16 may also be limited.

In one embodiment, in a state in which the stop member 95 of the variable stopper 90 is lowered, the first sliding member 20 moves in the second direction from the position shown in FIG. 7c, as shown in FIG. 7d. It can move as much as 5 distances (S5). In one embodiment, the fifth distance S5 may be smaller than the first distance S1 shown in FIG. 7B.

In one embodiment, in a state in which the stop member 95 of the variable stopper 90 is lowered, the second sliding member 30 moves in the first direction at the position shown in FIG. 7c, as shown in FIG. 7d. It can move as much as 7 distances (S7). In an embodiment, the seventh distance S7 may be substantially equal to the fifth distance S5. In one embodiment, the seventh distance S7 may be smaller than the third distance S3 shown in FIG. 7B.

In one embodiment, when the first sliding member 20 moves by the fifth distance S5 in the second direction ②, the first LM block 44, the first connection finger 82 and the first grip The finger 86 may move by a sixth distance S6 in the second direction ② as shown in FIG. 7D from the position shown in FIG. 7C. In one embodiment, the sixth distance S6 may be twice the fifth distance S5.

In one embodiment, when the second sliding member 30 moves by the seventh distance S7 in the first direction ①, the second LM block 54, the second connection finger 84, and the second grip The finger 88 may move by an eighth distance S8 in the first direction ① as shown in FIG. 7D from the position shown in FIG. 7C. In an embodiment, the eighth distance S8 may be twice the seventh distance S7.

In one embodiment, as shown in FIG. 7D , when the gripper device 1 is opened, the distance between the first grip finger 86 and the second grip finger 88 may be a third length D3. In one embodiment, the third length D3 may be greater than the first length D1 in the closed state of the gripper device 1 of FIG. 7C. For example, the third length D3 is the moving distance between the first LM block 44 and the second LM block 54 (eg, the sixth distance S6 + the first length D1). 8 distance (S8)).

In one embodiment, as shown in FIG. 7B , the distance between the first grip finger 86 and the second grip finger 88 is the second length D2 in a state in which the stop member 95 of the variable stopper 90 is raised. As shown in FIG. 7D , the distance between the first grip finger 86 and the second grip finger 88 in a state in which the stop member 95 of the variable stopper 90 is lowered is the second length D2 It may be a smaller third length D3.

The gripper device 1 according to an embodiment may have different stroke distances according to the operation of the variable stopper 90 . Through this, the gripper device 1 according to an embodiment can hold electronic devices having various sizes or shapes. Through this, the production line to which the gripper device 1 according to an embodiment is applied may manufacture electronic devices of various shapes or sizes in one production line.

In one embodiment, the first sliding member 20 may move according to the stroke distance of the cylinder assembly 10 . In one embodiment, the first LM block 44, the first connection finger 82, and the first grip finger 86, by the first roller structure 60, than the stroke distance of the cylinder assembly 10 It can have a large stroke distance. In one embodiment, the first LM block 44, the first connection finger 82, and the first grip finger 86 may be referred to as a first finger for gripping an electronic device. In this case, it may be understood that the first finger includes at least one of the first LM block 44 , the first connection finger 82 , and/or the first grip finger 86 . The first finger may be movable along the first LM guide rail 42 . In one embodiment, the first roller structure 60 may be operatively connected (or coupled) with the cylinder assembly 10, the first sliding member 20, and the first finger. In one embodiment, the first roller structure 60, when the first sliding member 20 moves, the first finger moves in the same direction as the first sliding member 20, the first sliding member ( 20) can be moved by a greater distance than the movement distance. In one embodiment, the first finger, when the first sliding member 20 moves, by the first roller structure 60, in the same direction as the first sliding member 20, the first sliding The member 20 may move a greater distance than the distance moved.

In one embodiment, the second sliding member 30 may move according to the stroke distance of the cylinder assembly 10 . In one embodiment, the second LM block 54, the second connection finger 84, and the second grip finger 88, by the second roller structure 70, than the stroke distance of the cylinder assembly 10 It can have a large stroke distance. In one embodiment, the second LM block 54, the second connection finger 84, and the second grip finger 88 may be referred to as second fingers for gripping the electronic device. In this case, it may be understood that the second finger includes at least one of the second LM block 54 , the second connection finger 84 , and/or the second grip finger 88 . The second finger may be movable along the second LM guide rail 52 . In one embodiment, the second roller structure 70 may be operatively connected (or engaged) with the cylinder assembly 10, the second sliding member 30, and the second finger. In one embodiment, the second roller structure 70, when the second sliding member 30 moves, the second finger moves in the same direction as the second sliding member 30, the second sliding member ( 30) can be moved by a distance greater than the movement distance. In one embodiment, the second finger, when the second sliding member 30 moves, by the second roller structure 70, in the same direction as the second sliding member 30, the second sliding The member 30 may move a greater distance than the distance moved.

Referring to FIG. 8 , a control system 801 according to an embodiment may include a control unit 810, a power supply unit 820, an input unit 830, an output unit 840, and the gripper device 1.

In one embodiment, the control unit 810 may be operatively or electrically connected to the input unit 830, the output unit 840, the gripper device 1, and the power supply unit 820. In one embodiment, the controller 810 may include an arithmetic device (eg, a processor), a storage device (eg, a memory in which a program is stored or instructions executed from the memory device are stored), and an input/output module for transmitting and receiving signals. can For example, the controller 810 may include a programmable logic controller (PLC) or a PC-based control device.

In one embodiment, the power supply unit 820 may be configured to provide power necessary for the control system to operate.

In one embodiment, the output unit 840 may be operatively connected to the control unit 810 and the gripper device 1 . For example, the output unit 840 may include at least one solenoid valve or at least one manifold. In one embodiment, the output unit 840, in response to the electrical signal (or control signal) received from the control unit 810, the working fluid is input or output through the third port 99 of the variable stopper 90 can be made Through this, the stop member 95 of the variable stopper 90 may be raised or lowered, or the raised or lowered state of the stop member 95 may be maintained. For another example, the output unit 840 controls working fluid input and output through the first port 18 and the second port 19 of the cylinder assembly 10 in response to the electrical signal received from the control unit 810. You can control it. Through this, the gripper device 1 may perform a gripping operation for gripping the electronic device or an ungrip operation for putting down the gripped electronic device.

In one embodiment, the input unit 830 may receive a user input. For example, the input unit 830 may include a touch screen display device capable of receiving user input. In this case, the input unit 830 is a first electronic device having a first size (eg, a length or width equal to or greater than the first length D1 of FIG. 7C and less than or equal to the third length D3 of FIG. 7D ) in the touch screen display device. ) and a second electronic device having a second size greater than the first size (eg greater than the third length D3 of FIG. 7D and less than or equal to the second length D2 of 7B). An electronic device having a length or width of) may be displayed. The input unit 830 may receive a user input for the first object or the second object, and provide a signal based on the received user input to the controller 810 . In another embodiment, the input unit 830 may include an input device including a first switch corresponding to the first electronic device and a second switch corresponding to the second electronic device. In this case, the input unit 830 may receive a user input for the first switch or the second switch and provide a signal based on the received user input to the controller 810 .

In one embodiment, the control unit 810 may process a signal provided from the input unit 830 and provide a control signal to the output unit 840 based on the processing. For example, the control unit 810 controls whether or not the stop member 95 of the variable stopper 90 of the gripper device 1 descends or descends when a user input for the first electronic device of the first size is received. The output unit 840 may be controlled so that the status is maintained. For another example, the control unit 810 may, when a user input for a second electronic device having a second size greater than the first size is received, stop the member 95 of the variable stopper 90 of the gripper device 1. The output unit 840 may be controlled to increase or remain elevated.

The gripper device 1 according to an embodiment has a first mode in which the stop member 95 of the variable stopper 90 is raised and a second mode in which the stop member 95 of the variable stopper 90 is lowered. can include In one embodiment, the input unit 830 may receive a user input for the first mode or the second mode. In one embodiment, the controller 810 may transmit a control signal based on the received user input to the output unit 840 . In one embodiment, the output unit 840 may operate the gripper device 1 in the first mode or the second mode in response to the received control signal.

A gripper device (eg, the gripper device 1 of FIG. 1 ) of an electronic device according to various embodiments described above may include a cylinder assembly (eg, the cylinder assembly 10 of FIG. 1 ); A first sliding member connected to the cylinder assembly and linearly moving according to the operation of the cylinder assembly (eg, the first sliding member 20 in FIG. 1) and a second sliding member (eg, the second sliding member in FIG. 1 ) (30)), wherein the first sliding member and the second sliding member are configured to move in a direction away from each other or in a direction closer to each other; A first linear motion (LM) guide rail formed below the first sliding member and extending in a direction parallel to a moving axis of the first sliding member (eg, an axis parallel to the axial direction (AX) of FIG. 1) (eg, a first finger configured to be movable along the first LM guide rail 42 of FIG. 1); A second LM guide rail (e.g., FIG. a second finger configured to be movable along the second LM guide rail 52 of 1; a first roller structure (eg, first roller structure 60 of FIG. 1) operatively coupled to the cylinder assembly, the first sliding member, and the first finger; and a second roller structure (eg, second roller structure 70 of FIG. 1) operatively coupled to the cylinder assembly, the second sliding member, and the second finger, wherein the first roller The structure is such that the first sliding member extends a first distance (eg, a first distance S1 in FIG. 7B or a first direction (①) in a first direction (eg, a second direction ② or a first direction ① in FIG. 7B)). When the first finger moves by the fifth distance S5 of 7d), the first finger moves a second distance greater than the first distance in the first direction (eg, the second distance S2 of FIG. 7B or the second distance S2 of FIG. 7D). 6 distance (S6)), the second roller structure, the second sliding member in a second direction opposite to the first direction (eg, the first direction (①) of FIG. 7B or the second direction) When moving by a third distance (eg, the third distance S3 in FIG. 7B or the seventh distance S7 in FIG. 7D) in two directions (②), the second finger moves in the second direction. It may be configured to move by a fourth distance greater than three distances (eg, the fourth distance S4 in FIG. 7B or the eighth distance S8 in FIG. 7D).

In one embodiment, the first roller structure includes a first roller (eg, the first roller 61 of FIG. 1) and a second roller (eg, the second roller of FIG. 1) fixed to the first sliding member. (62)); an annular first wire member (eg, the first wire member 65 of FIG. 1) wound around the first roller and the second roller; The first upper wire of the first wire member (eg, the first upper wire 651 in FIG. 1 ) and the first upper wire fixing member fixedly coupled to the cylinder assembly (eg, the first upper wire fixing member in FIG. 1 ) (66)); And a first lower wire of the first wire member (eg, the first lower wire 652 of FIG. 1) and a first lower wire fixing member fixedly coupled to the first finger (eg, the first lower wire of FIG. 1) A fixing member (67)); may be included.

In one embodiment, the second roller structure includes a third roller (eg, the third roller 71 of FIG. 1) and a fourth roller (eg, the fourth roller of FIG. 1) fixed to the second sliding member. (72)); an annular second wire member (eg, the second wire member 75 of FIG. 1) wound around the third roller and the fourth roller; The second upper wire of the second wire member (eg, the second upper wire 751 of FIG. 1) and the second upper wire fixing member fixedly coupled to the cylinder assembly (eg, the second upper wire fixing member of FIG. 1) (76)); and a second lower wire of the second wire member (for example, the second lower wire 752 of FIG. 1) and a second lower wire fixing member fixedly coupled to the second finger (for example, the second lower wire of FIG. 1). A fixing member 77) may be included.

In one embodiment, the first finger is connected to the first LM guide rail, a first LM block configured to be movable along the first LM guide rail (eg, the first LM block 44 of FIG. 1) )) may be included.

In one embodiment, the second finger is connected to the second LM guide rail, the second LM block configured to be movable along the second LM guide rail (eg, the second LM block 54 of FIG. 1) )) may be included.

In an embodiment, the second distance may be twice the first distance, and the fourth distance may be twice the third distance.

In one embodiment, the first distance and the third distance may be substantially equal to each other.

The gripper device according to an embodiment includes a variable stopper (eg, the variable stopper 90 in FIG. 1 ) including a stop member (eg, the stop member 95 of FIG. 1 ) configured to be able to ascend or descend. wherein the first sliding member includes a protruding portion (e.g., the protruding portion 26 of FIG. 1) extending in a direction toward the variable stopper (e.g., the +z direction of FIG. 1), and the protruding portion In order to limit the movement of the first sliding member, the stop member of the variable stopper may be configured to be at least partially engaged with the stop member in a descending state.

In one embodiment, in a state in which the stop member of the variable stopper is lowered: the first sliding member moves by a fifth distance smaller than the first distance (eg, the fifth distance S5 of FIG. 7D) , The first finger moves by a sixth distance greater than the fifth distance (eg, the sixth distance S6 in FIG. 7D), and the second sliding member moves by a seventh distance smaller than the third distance (eg, : It moves by the seventh distance S7 in FIG. 7D), and the second finger can move by an eighth distance greater than the seventh distance (eg, the eighth distance S8 in FIG. 7D).

In one embodiment, the variable stopper and the cylinder assembly include a base member (eg, the base member 15 of FIG. 1) is installed, the cylinder assembly is disposed below the base member, the variable stopper , When viewed from the top of the base member, the stopping member may be disposed on the side of the base member so as to at least partially overlap the movement path of the first sliding member.

In one embodiment, the first roller and the second roller are at least partially along a direction substantially parallel to an axis of movement of the first sliding member (eg, an axis parallel to axial direction AX in FIG. 1 ). can be sorted

In one embodiment, the third roller and the fourth roller may be at least partially aligned along a direction substantially parallel to the moving axis of the second sliding member.

In one embodiment, the first finger may include a first connection finger (eg, the first connection finger 82 in FIG. 1) disposed below the first LM block and moving with the first LM block, and the A first grip finger (eg, first grip finger 86 of FIG. 1 ) extending from the first connection finger in a direction away from the cylinder assembly may be included.

In one embodiment, the second finger is disposed under the second LM block and moves with the second connecting finger (eg, the second connecting finger 84 in FIG. 1), and the A second grip finger (eg, the second grip finger 88 of FIG. 1 ) extending from the second connection finger to face the first grip finger may be included.

In one embodiment, each of the first connection finger and the second connection finger may include a portion extending in a direction substantially parallel to the linear movement axes of the first sliding member and the second sliding member.

In one embodiment, the first direction in which the first sliding member moves and the second direction in which the second sliding member moves are directions in which the first sliding member and the second sliding member move away from each other, The first grip finger may be disposed at an end of the first connection finger in the first direction, and the second grip finger may be disposed at an end of the second connection finger in the second direction.

In one embodiment, the first grip finger and the second grip finger include a surface that comes into contact with the electronic device when the gripper device grips the electronic device, and the first grip finger and the second grip finger The surface of the grip finger includes: a projection structure formed by a plurality of concavities (eg, plurality of concavities 612 in FIG. 6 ) and a plurality of protrusions (eg, plurality of protrusions 614 in FIG. 6 ). a face (eg, face 610 in FIG. 6 ); A first groove having a rectangular cross-section and extending perpendicular to the axial direction (eg, the first groove 622 of FIG. 6), and a first groove extending from one edge of the first groove to an oblique direction toward the opposing grip finger. an inclined surface (eg, the first inclined surface 624 in FIG. 6), and a second inclined surface (eg, the first inclined surface 624 in FIG. 2 inclined surfaces 626) (surface 620 in FIG. 6); a surface (eg, surface 630 in FIG. 6 ) including a second groove (eg, second groove 632 in FIG. 6 ) having a substantially V-shaped cross-sectional shape; or a substantially flat surface (eg, surface 640 in FIG. 6 ).

In one embodiment, the cylinder assembly includes a first chuck member (eg, first chuck member 14 in FIG. 1 ) and a second chuck member (eg, second chuck member 16 in FIG. 1 ); , The first sliding member is connected to the first chuck member and moves along with the movement of the first chuck member, and the second sliding member is connected to the second chuck member to move the second chuck member. You can move along with it as you move.

In the system for controlling the gripper device according to various embodiments described above (eg, the system 801 of FIG. 8 ), the gripper device is in a first mode (eg, the system 801 of FIG. 8 ) in which the stop member of the variable stopper is raised. : The same state as the gripper device 1 shown in FIG. 7A) and the second mode in which the stop member of the variable stopper is lowered (eg, the same state as the gripper device 1 shown in FIG. 7C). and the system includes an input unit (eg, input unit 830 of FIG. 8 ), an output unit operatively connected to the gripper device (eg, output unit 840 of FIG. 8 ), and the input unit, the gripper device, and A control unit operatively connected to the output unit (eg, the control unit 810 of FIG. 8 ), wherein the input unit receives a user input for the first mode or the second mode, and the control unit: A control signal based on a received user input may be transmitted to the output unit, and the output unit may cause the gripper device to operate in the first mode or the second mode in response to the received control signal.

The gripper device (eg, the gripper device 1 of FIG. 1 ) of the electronic device (eg, the electronic device 2 of FIG. 2 ) according to various embodiments described above includes a cylinder assembly (eg, the cylinder assembly 10 of FIG. 1 ). )); A first sliding member (eg, the first sliding member 20 of FIG. 1) and a second sliding member (eg, the first sliding member 20 of FIG. 1) connected to the cylinder assembly to be linearly movable along an axial direction (eg, the axial direction AX of FIG. 1) ( Example: the second sliding member 30 in Fig. 1), wherein the first sliding member and the second sliding member are configured to move together in a direction away from each other or in a direction closer to each other; a first LM guide rail (for example, the first LM guide rail 42 in FIG. 1) fixed to the first sliding member and extending in a direction substantially parallel to the axial direction; A first LM block connected to the first LM guide rail to be movable along the first LM guide rail (eg, the first LM block 44 in FIG. 1); a second LM guide rail (for example, the second LM guide rail 52 in FIG. 1) fixed to the second sliding member and extending in a direction substantially parallel to the axial direction; A second LM block (eg, the second LM block 54 in FIG. 1) connected to the second LM guide rail so as to be movable along the second LM guide rail; a first roller (eg, first roller 61 in FIG. 1) and a second roller (eg, second roller 62 in FIG. 1) disposed on the first sliding member; A first upper wire (eg, first upper wire 651 in FIG. 1 ) and a first lower wire (eg, FIG. 1 ) surround the first roller and the second roller and extend substantially parallel to the axial direction. A first wire member (eg, the first wire member 65 of FIG. 1) including a first lower wire 652 of; a first upper wire fixing member fixedly coupled to the first upper wire of the first wire member and the cylinder assembly (eg, the first upper wire fixing member 66 of FIG. 1 ); a first lower wire fixing member (eg, the first lower wire fixing member 67 of FIG. 1) disposed to move together with the first LM block and fixedly coupled to the first lower wire of the first wire member; a third roller (eg, the third roller 71 in FIG. 1) and a fourth roller (eg, the fourth roller 72 in FIG. 1) disposed on the second sliding member; A second upper wire (eg, second upper wire 751 in FIG. 1 ) and a second lower wire (eg, FIG. 1 ) surround the third roller and the fourth roller and extend substantially in parallel with the axial direction. a second wire member (eg, the second wire member 75 of FIG. 1) including the second lower wire 752 of; a second upper wire fixing member fixedly coupled to the second upper wire of the second wire member and the cylinder assembly (eg, the second upper wire fixing member 76 of FIG. 1 ); a second lower wire fixing member (for example, the second lower wire fixing member 77 of FIG. 1) disposed to move together with the second LM block and fixedly coupled to the second lower wire of the second wire member; a first grip finger (eg, the first grip finger 86 in FIG. 1) arranged to move along with the movement of the first LM block; and a second grip finger (eg, the second grip finger 88 of FIG. 1 ) arranged to move along with the movement of the second LM block.

In one embodiment, in opposite directions, the first sliding member moves by a first distance (the first distance S1 in FIG. 7B or the fifth distance S5 in FIG. 7D) and the second sliding member moves When moving by a second distance (eg, the third distance S3 in FIG. 7B or the seventh distance S7 in FIG. 7D): the first LM block moves in the direction in which the first sliding member moves, Moves by a third distance greater than the first distance (eg, the second distance S2 in FIG. 7B or the sixth distance S6 in FIG. 7D), and the second LM block moves in the direction in which the second sliding member moves , it is possible to move by a fourth distance greater than the second distance (eg, the fourth distance S4 in FIG. 7B or the eighth distance S8 in FIG. 7D).

In an embodiment, the third distance may be twice the first distance, and the fourth distance may be twice the second distance.

The gripper device according to an embodiment includes a variable stopper (eg, the variable stopper 90 in FIG. 1 ) including a stop member (eg, the stop member 95 of FIG. 1 ) configured to be able to ascend or descend. The first sliding member includes a protruding part (eg, in the +z direction of FIG. 1) extending in a direction toward the variable stopper (eg, in the +z direction of FIG. 1) so that a moving distance is limited by the descent of the stopping member. protruding portion 26).

In one embodiment, in a state in which the stop member of the variable stopper is lowered: the first sliding member moves by a fifth distance smaller than the first distance (eg, the fifth distance S5 of FIG. 7D) , The second sliding member moves by a sixth distance smaller than the second distance (eg, the seventh distance S7 in FIG. 7D), and the first LM block moves by a seventh distance twice the fifth distance (Example: 6th distance S6 in FIG. 7D), and the second LM block can move by an 8th distance twice the 6th distance (eg, 8th distance S8 in FIG. 7D) .

Electronic devices according to various embodiments disclosed in this document may be devices of various types. The electronic device may include, for example, a portable communication device (eg, a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a home appliance. An electronic device according to an embodiment of this document is not limited to the aforementioned devices.

Various embodiments of this document and terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, like reference numbers may be used for like or related elements. The singular form of a noun corresponding to an item may include one item or a plurality of items, unless the relevant context clearly dictates otherwise. In this document, "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "A Each of the phrases such as "at least one of , B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof. Terms such as "first", "second", or "first" or "secondary" may simply be used to distinguish a given component from other corresponding components, and may be used to refer to a given component in another aspect (eg, importance or order) is not limited. A (e.g., first) component is said to be "coupled" or "connected" to another (e.g., second) component, with or without the terms "functionally" or "communicatively." When mentioned, it means that the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.

The term "module" used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and is interchangeably interchangeable with terms such as, for example, logic, logic blocks, components, or circuits. can be used A module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions. For example, according to one embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

According to various embodiments, each component (eg, module or program) of the components described above may include a single object or a plurality of objects, and some of the multiple objects may be separately disposed in other components. . According to various embodiments, one or more components or operations among the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (eg modules or programs) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by a corresponding component of the plurality of components prior to the integration. . According to various embodiments, operations performed by modules, programs, or other components are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations are executed in a different order, omitted, or , or one or more other operations may be added.

Claims

In the gripper device of an electronic device,

cylinder assembly;

The first sliding member and the second sliding member connected to the cylinder assembly and linearly moving according to the operation of the cylinder assembly, the first sliding member and the second sliding member move in a direction away from each other or in a direction closer to each other. made up;

a first finger formed below the first sliding member and configured to be movable along a first linear motion (LM) guide rail extending in a direction parallel to a moving axis of the first sliding member;

a second finger formed under the second sliding member and configured to be movable along a second LM guide rail extending in a direction parallel to a moving axis of the second sliding member;

a first roller structure operatively connected to the cylinder assembly, the first sliding member, and the first finger; and

a second roller structure operatively connected to the cylinder assembly, the second sliding member, and the second finger;

The first roller structure is configured such that when the first sliding member moves by a first distance in a first direction, the first finger moves in the first direction by a second distance greater than the first distance,

In the second roller structure, when the second sliding member moves by a third distance in a second direction opposite to the first direction, the second finger moves in the second direction by a third distance greater than the third distance. A gripper device configured to move by 4 distances.
The method of claim 1,

The first roller structure is:

a first roller and a second roller fixed to the first sliding member;

an annular first wire member wound around the first roller and the second roller;

a first upper wire fixing member fixedly coupled to the first upper wire of the first wire member and the cylinder assembly; and

A first lower wire fixing member fixedly coupled to the first lower wire of the first wire member and the first finger,

The second roller structure is:

a third roller and a fourth roller fixed to the second sliding member;

an annular second wire member wound around the third roller and the fourth roller;

a second upper wire fixing member fixedly coupled to the second upper wire of the second wire member and the cylinder assembly; and

and a second lower wire fixing member fixedly coupled to the second lower wire of the second wire member and the second finger.
The method of claim 1,

The first finger includes a first LM block connected to the first LM guide rail and configured to be movable along the first LM guide rail;

The gripper device, wherein the second finger includes a second LM block connected to the second LM guide rail and configured to be movable along the second LM guide rail.
In the claim of any one of claims 1 to 3,

The second distance is twice the first distance,

and the fourth distance is twice the third distance.
The gripper device according to any one of claims 1 to 3, wherein the first distance and the third distance are substantially equal to each other.
In the claim of any one of claims 1 to 3,

Including a variable stopper including a stop member configured to be able to rise or fall,

The first sliding member includes a protruding portion extending in a direction toward the variable stopper,

The gripper device, wherein the protruding portion is configured to at least partially engage with the stop member of the variable stopper in a state in which the stop member of the variable stopper is lowered to limit movement of the first sliding member.
The method of claim 6,

In the state where the stop member of the variable stopper is lowered:

The first sliding member moves by a fifth distance smaller than the first distance, and the first finger moves by a sixth distance greater than the fifth distance;

The gripper device of claim 1 , wherein the second sliding member moves by a seventh distance smaller than the third distance, and the second finger moves by an eighth distance larger than the seventh distance.
The method of claim 6,

A base member on which the variable stopper and the cylinder assembly are installed,

The cylinder assembly is disposed below the base member,

The gripper device according to claim 1 , wherein the variable stopper is disposed on a side of the base member so that the stop member at least partially overlaps a movement path of the first sliding member when viewed from above the base member.
The method of claim 2,

the first roller and the second roller are at least partially aligned along a direction substantially parallel to the axis of movement of the first sliding member;

wherein the third roller and the fourth roller are at least partially aligned along a direction substantially parallel to the axis of movement of the second sliding member.
The method of claim 3,

The first finger is:

a first connection finger disposed below the first LM block and moving together with the first LM block; and

a first grip finger extending from the first connection finger in a direction away from the cylinder assembly;

The second finger is:

a second connecting finger disposed below the second LM block and moving together with the second LM block; and

and a second grip finger extending from the second connection finger to face the first grip finger.
The method of claim 10,

The gripper device, wherein each of the first connecting finger and the second connecting finger includes a portion extending in a direction substantially parallel to the linear movement axes of the first sliding member and the second sliding member.
The method of claim 11,

The first direction in which the first sliding member moves and the second direction in which the second sliding member moves are directions in which the first sliding member and the second sliding member move away from each other,

The first grip finger is disposed at an end of the first connection finger in the first direction,

The gripper device, wherein the second grip finger is disposed at an end of the second connection finger in the second direction.
The method of claim 10,

The first grip finger and the second grip finger include surfaces that come into contact with the electronic device when the gripper device grips the electronic device;

The faces of the first grip finger and the second grip finger are:

a surface including a protrusion structure formed of a plurality of concave portions and a plurality of protrusions;

A first groove having a rectangular cross-sectional shape, a first inclined surface extending from one edge of the first groove toward an opposing grip finger, and a first inclined surface extending from the other edge of the first groove toward the opposing grip finger. a surface including a second inclined surface extending gradually away from the surface;

a surface including a second groove whose cross-sectional shape is substantially V-shaped; or

A gripper device comprising a substantially flat surface.
According to any one of claims 1 to 3,

The cylinder assembly includes a first chuck member and a second chuck member,

The first sliding member is connected to the first chuck member and moves along with the movement of the first chuck member;

The second sliding member is connected to the second chuck member and moves along with the movement of the second chuck member.
The system for controlling the gripper device of claim 6, comprising:

The gripper device includes a first mode in which the stop member of the variable stopper is raised and a second mode in which the stop member of the variable stopper is lowered;

the system comprising an input, an output operatively connected with the gripper device, and a control operatively connected with the input, the gripper device and the output;

The input unit is set to receive a user input for the first mode or the second mode,

The control unit is set to transmit a control signal based on the received user input to the output unit,

The gripper device, wherein the output unit is configured to cause the gripper device to operate in the first mode or the second mode in response to the received control signal.