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WO2023038378A1 - Dispositif de préhension pour dispositif électronique - Google Patents

Dispositif de préhension pour dispositif électronique Download PDF

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Publication number
WO2023038378A1
WO2023038378A1 PCT/KR2022/013268 KR2022013268W WO2023038378A1 WO 2023038378 A1 WO2023038378 A1 WO 2023038378A1 KR 2022013268 W KR2022013268 W KR 2022013268W WO 2023038378 A1 WO2023038378 A1 WO 2023038378A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
sliding member
distance
roller
gripper device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2022/013268
Other languages
English (en)
Korean (ko)
Inventor
최영철
이득녕
정기현
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Madetech Co Ltd
Samsung Electronics Co Ltd
Original Assignee
Madetech Co Ltd
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Madetech Co Ltd, Samsung Electronics Co Ltd filed Critical Madetech Co Ltd
Publication of WO2023038378A1 publication Critical patent/WO2023038378A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • Embodiments disclosed in this document relate to a gripper device of an electronic device.
  • 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.
  • 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.
  • a position for inspection e.g., a jig for inspection
  • 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.
  • 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. .
  • a gripper device capable of picking and placing electronic devices having different sizes without changing a manufacturing process.
  • 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.
  • 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.
  • LM linear motion
  • the first finger 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.
  • the second finger 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.
  • 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.
  • 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.
  • 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.
  • a gripper device capable of gripping electronic devices having various sizes or shapes may be provided.
  • 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.
  • FIG. 1 is an exploded perspective view of a gripper device according to an exemplary embodiment.
  • FIG 2 is a front view of a gripper device according to an exemplary embodiment.
  • FIG 3 is a perspective view of a gripper device according to an embodiment.
  • FIG. 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.
  • FIG. 6 is a diagram illustrating various shapes of grip fingers according to an exemplary embodiment.
  • FIG. 7A is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7B is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7C is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7D is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 8 is a block diagram illustrating a control system of a gripper device according to an exemplary embodiment.
  • FIG. 1 is an exploded perspective view of a gripper device according to an exemplary embodiment.
  • FIG 2 is a front view of a gripper device according to an exemplary embodiment.
  • FIG 3 is a perspective view of a gripper device according to an embodiment.
  • FIG. 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.
  • FIG. 6 is a diagram illustrating various shapes of grip fingers according to an exemplary embodiment.
  • an axial direction may be defined.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • the gripper device 1 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.
  • the base member 15 may be configured to install various parts of the gripper device 1 .
  • the base member 15 may include a seating portion 153 , a first extension portion 151 , and a second extension portion 152 .
  • the cylinder assembly 10 and the variable stopper 90 may be disposed on the seating portion 153.
  • 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).
  • 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).
  • 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
  • a robot arm distinct from the device 1 may be operatively connected, but are not limited by the above examples.
  • the shape of the base member 15 may have a substantially flat plate shape.
  • the base member 15 may include an at least partially bent portion, unlike the illustration.
  • the first extension part 151 and/or the second extension part 152 may be omitted.
  • 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 .
  • 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.
  • 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.
  • the variable stopper 90 may move up or down in a direction substantially perpendicular to the axial direction AX.
  • 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.
  • the operation of the variable stopper 90 is controlled by a control unit (eg, the control unit 810 of FIG.
  • 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.
  • the cylinder assembly 10 may be positioned below the base member 15 (eg, in the -z direction) and connected to the base member 15.
  • 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.
  • the cylinder assembly 10 may be coupled to the base member 15 and fixedly disposed below the base member 15 .
  • 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.
  • a fastening member eg, a screw
  • 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.
  • 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)).
  • 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 .
  • the guide rail 125 may be formed on one surface of the cylinder body (12).
  • the guide rail 125 may be formed on a lower surface (eg, a surface facing the -z direction) of the cylinder body 12 .
  • the guide rail 125 may extend in a direction substantially parallel to the axial direction AX.
  • 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 .
  • 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.
  • a working fluid eg pressurized air or oil, However, it is not limited thereto
  • a working fluid eg pressurized air or oil, However, it is not limited thereto
  • a working fluid eg pressurized air or oil, it is not limited thereto
  • a working fluid eg pressurized air or oil, However, it is not limited thereto
  • a working fluid eg pressurized air or oil, However, it is not limited thereto
  • a working fluid eg pressurized air or oil, it is not limited thereto
  • the first cylinder 121 and a second cylinder 122 may be formed in the cylinder body 12 .
  • the first cylinder 121 and the second cylinder 122 may be separated by
  • 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.
  • 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 .
  • the first pressure chamber 121a may communicate with the first port 18 .
  • 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 .
  • the third pressure chamber 122a may communicate with the second port 19 .
  • 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 .
  • the second pressure chamber 121a 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).
  • the first piston 121P moves in the first direction 1 of the axial direction AX.
  • the second piston 122P can move in the second direction (2) of the axial direction (AX).
  • the first piston 121P can move in the second direction 2
  • the second piston 122P can move in the first direction 1.
  • 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.
  • 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.
  • the first chuck member 14 is fixedly coupled to the first piston 121P
  • the second chuck member 16 is fixedly coupled to the second piston 122P. It can be.
  • 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).
  • the first chuck member 14 may include a first table member 141 and a first arm member 143 extending from the first table member 141.
  • 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 .
  • the first table member 141 may have a substantially plate shape, but is not limited thereto.
  • 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 .
  • the first arm member 143 may extend along the first direction 1 from the first table member 141 .
  • 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 may include a second table member 161 and a second arm member 163 extending from the second table member 161 .
  • 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 .
  • the second table member 161 may have a substantially plate shape, but is not limited thereto.
  • 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 .
  • the second arm member 163 may extend along the second direction 2 from the second table member 161 .
  • 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.
  • 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.
  • the first chuck member 14 is the first piston ( 121P) may move in the first direction (1)
  • 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.
  • 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)
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • the first sliding member 20 may be positioned below the first chuck member 14 (eg, in the -z direction). .
  • the first sliding member 20 may be connected to the first chuck member 14 .
  • the first sliding member 20 is fixedly coupled to the first chuck member 14 and may move together with the first chuck member 14 .
  • the first sliding member 20 may reciprocate along the axial direction AX together with the first chuck member 14 .
  • 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.
  • 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 .
  • 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.
  • the first extension part 24 may extend from the first coupling part 22 in the second direction 2 of the axial direction AX.
  • 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.
  • the protruding portion 26 may protrude from the first extension portion 24 in a direction toward the variable stopper 90 (eg, a +z direction).
  • the protruding portion 26 may extend from the first extending portion 24 in a direction substantially perpendicular to the axial direction AX.
  • the protruding portion 26 may selectively limit the movement of the first sliding member 20 according to the operation of the variable stopper 90 .
  • the first piston of the cylinder assembly 10 eg, the first piston 121P of FIG. 5A
  • 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.
  • 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 .
  • 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.
  • the second extension part 34 may extend from the second coupling part 32 in the first direction 1 of the axial direction AX.
  • 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.
  • the second sliding member 30, unlike the first sliding member 20, may not include a protruding part (eg, protruding part 26) for limiting movement.
  • the first LM structure 40 may include a first LM guide rail 42 and a first LM block 44 .
  • the first LM guide rail 42 may be disposed under the first sliding member 20 (eg, in the -z direction).
  • 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 .
  • 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.
  • the first LM guide rail 42 may extend along the axial direction AX.
  • the first LM block 44 may be connected to the first LM guide rail 42 so as to be linearly movable.
  • 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.
  • it is not limited by the above examples.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the axis of rotation of each of the first roller 61 and the second roller 62 may be substantially parallel.
  • the first roller 61 and the second roller 62 may be at least partially aligned along the axial direction AX.
  • the first roller 61 and the second roller 62 may at least partially overlap when viewed in the axial direction AX.
  • 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 .
  • 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.
  • 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.
  • the first upper wire 651 and the first lower wire 652 may extend in a direction substantially parallel to the axial direction AX.
  • the first wire member 65 may rotate together with the first roller 61 and the second roller 62 .
  • the first wire member 65 may be formed of metal (eg, steel), but is not limited thereto.
  • 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 .
  • the first lower wire fixing member 67 may be arranged to be movable together with the first LM block 44.
  • the first lower wire fixing member 67 may be fixed to the first LM block 44 .
  • the first lower wire fixing member 67 may be fixed to the first connecting finger 82 connected to the first LM block 44 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the third roller 71 and the fourth roller 72 may be at least partially aligned along the axial direction AX.
  • 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.
  • 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.
  • 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 .
  • 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).
  • 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 .
  • 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 .
  • the first grip finger 86 may be arranged to move together with the first LM block 44 .
  • the first grip finger 86 may be disposed on one side of the first connection finger 82 connected to the first LM block 44 .
  • the first grip finger 86 may be disposed at an end of the first connection finger 82 in the second direction (2).
  • 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.
  • 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.
  • the first grip finger 86 is fixed to the first connection finger 82 and can move together with the first connection finger 82 .
  • 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
  • the first lower wire fixing member 67 may be fixed to the first grip finger 86 .
  • 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.
  • 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.
  • the second grip finger 88 may be arranged to be movable together with the second LM block 54 .
  • the second grip finger 88 may be disposed on one side of the second connection finger 84 connected to the second LM block 54 .
  • the second grip finger 88 may be disposed at an end of the second connection finger 84 in the first direction (1).
  • 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.
  • 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.
  • the second grip finger 88 is fixedly disposed on the second connecting finger 84 and can move together with the second connecting finger 84 .
  • 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.
  • the first lower wire fixing member 67 may be fixed to the first grip finger 86 . all.
  • 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.
  • first connection finger 82 and the first grip finger 86 may be integrally formed.
  • connection finger 84 and the second grip finger 88 may be integrally formed.
  • the gripper device 1 may grip the electronic device using the first grip finger 86 and the second grip finger 88 .
  • the gripper device 1 directly contacts the electronic device 2 through first grip fingers 86 and second grip fingers 88 . can grasp.
  • 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 .
  • 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.
  • 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.
  • PEEK polyether ether ketone
  • metal eg, aluminum, stainless steel
  • stainless steel steel
  • rubber e.g., butylene, polymethyl methacrylate
  • 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.
  • 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.
  • 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.
  • 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).
  • 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 .
  • the first groove 622 may be omitted from the surface 630 where the grip finger contacts the electronic device. .
  • 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.
  • the surface 640 of the grip finger contacting the electronic device may be formed substantially flat.
  • the shape of the grip finger is not limited by the illustrated example, and various design changes may be possible.
  • FIG. 7A is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7B is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7C is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIG. 7D is a diagram illustrating an operation of a gripper device according to an exemplary embodiment.
  • FIGS. 7A to 7D An operation of the gripper device 1 according to an exemplary embodiment will be described with reference to FIGS. 7A to 7D .
  • 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.
  • 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).
  • the stop member 95 of the variable stopper 90 may be in an elevated state.
  • the distance between the first grip finger 86 and the second grip finger 88 may be the first length D1.
  • 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.
  • the first distance S1 may be substantially equal to the third distance S3.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • first upper wire fixing member 66 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.
  • 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.
  • 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 .
  • the second sliding member 30 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.
  • 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.
  • 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.
  • 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 .
  • the first LM block 44 also moves the first distance S1 in the second direction 2.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the second LM block 54 also moves the third distance S3 in the first direction 1.
  • ) can move as much as
  • 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 fixing member 77 fixedly coupled to the second connection finger 84 it can be transmitted to the second LM block 54.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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).
  • the distance between the first grip finger 86 and the second grip finger 88 may be the second length D2 .
  • the second length D2 may be greater than the first length D1 in the closed state of the gripper device 1 of FIG. 7A.
  • 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)).
  • an un-grip operation eg, an operation of releasing the gripped state of the electronic device
  • the electronic device eg, the electronic device 2 of FIG. 2
  • a gripping operation of the electronic device eg, an operation of gripping the electronic device
  • the first upper wire fixing member 66 and the second upper wire fixing member 76 function like a fixing pulley
  • the gripper device 1 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. .
  • the stop member 95 of the variable stopper 90 may be in a lowered state.
  • 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).
  • the first sliding member 20 connected to the first chuck member 14 moves along with the first chuck member 14 in the second 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).
  • the moving distance of the first sliding member 20 may be 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.
  • 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.
  • 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).
  • the seventh distance S7 may be substantially equal to the fifth distance S5.
  • the seventh distance S7 may be smaller than the third distance S3 shown in FIG. 7B.
  • the first sliding member 20 moves by the fifth distance S5 in the second direction 2
  • 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.
  • the sixth distance S6 may be twice the fifth distance S5.
  • the second sliding member 30 moves by the seventh distance S7 in the first direction 1
  • 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.
  • the eighth distance S8 may be twice the seventh distance S7.
  • the distance between the first grip finger 86 and the second grip finger 88 may be a third length D3.
  • the third length D3 may be greater than the first length D1 in the closed state of the gripper device 1 of FIG. 7C.
  • 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)).
  • 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.
  • 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.
  • the first sliding member 20 may move according to the stroke distance of the cylinder assembly 10 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the second sliding member 30 may move according to the stroke distance of the cylinder assembly 10 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • FIG. 8 is a block diagram illustrating a control system of a gripper device according to an exemplary embodiment.
  • a control system 801 may include a control unit 810, a power supply unit 820, an input unit 830, an output unit 840, and the gripper device 1.
  • 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.
  • 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.
  • the controller 810 may include a programmable logic controller (PLC) or a PC-based control device.
  • PLC programmable logic controller
  • the power supply unit 820 may be configured to provide power necessary for the control system to operate.
  • the output unit 840 may be operatively connected to the control unit 810 and the gripper device 1 .
  • the output unit 840 may include at least one solenoid valve or at least one manifold.
  • 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.
  • 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.
  • the input unit 830 may receive a user input.
  • the input unit 830 may include a touch screen display device capable of receiving user input.
  • 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 .
  • 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 .
  • 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.
  • 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 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.
  • the input unit 830 may receive a user input for the first mode or the second mode.
  • the controller 810 may transmit a control signal based on the received user input to the output unit 840 .
  • 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.
  • 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.
  • 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)).
  • 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
  • second 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).
  • the second roller structure 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).
  • a third distance eg, the third distance S3 in FIG. 7B or the seventh distance S7 in FIG. 7D
  • 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).
  • 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
  • the first upper wire fixing member fixedly coupled to the cylinder assembly (eg, the first upper wire fixing member in FIG. 1 ) (66)
  • 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.
  • 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)
  • 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.
  • 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.
  • 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.
  • 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.
  • the second distance may be twice the first distance
  • the fourth distance may be twice the third distance
  • the first distance and the third distance may be substantially equal to each other.
  • the gripper device 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 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
  • the stop member of the variable stopper may be configured to be at least partially engaged with the stop member in a descending state.
  • 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)
  • 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)
  • the second finger can move by an eighth distance greater than the seventh distance (eg, the eighth distance S8 in FIG. 7D).
  • 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.
  • 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
  • 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.
  • 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.
  • a first connection finger eg, the first connection finger 82 in FIG. 1
  • a first grip finger eg, first grip finger 86 of FIG. 1
  • 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.
  • 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.
  • 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
  • the second grip finger may be disposed at an end of the second connection finger in the second direction.
  • 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.
  • an inclined surface eg, the first inclined surface 624 in FIG. 6
  • a second inclined surface eg, the first inclined surface 624 in FIG. 2 inclined surfaces 626)
  • surface 620 in FIG. 6 a surface 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 ).
  • 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.
  • 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.
  • a control unit operatively connected to the output unit eg, the control unit 810 of FIG. 8
  • the input unit receives a user input for the first mode or the second mode
  • 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.
  • 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.
  • 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.
  • 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
  • a second lower wire eg, FIG. 1
  • a second wire member eg, the second wire member 75 of FIG.
  • 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).
  • the third distance may be twice the first distance
  • the fourth distance may be twice the second distance
  • the gripper device 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).
  • 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)
  • the first LM block moves by a seventh distance twice the fifth distance (Example: 6th distance S6 in FIG. 7D)
  • the second LM block can move by an 8th distance twice the 6th distance (eg, 8th distance S8 in FIG. 7D) .
  • Electronic devices 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.
  • a portable communication device eg, a smart phone
  • a computer device e.g., a smart phone
  • a portable multimedia device e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a camera
  • a wearable device e.g., a smart bracelet
  • 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.”
  • the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.
  • 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.
  • a module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions.
  • the module may be implemented in the form of an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • 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.
  • one or more components or operations among the aforementioned components may be omitted, or one or more other components or operations may be added.
  • a plurality of components eg modules or programs
  • 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. .
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Un dispositif de préhension peut comprendre : un ensemble cylindre ; un premier élément coulissant et un second élément coulissant qui se déplacent linéairement en fonction de l'opération de l'ensemble cylindre ; un premier doigt mobile le long d'un premier rail de guidage LM formé sur le premier élément coulissant ; un second doigt mobile le long d'un second rail de guidage LM formé sur le second élément coulissant ; une première structure de rouleau fonctionnellement reliée à l'ensemble cylindre, au premier élément coulissant et au premier doigt ; et une seconde structure de rouleau fonctionnellement reliée à l'ensemble cylindre, au second élément coulissant et au second doigt. La première structure de rouleau peut être configurée de sorte que le premier doigt se déplace sur une deuxième distance supérieure à une première distance dans la première direction lorsque le premier élément coulissant se déplace sur la première distance dans la première direction. La seconde structure de rouleau peut être configurée de sorte que le second doigt se déplace sur une quatrième distance supérieure à une troisième distance dans une seconde direction lorsque le second élément coulissant se déplace sur la troisième distance dans la seconde direction.
PCT/KR2022/013268 2021-09-13 2022-09-05 Dispositif de préhension pour dispositif électronique Ceased WO2023038378A1 (fr)

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KR1020210122046A KR20230039126A (ko) 2021-09-13 2021-09-13 전자 장치의 그리퍼 장치
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KR20250032223A (ko) * 2023-08-30 2025-03-07 (주)제이티 전자모듈 그리퍼
KR102858472B1 (ko) * 2025-04-09 2025-09-12 (주)영창로보테크 다품종 공작기계 프레임 파지핸드

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Publication number Priority date Publication date Assignee Title
KR20030036413A (ko) * 2003-03-31 2003-05-09 지이티 주식회사 에어핑거
JP5776772B2 (ja) * 2011-06-28 2015-09-09 株式会社安川電機 ロボットハンド及びロボット
JP2017019066A (ja) * 2015-07-13 2017-01-26 富士通株式会社 ハンドユニット及び把持装置
JP2018199183A (ja) * 2017-05-26 2018-12-20 国立研究開発法人宇宙航空研究開発機構 ロボット、把持システム
US20210190183A1 (en) * 2019-12-19 2021-06-24 Smc Corporation Variable pitch device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030036413A (ko) * 2003-03-31 2003-05-09 지이티 주식회사 에어핑거
JP5776772B2 (ja) * 2011-06-28 2015-09-09 株式会社安川電機 ロボットハンド及びロボット
JP2017019066A (ja) * 2015-07-13 2017-01-26 富士通株式会社 ハンドユニット及び把持装置
JP2018199183A (ja) * 2017-05-26 2018-12-20 国立研究開発法人宇宙航空研究開発機構 ロボット、把持システム
US20210190183A1 (en) * 2019-12-19 2021-06-24 Smc Corporation Variable pitch device

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