[go: up one dir, main page]

WO2025100640A1 - Dispositif de préhension et robot de transport comprenant celui-ci - Google Patents

Dispositif de préhension et robot de transport comprenant celui-ci Download PDF

Info

Publication number
WO2025100640A1
WO2025100640A1 PCT/KR2024/001290 KR2024001290W WO2025100640A1 WO 2025100640 A1 WO2025100640 A1 WO 2025100640A1 KR 2024001290 W KR2024001290 W KR 2024001290W WO 2025100640 A1 WO2025100640 A1 WO 2025100640A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
gripper
rail
actuator
transported
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.)
Pending
Application number
PCT/KR2024/001290
Other languages
English (en)
Korean (ko)
Inventor
노경석
엄태영
박지현
이효준
이나현
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.)
Korea Institute of Robot and Convergence
Original Assignee
Korea Institute of Robot and Convergence
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 Korea Institute of Robot and Convergence filed Critical Korea Institute of Robot and Convergence
Publication of WO2025100640A1 publication Critical patent/WO2025100640A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • 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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Definitions

  • the present invention relates to a gripper and a transport robot including the same, and more specifically, to a gripper configured to hold and transport an object and a transport robot including the same.
  • a manipulator is a robotic device that performs actions similar to a human arm.
  • a manipulator is a device that has multiple degrees of freedom and consists of a series of joints that rotate or slide relative to each other for the purpose of grasping or moving an object (part or tool).
  • a manipulator is controlled by an operator, a programmable electronic controller, or a logic system, and does not include an end-effector.
  • a pneumatic gripper that grasps with a suction cup is generally used.
  • a box with flat sides and tops is often used so that the suction cups can be well absorbed by the top or side of the box.
  • the shape of the box is changed to make it easier for the robot to grasp, it becomes difficult for the worker to grasp the box, and the top of the box is often closed, which can make it difficult to proceed to the next process.
  • Korean Patent Publication No. 1838444 discloses a vacuum suction type gripper for transporting a packaging container in which processed food is packaged.
  • the vacuum suction type gripper of prior document 1 includes a body, first and second grip plates which are installed on both sides of the body to face each other and perform a linear reciprocating motion to support the side of a packaging container in which processed food is packaged while simultaneously vacuum-absorbing it, and first and second cylinders which are mounted on the body and perform a linear reciprocating motion of the first and second grip plates.
  • the vacuum suction gripper of prior art document 1 has a simple structure and stably grips individual packaging containers, thereby minimizing damage to processed food contained inside the individual packaging containers during the process of gripping the individual packaging containers.
  • the vacuum suction gripper of prior art document 1 can also grip a box with an open top, but it is difficult to grip boxes of various shapes and materials because the side of the box must be flat in order to effectively utilize the vacuum pad on the side.
  • Korean Patent Publication No. 1906474 discloses a gripper for a transport robot.
  • the gripper for a transport robot of the prior document includes a joint portion mounted on an end effector, a grip portion mounted on a lower portion of the joint portion and gripping a plurality of individual packaging containers as a bundle unit, an adsorption portion mounted on the lower portion of the joint portion and adsorbing a slip sheet, and a pushing portion that pushes and loads a bundle of individual packaging containers gripped by the grip portion into the interior of a transport box while pushing and loading the slip sheet adsorbed by the adsorption portion into the interior of the transport box.
  • the adsorption part includes first and second adsorption cylinders mounted on the joint part, an adsorption connection block which is connected to the lower portion of the rod of the first and second adsorption cylinders and has a connecting hole formed on one side to which a vacuum hose is connected so as to receive compressed air from the vacuum hose, and first and second adsorption pads which are connected to the lower portion of the adsorption connection block and move linearly up and down according to the operation of the first and second adsorption cylinders and vacuum-adsorb the liner using the compressed air supplied through the adsorption connection block.
  • the gripper for a transport robot of prior art document 2 is equipped with a gripping portion and an adsorption portion, respectively, so as to grip a plurality of individual packaging containers as a bundle and load them into a transport box, while at the same time adsorbing and loading a sheet of paper on top of a bundle of individual packaging containers loaded into the transport box.
  • the gripper for a transport robot of prior art document 2 has a problem in that it is impossible to hold it by pressing from above with a pneumatic pad when an open box needs to be transported, and when it needs to be held by pressing on the side, the box becomes deformed by the force pressing on the side.
  • the gripping force of the gripper must be adjusted in real time in order for the gripper to maintain the state of holding the box.
  • the gripper for a transport robot in prior art document 2 has a problem in that it cannot respond to this.
  • the purpose of the present invention is to provide a gripper and a transport robot including the same that can easily and stably transport a general top-open box having a protrusion or groove on the side of the box, suppress deformation of the box due to gripping force, and stably maintain a gripped state of the box even when a change in the center of gravity of the box, an external impact, or an irregular fluctuation in the load occurs.
  • a gripper for gripping both sides of an object to be transported comprising: a body including a rail long in one direction; a first gripping portion and a second gripping portion which are slidably mounted on the rail; an actuator which slides the first gripping portion and the second gripping portion in opposite directions; and a control portion which controls the actuator, wherein each of the first gripping portion and the second gripping portion includes a finger portion which is slidably mounted on the rail and contacts the side surface of the object to be transported; and a measuring portion which measures a reaction force applied to the finger portion from the side surface of the object to be transported and transmits the result to the control portion, and the control portion controls the actuator in real time according to a change in the reaction force.
  • the above measuring unit may include an elastic member that elastically connects the end of the actuator and the finger; and a distance sensor that detects the distance between the end of the actuator and the finger with respect to the longitudinal direction of the rail.
  • the above control unit calculates the reaction force by the following formula,
  • F is the reaction force applied to the finger from the side of the object to be transported
  • k 1 is the modulus of elasticity of the elastic member
  • x 1 is the current distance between the end of the actuator and the finger (based on the longitudinal direction of the rail)
  • x 0 may mean the distance between the end of the actuator and the finger (based on the longitudinal direction of the rail) when the side of the object to be transported and the finger are not in contact.
  • the above finger portion may include a finger body having a first surface that contacts a side surface of the transported material and a through hole; a finger tip that is inserted into the through hole and protrudes from the first surface by a predetermined length; and a push member that is inserted into the through hole and pushes the finger tip toward the first surface.
  • the above finger portion may include a fastening member that is screw-connected to the through hole and contacts the pushing member on the opposite side from the finger tip so that the force of the pushing member pushing the finger tip toward the first surface is controlled.
  • the above-mentioned transport object may include a camera that photographs the transport object and transmits a real-time photographed image to the control unit, and the control unit may analyze the real-time photographed image and control the actuator in real time to grip both sides of the transport object.
  • the above control unit calculates the reaction force by the following formula,
  • F is a reaction force applied to the finger from the side of the object to be transported
  • k 1 is a modulus of elasticity of the elastic member
  • x 1 is a current distance between the end of the actuator and the finger (based on the longitudinal direction of the rail)
  • x 0 is a distance between the end of the actuator and the finger (based on the longitudinal direction of the rail) when the side of the object to be transported and the finger are not in contact
  • k 2 is a modulus of elasticity of the push member
  • x b is a current length of the finger tip protruding from the first surface
  • x a is a length of the finger tip protruding from the first surface when the side of the object to be transported and the finger are not in contact
  • x c may denote a pre-compression length of the push member.
  • the above through holes may be formed in multiple numbers, the finger tips and the push members may be inserted into the through holes respectively, and the push members may be compressed respectively by a reaction force applied to the finger tips from the side of the transported object.
  • the above finger tips can be arranged in a matrix shape based on the first surface.
  • the rails may include a first rail and a second rail
  • the actuator may include: a motor controlled by the control unit; a pinion rotated by the motor and positioned between the first rail and the second rail; a first leg slidably mounted on the first rail while engaged with the pinion and having an end coupled to the first grip portion; and a second leg slidably mounted on the second rail while engaged with the pinion and having an end coupled to the second grip portion.
  • a transfer robot including, according to the present invention, the gripper; and a manipulator to which the gripper is attached to a wrist portion.
  • a general open-top box having a protrusion or groove on the side of the box can be transported easily and stably, deformation of the box due to gripping force is suppressed, and a gripper and a transport robot including the same can be provided so as to stably maintain a gripped state of the box even when a change in the center of gravity of the box, an external impact, or an irregular change in the load occurs.
  • Figure 1 is a usage diagram showing a gripper and a transport robot including the same according to an embodiment of the present invention.
  • Figure 2 is a perspective view showing the gripper and manipulator of Figure 1.
  • Figure 3 is a bottom view showing the gripper of Figure 2.
  • Figure 4 is a partial cross-sectional view showing the gripper of Figure 2.
  • Figure 5 is a partial cross-sectional view showing the finger portion and measuring portion of Figure 3.
  • Figure 6 is a schematic drawing showing the gripper of Figure 1.
  • Figure 7 is a usage diagram showing a gripper and a transport robot including the same according to an embodiment of the present invention.
  • Fig. 8 is a perspective view showing the gripper and manipulator of Fig. 7.
  • Figure 9 is a perspective view showing the gripper of Figure 7 gripping both sides of the transported object.
  • Figure 10 is a perspective view showing the gripper of Figure 7 gripping both sides of the object to be transported, and is a drawing showing the object to be transported transparently.
  • Transport robot 3 Transported object
  • Finger body 213a First side
  • Push member 216 Fastening member
  • Figure 1 is a usage diagram showing a gripper (10) and a transfer robot (1) including the same according to an embodiment of the present invention.
  • Fig. 2 is a perspective view showing the gripper (10) and manipulator (30) of Fig. 1.
  • Fig. 3 is a bottom view showing the gripper (10) of Fig. 2.
  • the gripper (10) of the present invention and the transport robot (1) including the gripper can easily and stably transport even a general top-open box (3) having a protrusion or groove on the side of the box (3).
  • a transport robot (1) includes a gripper (10), a manipulator (30), and a mobile platform (50).
  • the manipulator (30) has functions similar to the human body, arm, and wrist, and refers to a device that can attach an end effector to the wrist portion (31) to move a transported object (3).
  • a manipulator (30) typically has multiple degrees of freedom and is comprised of a series of joints that rotate or slide relative to each other for the purpose of grasping or moving an object (part or tool).
  • the manipulator (30) is controlled by an operator, a programmable electronic controller, or a logic system.
  • the gripper (10) is attached to the wrist portion (31) of the manipulator (30).
  • the gripper (10) can be rotatably attached to the wrist portion (31) of the manipulator (30). Since the rotatably attached structure of the manipulator (30) and the end effector is a widely known technology, a detailed description thereof will be omitted.
  • the manipulator (30) can be mounted on a mobile platform (50).
  • the mobile platform (50) can mean a device that automatically moves along a designated path.
  • the unmanned transport robot (1) technology is a widely known technology, so a detailed description thereof will be omitted.
  • the gripper (10) is configured to grip both sides of the transported material (3).
  • the gripper (10) includes a body (100), a first gripping portion (200a), a second gripping portion (200b), an actuator (400), a camera (500), and a control portion (600).
  • the body (100) is attached to the wrist portion (31) of the manipulator (30).
  • the body (100) can be rotatably attached to the wrist portion (31) of the manipulator (30). Since the rotatably attached structure of the manipulator (30) and the end effector is a widely known technology, a detailed description thereof will be omitted.
  • the body (100) forms a long shape in one direction.
  • the one direction can be perpendicular to the rotation center axis (hereinafter referred to as the 'end rotation axis') of the wrist portion (31) of the manipulator (30).
  • the body (100) includes a long rail (110) in one direction.
  • the rail (110) includes a first rail (111) and a second rail (112).
  • the first rail (111) and the second rail (112) each form a long shape in one direction.
  • the first rail (111) and the second rail (112) are spaced apart from each other in two directions. Here, the two directions are perpendicular to the end rotation axis.
  • the first direction and the second direction are perpendicular to each other.
  • Fig. 4 is a partial cross-sectional view showing the gripper (10) of Fig. 2.
  • each of the first grip portion (200a) and the second grip portion (200b) includes a finger portion (210).
  • the finger part (210) includes a finger slider (211), a connecting member (212), a finger body (213), a finger tip (214), a pushing member (215), and a fastening member (216).
  • the finger slider (211) is slidably mounted on the rail (110).
  • the finger slider (211) forms a block shape.
  • the finger slider (211) of the first gripping portion (200a) is slidably mounted on the first rail (111).
  • the finger slider (211) of the second gripping portion (200b) is slidably mounted on the second rail (112).
  • the first gripping portion (200a) and the second gripping portion (200b) are spaced apart from each other with respect to one direction.
  • the finger body (213) forms a first surface (213a) that contacts the side surface of the transported material (3) and a through hole (213b).
  • the normal direction of the first surface (213a) is parallel to the 1 direction.
  • the first surface (213a) of the first gripping portion (200a) and the first surface (213a) of the second gripping portion (200b) form a form that faces each other with respect to the 1 direction.
  • the through hole (213b) penetrates the finger body (213) in the 1 direction.
  • a plurality of through holes (213b) can penetrate the finger body (213) in the 1 direction.
  • the connecting member (212) connects the finger slider (211) and the finger body (213).
  • the finger slider (211) and the finger body (213) can be spaced apart in a direction parallel to the distal rotation axis by the connecting member (212). And the finger slider (211) and the finger body (213) can be spaced apart in one direction by the connecting member (212).
  • the remaining components of the gripper (10) except for the finger body (213) and the finger tip (214) can be separated from the object to be transported (3).
  • Finger tips (214) are each inserted into a through hole (213b) and protrude from the first surface (213a) by a certain length (hereinafter referred to as the 'first length'). Accordingly, one or more finger tips (214) can contact the side surface of the transported material (3) together with the finger body (213).
  • the finger tips (214) of the first gripping portion (200a) and the finger tips (214) of the second gripping portion (200b) can be caught on the handles (3a), holes, protrusions, concave portions, etc. formed on both sides of the object to be transported (3).
  • a general upper open box (3) having a protrusion or groove on the side of the box (3) can also be easily and stably transported.
  • the gripping force of the first gripping part (200a) and the second gripping part (200b) is small, the gripping state is maintained, so that deformation of the box (3) due to the gripping force can be suppressed.
  • the finger tip (214) can form an approximately cylindrical shape.
  • a step portion is formed on the outer surface of the finger tip (214), and a step surface is formed on the inner surface of the through hole (213b).
  • the finger tip (214) protrudes a first length from the first surface (213a)
  • the step portion is caught by the step surface. Therefore, the finger tip (214) can protrude a maximum of a first length while inserted into the through hole (213b).
  • the push member (215) is configured to be inserted into the through hole (213b) and push the finger tip (214) toward the first surface (213a).
  • the push member (215) may be provided as a compression spring.
  • the finger body (213) can form through holes (213b) in a matrix shape based on the first surface (213a). Accordingly, the finger tips (214) can be arranged in an m ⁇ n matrix shape based on the first surface (213a).
  • m and n can be ⁇ 1.
  • Figure 2 illustrates a total of 20 finger tips (214) arranged in a 2 ⁇ 10 matrix based on the first surface (213a).
  • the spacing between rows and between columns may vary depending on the length/cross-sectional area of the finger tips (214), the size/volume of the transported material (3), the area/shape of both sides, etc.
  • the first surfaces (213a) of the first gripping portion (200a) and the second gripping portion (200b) grip both sides of the transported object (3) the first surfaces (213a) of both sides come into contact with both sides of the transported object (3).
  • the push members (215) can be compressed by the reaction force applied to the finger tips (214) from the side of the transported object (3).
  • the box (3) shown in Fig. 1 forms a rectangular parallelepiped shape. And both sides of the box (3) form flat surfaces without curves. And a hole-shaped handle (3a) is formed on both sides.
  • the finger tips (214) of the first grip portion (200a) and the second grip portion (200b) can be divided into finger tips (hereinafter referred to as 'first finger tips') that are completely inserted into the hole of the handle (3a) and finger tips (hereinafter referred to as 'second finger tips') that are completely inserted into the through hole by a reaction force applied from both sides of the box (3).
  • the push members (215) that push the first finger tips (214) toward the first surface (213a) are not compressed.
  • the push members (215) that push the second finger tips (214) toward the first surface (213a) are equally compressed by the reaction force applied to the second finger tips (214) from the side of the transported object (3).
  • the fastening member (216) is screw-connected to the through hole (213b) on the opposite side from the finger tip (214).
  • the fastening member (216) contacts the push member (215) on the opposite side from the finger tip (214). Therefore, when the fastening member (216) screw-connected to the through hole (213b) is rotated in the forward and reverse directions, the force of the push member (215) pushing the finger tip (214) toward the first surface (213a) is controlled.
  • the force of the pushing member (215) pushing the finger tip (214) toward the first surface (213a) can be adjusted.
  • the force of the pushing member (215) pushing the finger tip (214) toward the first surface (213a) can be adjusted to be small.
  • the actuator (400) is configured to slide the first grip portion (200a) and the second grip portion (200b) in opposite directions.
  • the control portion (600) controls the actuator (400).
  • the actuator (400) includes a motor (410), a pinion (420), a first leg (430a), and a second leg (430b).
  • the pinion (420) is rotatably coupled to the body (100).
  • the pinion (420) is positioned between the first rail (111) and the second rail (112).
  • the pinion (420) is positioned between the first grip part (200a) and the second grip part (200b).
  • the rotation axis of the pinion (420) may be parallel to the end rotation axis.
  • the pinion (420) rotates by the motor (410).
  • the control part (600) controls the motor (410).
  • Each of the first leg (430a) and the second leg (430b) includes a leg section (431) and a pair of leg sliders (432).
  • the rack sliders (432) of the first rack (430a) are slidably mounted on the first rail (111).
  • the rack portion (431) is configured to mesh with the pinion (420). Both ends of the rack portion (431) are connected to a pair of rack sliders (432).
  • the first rack (430a) is slidably mounted on the first rail (111) while being engaged with the pinion (420). The end of the first rack (430a) is connected to the first grip portion (200a).
  • the rack sliders (432) of the second rack (430b) are slidably mounted on the second rail (112).
  • the rack portion (431) is configured to mesh with the pinion (420). Both ends of the rack portion (431) are connected to a pair of rack sliders (432).
  • the second rack (430b) is slidably mounted on the second rail (112) while being engaged with the pinion (420). The end of the second rack (430b) is connected to the second grip portion (200b).
  • the first leg (430a) and the second leg (430b) are slidably mounted on the first rail (111) and the second rail (112) while engaging with the pinion (420) on opposite sides. Accordingly, as the pinion (420) rotates, the first leg (430a) and the second leg (430b) slide in opposite directions.
  • the gripper (10) includes a camera (500).
  • the camera (500) is configured to photograph the transported object (3).
  • the camera (500) is attached to the wrist portion (31) of the manipulator (30).
  • the camera (500) can be rotatably attached to the wrist portion (31) of the manipulator (30). Since the rotatably attached structure of the manipulator (30) and the end effector is a widely known technology, a detailed description thereof will be omitted.
  • the camera (500) photographs the transported object (3) and transmits the real-time captured image to the control unit (600).
  • the control unit (600) analyzes the real-time captured image and controls the actuator (400) in real time to grip both sides of the transported object (3).
  • the control unit (600) can recognize the shape and position of the transported object (3) and the shape and position of the first gripping unit (200a) and the second gripping unit (200b) by combining, analyzing, and learning real-time captured images through artificial intelligence-machine learning-deep learning.
  • Fig. 5 is a partial cross-sectional view showing the finger portion (210) and the measuring portion (220) of Fig. 3.
  • each of the first gripping portion (200a) and the second gripping portion (200b) includes a measuring portion (220).
  • Fig. 6 is a drawing schematically showing the gripper (10) of Fig. 1.
  • the measuring unit (220) is configured to measure the reaction force applied to the finger unit (210) from the side of the transported object (3).
  • the measuring unit (220) includes an elastic member (221) and a distance sensor (222).
  • the elastic member (221) elastically connects the end of the actuator (400) and the finger portion (210). More specifically, the elastic member (221) elastically connects the finger slider (211) and the rec slider (432).
  • the elastic member (221) may be provided as an extension spring.
  • the distance sensor (222) detects the distance between the end of the actuator (400) and the finger portion (210) based on the longitudinal direction of the rail (110).
  • the distance sensor (222) can be coupled to the end of the actuator (400).
  • the distance sensor (222) can be coupled to the end of the rec slider (432) inside the elastic member (221).
  • the distance sensor (222) can detect the distance between the rec slider (432) and the finger slider (211). The measurement value of the distance sensor (222) is transmitted to the control unit (600) in real time.
  • the control unit (600) can calculate the reaction force by [Mathematical Formula 1] below.
  • F is the reaction force applied to the finger part (210) from the side of the transported material (3)
  • k 1 is the modulus of elasticity of the elastic member (221)
  • x 1 represents the distance between the end of the current actuator (400) and the finger part (210) (based on the longitudinal direction of the rail (110)).
  • x 0 represents the distance (based on the length direction of the rail (110)) between the end of the actuator (400) and the finger (210) when the side of the transported material (3) and the finger (210) are not in contact.
  • x 1 and x 0 represent the measured values of the distance sensor (222).
  • the gripping force of the gripper (10) In case of a change in the center of gravity of the box (3), an external impact, or an irregular change in the load, the gripping force of the gripper (10) must be adjusted in real time in order to maintain the state in which the gripper (10) is gripping the box (3).
  • the control unit (600) controls the actuator (400) in real time according to the change in the reaction force.
  • the control unit (600) can control the actuator (400) in real time so that the first grip part (200a) and the second grip part (200b) come closer to each other in proportion to the increase in the real-time reaction force.
  • the control unit (600) can control the actuator (400) in real time so that the first grip part (200a) and the second grip part (200b) move away from each other in proportion to the decrease in the real-time reaction force.
  • the box (3) can be stably maintained in a gripped state.
  • control unit (600) can calculate the reaction force by [Mathematical Formula 2] below.
  • F is the reaction force applied to the finger part (210) from the side of the transported material (3)
  • k 1 is the modulus of elasticity of the elastic member (221)
  • x 1 represents the distance between the end of the current actuator (400) and the finger part (210) (based on the longitudinal direction of the rail (110)).
  • x 0 represents the distance (based on the length direction of the rail (110)) between the end of the actuator (400) and the finger (210) when the side of the transported material (3) and the finger (210) are not in contact.
  • x 1 and x 0 represent the measured values of the distance sensor (222).
  • k 2 is the modulus of elasticity of the push member (215)
  • x b is the length of the finger tip (214) currently protruding from the first surface (213a)
  • x a is the length of the finger tip (214) protruding from the first surface (213a) when the side surface of the transported material (3) and the finger portion (210) are not in contact.
  • the control unit (600) can analyze the real-time captured image to derive x a and x b .
  • a sensor that detects the length of the finger tip (214) protruding from the first surface (213a) of the finger unit (210) may be installed.
  • x c represents the pre-compression length of the push member (215). x c can be directly entered by the worker.
  • the control unit (600) can control the actuator (400) in real time according to the change in the reaction force.
  • the control unit (600) can control the actuator (400) in real time so that the first grip part (200a) and the second grip part (200b) come closer to each other in proportion to the increase in the real-time reaction force.
  • the control unit (600) can control the actuator (400) in real time so that the first grip part (200a) and the second grip part (200b) move away from each other in proportion to the decrease in the real-time reaction force.
  • the box (3) can be stably maintained in a gripped state.
  • Figure 7 is a usage diagram showing a gripper and a transport robot including the same according to an embodiment of the present invention.
  • Figure 8 is a perspective view showing the gripper and manipulator of Figure 7.
  • Figure 9 is a perspective view showing the gripper of Figure 7 gripping both sides of the transported object.
  • Figure 10 is a perspective view showing the gripper of Figure 7 gripping both sides of the object to be transported, and is a drawing showing the object to be transported transparently.
  • Figures 7 to 10 illustrate a total of 44 finger tips (214) arranged in a 4 ⁇ 11 matrix based on the first surface (213a).
  • the spacing between rows and between columns may vary depending on the length/cross-sectional area of the finger tips (214), the size/volume of the transported material (3), the area/shape of both sides, etc.
  • Figures 7, 9 and 10 illustrate a typical top open box (3) having a number of protrusions (3b) or grooves (3c) on the side.
  • Figures 9 and 10 when the first surface (213a) of the first gripping portion (200a) and the second gripping portion (200b) grip both sides of the object to be transported (3), the first surface (213a) partially comes into contact with the side of the object to be transported (3) by the number of protrusions (3b) and grooves (3c).
  • the first surface (213a) comes into contact with the protruding portion on the side of the transported object (3).
  • the push members (215) can be compressed by the reaction force applied to the finger tips (214) on the side of the transported object (3).
  • the finger tips (214) of the first grip portion (200a) and the second grip portion (200b) can be divided into finger tips (hereinafter referred to as “first finger tips”) that are completely inserted into the hole of the handle (3a), finger tips (hereinafter referred to as “second finger tips”) that are completely inserted into the through hole by a reaction force applied from both sides of the box (3), and finger tips (hereinafter referred to as “third finger tips”) that are partially inserted into the through hole.
  • the push members (215) that push the first finger tips (214) toward the first surface (213a) are not compressed.
  • the push members (215) that push the second finger tips (214) toward the first surface (213a) are equally compressed by the reaction force applied to the second finger tips (214) from the side of the transported object (3).
  • the push members (215) that push the third finger tips (214) toward the first surface (213a) can be compressed to various strains by the reaction force applied to the third finger tips (214) from the side of the transported material (3).
  • the various strains can be different from each other by the difference in the positions (based on one direction) of the various protrusions (3b) and grooves (3c) on the side of the box (3).
  • a general open-top box (3) having a protrusion or groove on the side of the box (3) can be easily and stably transported, deformation of the box (3) due to the gripping force is suppressed, and a gripping state of the box (3) can be stably maintained even when a change in the center of gravity of the box (3), an external impact, an irregular change in the load, etc. occur, and a transport robot (1) including the same can be provided.
  • the gripper according to the present invention and the transport robot including the same, by measuring the reaction force applied to the finger portion from the side of the object to be transported and controlling the actuator in real time according to the change in the reaction force, even a general top-open box having a protrusion or groove on the side of the box can be easily and stably transported, deformation of the box due to the gripping force is suppressed, and even when a change in the center of gravity of the box, an external impact, or an irregular change in the load occurs, the gripping state of the box can be stably maintained. Therefore, since the present invention overcomes the limitations of existing technologies and thus has sufficient possibility of not only utilizing related technologies but also commercialization or sales of applicable devices, it is an invention having industrial applicability to the extent that it can be clearly implemented in reality.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Est divulgué ici un dispositif de préhension et un robot de transport comprenant celui-ci. Le dispositif de préhension selon la présente invention comprend : un corps qui inclut un rail qui est disposé le long d'une direction ; une première partie de préhension et une seconde partie de préhension qui sont montées coulissantes sur le rail ; un actionneur qui fait coulisser la première partie de préhension et la seconde partie de préhension dans des sens opposés ; et une unité de commande pour commander l'actionneur. La première partie de préhension et la seconde partie de préhension incluent chacune : des parties doigts qui sont montées coulissantes sur le rail et viennent en contact avec une surface latérale d'un objet à transporter ; et une partie de mesure qui mesure une force de réaction appliquée sur les parties doigts depuis le côté de l'objet à transporter et transmet la force de réaction mesurée à l'unité de commande.
PCT/KR2024/001290 2023-11-08 2024-01-26 Dispositif de préhension et robot de transport comprenant celui-ci Pending WO2025100640A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2023-0153768 2023-11-08
KR1020230153768A KR20250067542A (ko) 2023-11-08 2023-11-08 그리퍼 및 이를 포함하는 이송로봇

Publications (1)

Publication Number Publication Date
WO2025100640A1 true WO2025100640A1 (fr) 2025-05-15

Family

ID=95696116

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2024/001290 Pending WO2025100640A1 (fr) 2023-11-08 2024-01-26 Dispositif de préhension et robot de transport comprenant celui-ci

Country Status (2)

Country Link
KR (1) KR20250067542A (fr)
WO (1) WO2025100640A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014024134A (ja) * 2012-07-25 2014-02-06 Fanuc Ltd 力制御電動ハンド
JP5815923B2 (ja) * 2010-03-19 2015-11-17 株式会社デンソーウェーブ 電動ハンド
JP2018069381A (ja) * 2016-10-28 2018-05-10 キヤノン株式会社 把持装置の制御方法、把持装置、ロボット装置、および部品の製造方法
US20190126492A1 (en) * 2018-06-14 2019-05-02 Yingtao Tong Handling Robot Control System
JP2023124711A (ja) * 2022-02-25 2023-09-06 キヤノンプレシジョン株式会社 把持装置及び把持装置の制御方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101906474B1 (ko) 2017-05-02 2018-10-11 (주)로픽 이송로봇용 그리퍼
KR101838444B1 (ko) 2017-08-18 2018-03-13 이재성 가공식품이 포장된 포장용기 이송용 진공 흡착형 그리퍼

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5815923B2 (ja) * 2010-03-19 2015-11-17 株式会社デンソーウェーブ 電動ハンド
JP2014024134A (ja) * 2012-07-25 2014-02-06 Fanuc Ltd 力制御電動ハンド
JP2018069381A (ja) * 2016-10-28 2018-05-10 キヤノン株式会社 把持装置の制御方法、把持装置、ロボット装置、および部品の製造方法
US20190126492A1 (en) * 2018-06-14 2019-05-02 Yingtao Tong Handling Robot Control System
JP2023124711A (ja) * 2022-02-25 2023-09-06 キヤノンプレシジョン株式会社 把持装置及び把持装置の制御方法

Also Published As

Publication number Publication date
KR20250067542A (ko) 2025-05-15

Similar Documents

Publication Publication Date Title
EP0396210B1 (fr) Mécanisme à main
WO2020004792A1 (fr) Appareil de retournement et procédé d'inspection d'objet utilisant celui-ci
JP6322959B2 (ja) ロボット、ロボットシステム、及びロボット制御装置
US5116094A (en) Apparatus and method for handling honeycomb core
CN103252644A (zh) 使用了机器人的物品组装装置
TWI804856B (zh) 樹脂模塑裝置
CN111195907B (zh) 机器人系统及连接方法
CN109415175B (zh) 一种智能上下料系统及其工作方法
US20220063112A1 (en) Robot hand and picking system
US10655658B2 (en) Material handling system
WO2025100640A1 (fr) Dispositif de préhension et robot de transport comprenant celui-ci
JP2849056B2 (ja) 位置決め部を有する把持装置
CN116868321B (zh) 用于连接电子组件的系统和方法
WO2017217771A1 (fr) Module de déplacement sans fil et dispositif de manipulation d'élément comportant ledit module
WO2023038378A1 (fr) Dispositif de préhension pour dispositif électronique
CN111546371B (zh) 一种袋包夹具及夹持袋包方法
JP2015096290A (ja) ロボット、ロボットシステム、ロボット制御装置及び方法
JPH0428621A (ja) 小片品の整列装置
JPH1025029A (ja) 移載ロボット用ロボットハンド
JP2000174108A (ja) ワーク把持装置
JP3873345B2 (ja) 食肉包装体の函詰めシステム
KR102655084B1 (ko) 반도체 이송장치
CN219990472U (zh) 一种协作机器人双工位上料流水线
WO2025143774A1 (fr) Dispositif de préhension et procédé de fabrication d'un bloc-batterie au moyen de ce dispositif
CN223606555U (zh) 一种抓取机构及输送装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24888844

Country of ref document: EP

Kind code of ref document: A1