KR102024118B1 - Robot gripper for throwing curling stone and throwing method using the same - Google Patents

Abstract

The present invention discloses a robot gripper for a curling stone throw. Gripper according to the present invention, the support frame; A first finger coupled to the support frame by a first finger rotation shaft; A second finger coupled to the support frame by a second finger rotation shaft; Finger driving means for rotating the first finger and the second finger; A contacting side of the curling stone when gripping, and includes a roller installed on the support frame, the first finger, or the second finger.
According to the present invention, it is possible to provide a gripper for stably throwing the stone as well as generating a desired rotational force in the state of holding the stone. In addition, it is possible to provide a curling robot that performs a curling race by mounting a gripper for stone throwing. In addition, according to the present invention, since the gripper for stone pitching grips the side of the stone rather than gripping the upper handle of the stone, there is no need to modify the appearance of the existing stone, and thus the advantage that humans and robots can use the same stone have.

Description

Robot gripper for throwing curling stone and throwing method using the same}

The present invention relates to a throwing gripper mounted on a curling robot for performing a curling (curling) competition, specifically, can generate a rotational force in a stable gripping state of the curling stone and can stably place the stone at the moment of pitching It relates to the shape and operation of the gripper.

The curling race is a game in which a round and flat stone called a curling stone (referred to as 'stone' for convenience) is put on a concentric target called a house to compete in a rectangular ice rink. It is gaining a lot of popularity as it is incorporated, and the number of club members is increasing.

These curling events are the most static events in winter sports, but it is known that not only high concentration and strength are required for pitching and brushing the stones, but also high strategic thinking in determining the location and path of the stones.

On the other hand, curling competitions are conducted in a limited space, and the movement of participants is relatively simple and the movement speed is not fast. Therefore, it is expected that it will be relatively easy to develop a robot that performs the competition autonomously compared to other sports.

And when a curling robot is developed, it is possible to hold or enjoy a variety of interesting curling games, such as confrontation between robots, confrontation between robots and humans, and robot-human hybrid teams.

Korea Patent Registration No. 10-1384306 (Announcement of April 10, 2014)

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and an object thereof is to provide a throwing gripper for pitching a stone by attaching it to a curling robot that autonomously performs a curling race or a stone throwing device fixed to a stadium. In addition, an object of the present invention is to provide a throwing gripper that can generate a rotational force in a state in which the stone is stably held and can push the stone in a set speed and direction in the state in which the rotational force is applied.

In order to achieve this object, an aspect of the present invention, the support frame; A first finger coupled to the support frame by a first finger rotation shaft; A second finger coupled to the support frame by a second finger rotation shaft; Finger driving means for rotating the first finger and the second finger; A contacting side of the curling stone when gripping, and includes a roller installed on the support frame, the first finger, or the second finger.

In the curling stone throwing robot gripper according to an aspect of the present invention, the finger driving means, the finger driving portion installed on the support frame; A drive gear coupled to a drive shaft of the finger driver; A driven gear meshing with the drive gear; A first finger driving link provided between the driven gear and the first finger; It may include a second finger driving link provided between the drive gear and the second finger. At this time, the drive gear and the driven gear is installed at the position symmetrical with respect to the curling stone pitch direction, the first finger drive link and the second finger drive link is to be installed symmetrically with respect to the curling stone pitch direction. Can be. The first finger driving link and the second finger driving link may be coupled to the first link member, the second link member, and the support frame to be axially rotatable, respectively. And a link connecting member for connecting the first finger driving link, wherein one end of the first link member is rotatably coupled to the first finger and the other end is rotatably coupled to the first end of the link connecting member, One end of the second link member is rotatably coupled to the second end of the link connecting member, and the other end is rotatably coupled to the gear shaft connecting member fixed to the gear shaft of the driven gear. In the second finger drive link, One end of the first link member is rotatably coupled to the second finger and the other end is rotatably coupled to the first end of the link connecting member, and one end of the second link member is rotatably connected to the second end of the link connecting member. Combination And, the other end may be rotatably coupled to the gear shaft holding member fixed to the gear shaft of the drive gear.

In addition, the curling stone throwing robot gripper according to an aspect of the present invention may include a stone rotating means for rotating the roller to rotate the curling stone. In this case, the rollers are installed at first and second rollers which are respectively coupled to the first finger, and at left and right symmetrical positions of the first roller and the second roller, which are respectively coupled to the second finger. And a third roller and a fourth roller, wherein the stone rotating means includes: a roller driving unit provided on the support frame, a driving pulley coupled to a driving shaft of the roller driving unit, the first roller, the second roller, and the A first pulley, a second pulley, a third pulley, and a fourth pulley fixed to each of the third roller and the fourth roller and disposed coaxially, and the rotational force of the driving pulley is the first pulley and the second pulley. It may include a power transmission means for transmitting to the pulley, the third pulley, and the fourth pulley. In addition, the first roller, the second roller, the third roller, and the fourth roller may be located below the first pulley, the second pulley, the third pulley, and the fourth pulley, respectively. . In addition, the first pulley is installed on the first finger rotation shaft, the second pulley is installed on the end of the first finger, the third pulley is installed on the second finger rotation shaft, the fourth pulley of the second finger It can be installed at the end.

In addition, the robot gripper for a curling stone pitching according to an aspect of the present invention. It may include a height adjusting means for elevating the first finger and the second finger relative to the support frame or the support frame itself.

In addition, the robot gripper for a curling stone pitching according to an aspect of the present invention. The support frame may be coupled to a curling robot running in a stadium, or may be coupled to a stone pitching device installed in a stadium so as to be linearly movable.

According to another aspect of the present invention, a method of throwing a curling stone using the curling stone throwing robot gripper, comprising the steps of rotating the first finger and the second finger to open; Holding the first finger and the second finger by holding a curling stone located between the first finger and the second finger, and contacting the roller to a side of the curling stone; Moving the gripper in a target direction; And opening the first finger and the second finger to decelerate the gripper.

In the curling stone throwing method according to the present invention, the step of moving the gripper in the target direction or may include a step of rotating the curling stone by rotating the roller.

According to the present invention, it is possible to provide a gripper for stably throwing the stone as well as generating a desired rotational force in the state of holding the stone. In addition, it is possible to provide a curling robot that performs a curling race by mounting a gripper for stone throwing.

In addition, according to the present invention, since the gripper for stone pitching grips the side of the stone rather than gripping the upper handle of the stone, there is no need to modify the appearance of the existing stone, thus the advantage that the human and robot can use the same stone have.

1 is a perspective view of a stone throwing robot gripper according to an embodiment of the present invention.
Figure 2 is a view showing the installation of the roller and the belt of the stone throwing robot gripper according to an embodiment of the present invention.
3 is a view showing the first and second fingers gripping the stone.
4 is a view illustrating a connection structure between a finger driving link and a finger;
5 to 7 illustrate various postures of the first and second fingers.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

For reference, in the present specification, when one element is connected or combined with another element, not only when directly connected or coupled with another element, but also indirectly connected or coupled with another element in between. It also includes the case. In addition, when one component is directly connected to or directly coupled to another component, it means that another element is not interposed in the middle. In addition, any part includes or includes a certain component, which means that the component may further include or include other components, except for the absence of other components. In addition, there is a part exaggerated differently from the actual dimension in the accompanying drawings, which is for convenience of explanation and understanding, and of course, the scope of the present invention should not be limited or interpreted.

1 is a perspective view showing a stone throwing robot gripper 100 (hereinafter referred to as 'gripper' for convenience) according to an embodiment of the present invention, Figure 2 is a belt 180 installed inside the gripper 100 and It is a figure which showed the state of the guide roller 182, etc.

As shown in the drawing, the gripper 100 according to an embodiment of the present invention includes a support frame 102 and a support frame 102 protruding toward one side of the support frame 102 and having a rear end thereof by the first finger rotation shaft 141. The first finger 110 rotatably coupled to the 102, and the second protruding to one side of the support frame 102 and the rear end is rotatably coupled to the support frame 102 by a second finger rotation shaft 142 Finger 120.

The support frame 102 may be fixed to a frame of a traveling curling robot (not shown), or may be coupled to a linear driving device installed on the curling robot to enable linear motion. In addition, the support frame 102 may be coupled to allow a linear movement to the stone throwing device fixed to the stadium.

The first finger 110 and the second finger 120 are for holding the stone 10 as shown in FIG. 3, and may or may not be arranged in parallel with each other.

The finger frame 111 of the first finger 110 is freely coupled to the first finger rotation shaft 141, the rotational movement of the first finger 110 is the finger driving unit 190 and the first finger driving link By 160a.

The finger frame 121 of the second finger 120 is freely coupled to the second finger rotation shaft 142, and the rotational movement of the second finger 120 is the finger driving unit 190 and the second finger driving link. By 160b.

Accordingly, the first finger 110 and the second finger 120 are opened or pinched with each other according to the rotation direction of the finger driving unit 190.

The gripper 100 preferably includes stone rotating means for rotating the stone 10 held between the first finger 110 and the second finger 120. This is because the rotation of the stone 10 is a very important factor in the curling race because the curling race rotates the stone 10 when the ball is pitched and exhibits various effects while moving along the curve trajectory.

The stone rotating means rotates in contact with the sides of the stone 10, respectively, to rotate the first roller 131, the second roller 132, the third roller 134, and the first roller 134 to be placed on the ice. Four rollers 134 may be included. In addition, the stone rotation means is for rotating the first to fourth rollers (131, 132, 133, 134), the first pulley 171, the second pulley 172, the third pulley fixed to the first to fourth rollers (131, 132, 133, 134, respectively) 173 and fourth pulley 174.

In this case, the first to fourth rollers 131, 132, 133, and 134 may be located below the first to fourth pulleys 171, 172, 173, and 174, respectively. This is because if a mechanism such as a pulley is present in the periphery or the lower portion of the roller, it may be in contact with the stone 10 during the pitching operation and affect the path or rotation of the stone 10.

It is preferable that the first to fourth rollers 131, 132, 133, and 134 rotating in contact with the side surface of the stone 10 rotate at the same speed while having the same shape. In order to rotate at the same speed, it is preferable that the first to fourth pulleys 171, 172, 173 and 174 respectively connected to the first to fourth rollers 131, 132, 133 and 134 also rotate at the same angular speed with the same shape.

More specifically, first, the first pulley 171 may be freely coupled to the first finger rotation shaft 141. A first roller 131 is positioned below the first pulley 171, and the first roller 131 and the first pulley 171 are fixed to each other in a coaxially arranged state. Accordingly, when the first pulley 171 rotates, the first roller 131 also rotates at the same angular speed.

In addition, the pulley shaft 151 of the second pulley 172 may be freely coupled to the finger frame 111 at the tip of the first finger 110 protruding from the support frame 102. The second roller 132 is coupled to the lower end of the pulley shaft 151, where the second roller 132 and the second pulley 172 are fixed to each other in a coaxially arranged state. Accordingly, when the second pulley 172 rotates, the second roller 132 also rotates at the same angular speed.

In addition, the third pulley 173 may be freely rotatable to the second finger rotation shaft 142. A third roller 133 is positioned below the third pulley 173, and the third roller 133 and the third pulley 173 are fixed to each other in a coaxially arranged state. Therefore, when the third pulley 173 rotates, the third roller 133 also rotates at the same angular speed.

In addition, the pulley shaft 152 of the fourth pulley 174 may be freely coupled to the finger frame 121 at the tip of the second finger 120 protruding from the support frame 102. The fourth roller 134 is coupled to the lower end of the pulley shaft 152, where the fourth roller 134 and the fourth pulley 174 are fixed with respect to each other in a coaxially arranged state. Accordingly, when the fourth pulley 174 rotates, the fourth roller 134 also rotates at the same angular speed.

The installation position or the number of the first to fourth rollers 131, 132, 133, and 134 is not necessarily limited to that shown in the drawings.

For example, in the exemplary embodiment of the present invention, the first pulley 171 and the first roller 131 are disposed coaxially with the first finger rotation shaft 141, but the present invention is not limited thereto. Therefore, the first pulley 171 and the first roller 131 may be installed at a position separate from the first finger rotation shaft 141. Similarly, the third pulley 173 and the third roller 133 may be installed at a position separate from the second finger rotation shaft 141.

Although the installation position or the number of the first to fourth rollers 131, 132, 133, and 134 is not limited to those shown in the drawings, the rollers are preferably installed to be symmetrical with respect to the throwing direction of the stone 10. Otherwise, since the asymmetrical force is temporarily applied to the stone 10 in the process of opening the fingers 110 and 120 to throw the stone 10, the pitching direction may be different from the intended direction.

The support frame 102 is provided with a drive pulley 175 coupled to the roller drive unit 170 and the drive shaft of the roller drive unit 170.

The roller driving unit 170 may be a motor, a rotary cylinder, or the like.

The same belt 180 is wound around the driving pulley 175 and the aforementioned first to fourth pulleys 171, 172, 173, and 174. In this case, when the driving pulley 175 is rotated by the roller driving unit 170, it is preferable to mount the belt 180 so that the first to fourth pulleys 171, 172, 173 and 174 simultaneously rotate in the same direction.

Preferably, the diameters or shapes of the first to fourth pulleys 171, 172, 173, and 174 are the same, but the driving pulley 175 may have a different diameter or shape from the first to fourth pulleys 171, 172, 173, and 174.

The support frame 102, the first finger 110, and the second finger 120 may be provided with a plurality of guide rollers 182 that guide the direction of the belt 180.

Since the belt 180 is a power transmission means for transmitting the rotational force of the driving pulley 175 to the first to fourth pulleys 171, 172, 173, and 174, the belt 180 may be replaced with another type such as a timing belt, a wire, and a chain.

In the exemplary embodiment of the present invention, all the pulleys and the rollers are rotated by using one roller driving unit 170, but the present invention is not necessarily limited thereto, and a plurality of roller driving units 170 may be used. However, when using a plurality of roller driving unit 170 is preferably synchronized with each other exactly.

Hereinafter, the first and second finger driving links 160a and 160b connected to the first and second fingers 110 and 120 will be described with reference to FIGS. 2 and 4, respectively.

First, the support frame 102 has a finger driver 190, a drive gear 191 coupled to the drive shaft of the finger driver 190, and in a state in which the drive gear 191 meshes with the drive gear 191. Rotating driven gear 192 is installed.

The drive gear 191 and the driven gear 192 are preferably installed at positions symmetrical with respect to the throwing direction of the stone.

The finger driving unit 190 may be a motor, a rotary cylinder, or the like. The drive gear 191 and the driven gear 192 may be replaced by other types of power transmission means combining a pulley / sprocket and a timing belt / wire / chain.

The first finger drive link 160a is installed between the driven gear 192 and the first finger 110, and the second finger drive link 160b is disposed between the drive gear 191 and the first finger 210. Can be installed on

Specifically, the first finger driving link 160a is a link connecting each other between the first link member 161, the second link member 162, and the first and second link members 161 and 162. It includes a connection member 165.

The link connecting member 165 is rotatably coupled to the support frame 102 by the shaft 163, and has a first end 165a and a second end 165b spaced at an angle about the shaft 163. It includes.

One end of the first link member 161 is rotatably coupled to the finger frame 111 of the first finger 110 and the other end is rotatably coupled to the first end 165a of the link connecting member 165.

One end of the second link member 162 is rotatably coupled to the gear shaft connecting member 167 fixed to the shaft of the driven gear 192, and the other end is connected to the second end 165b of the link connecting member 165. Rotatably coupled.

Accordingly, when the driven gear 192 rotates, the second link member 162 of the first finger drive link 160a moves as the gear shaft connecting member 167 rotates, thereby causing the second link member 162 to move. The link connecting member 165 connected to the shaft rotates about the shaft 163. When the link connecting member 165 rotates, the first link member 161 connected to the first end 165a is moved, thereby causing the first finger 110 to rotate about the first finger rotation shaft 141. .

Like the first finger drive link 160a, the second finger drive link 160b is disposed between the first link member 161, the second link member 162, and the first and second link members 161 and 162. It includes a link connecting member 165 connecting each other, each element is preferably arranged to be symmetrical with the first finger driving link (160a) relative to the throwing direction of the stone (10).

The difference from the first finger driving link 160a is that the second link member 162 is installed between the drive gear 191 and the link connecting member 165. That is, the second link member 162 of the second finger drive link 160b is rotatably coupled to the gear shaft connecting member 167 fixed to the shaft of the drive gear 191.

Accordingly, when the drive gear 192 rotates, the second link member 162 of the second finger drive link 160b moves as the gear shaft connecting member 167 rotates, thereby causing the second link member 162 to move. The link connecting member 165 connected to the shaft rotates about the shaft 163. When the link connecting member 165 rotates, the first link member 161 connected to the first end 165a is moved, thereby causing the second finger 120 to rotate about the second finger rotation shaft 142. .

The drive gear 191 and the driven gear 192 rotate in opposite directions, and thus, the driving gear 191 and the driven gear 192 rotate in the direction of rotation of the first finger 110 by the first finger driving link 160a and the second finger driving link 160b. The direction of rotation of the second finger 120 is opposite to each other.

Therefore, one finger driving unit 190 is used, and the first finger 110 and the second finger 120 which are symmetrically arranged with each other can be simultaneously operated to pinch or open.

5 to 7 illustrate various postures of the first finger 110 and the second finger 120. When the driving gear 191 rotates in the clockwise direction, the driven gear 192 rotates in the counterclockwise direction. When the driving gear 191 is rotated in the clockwise direction, the distance between the second roller 132 and the fourth roller 134 provided at both ends of the first finger 110 and the second finger 120 gradually increases. It can be seen.

On the contrary, when the driving gear 191 is rotated in the counterclockwise direction, the distance between the second roller 132 and the fourth roller 134 may be gradually closed to hold the stone 10 inside.

Although not shown in the drawings, the gripper 100 according to the embodiment of the present invention includes a stone detecting sensor for detecting whether the stone 10 is located between the first finger 110 and the second finger 120. can do. The stone sensor may be a contact or non-contact sensor.

In addition, in order for the first finger 110 and the second finger 120 to grip the stone 10 more stably, a predetermined elastic force is applied to the first finger 110 and the second finger 120, respectively. It is possible to install elastic means (e.g., torsion spring, etc.) to exert.

In addition, the gripper 100 according to the embodiment of the present invention may include a detection sensor for detecting the pressure of the first to fourth rollers (131, 132, 133, 134) to hold the stone (10). The pressure sensor may be installed on the rotation shaft of the first to fourth rollers 131, 132, 133, 134 or the first to fourth pulleys 171, 172, 173, 174, or a torque sensor installed on the rotation shaft may be used as the pressure sensor.

On the other hand, since the stone 10 receives the force toward the support frame 102 by the second roller 132 and the fourth roller 134, a sensor for detecting the contact pressure of the stone 10 is installed on the support frame 102. It may be.

When the pressure sensor is installed in this way, even if the size of the stone 10 is slightly different, there is an advantage that the stone 10 can be gripped with the same contact pressure.

In addition, the gripper 100 according to the embodiment of the present invention may include a sensor for detecting the rotational speed of the stone 10.

In addition, the gripper 100 according to the embodiment of the present invention may include height adjusting means for adjusting the height of the first and second fingers 110 and 120 by sensing the height of the stone 10. Alternatively, it may include a height adjusting means for adjusting the height of the gripper 100 itself.

Hereinafter, a method of throwing the stone 10 using the gripper 100 according to the embodiment of the present invention will be described.

First, a case in which the gripper 100 is mounted to a curling robot (not shown) that travels will be described.

The curling robot travels toward the stone 10 with the first finger 110 and the second finger 120 open and positions the stone 10 between the first finger 110 and the second finger 120. Let's do it. The gripper 100 may detect that the stone 10 is located between the first and second fingers 110 and 120 through the stone detection sensor. When the stone 10 is detected, the gripper 100 controls the finger driving unit 190 to control the finger driving unit 190. The first finger 110 and the second finger 120 may be pinched. In this case, the gripper 100 may be lifted or the first and second fingers 110 and 120 may be lifted or lowered according to the side height of the stone 10.

After holding the stone 10 using the gripper 100, the curling robot moves to the pitching position to prepare for the pitching.

In this case, when the stone 10 needs to be rotated, it is determined whether each roller is properly in contact with the side surface of the stone 10 by using the pressure sensor of the gripper 100, and when it is determined that it is properly contacted, the roller driver 170 ), The first to fourth rollers 131.132.133.134 may be rotated in a desired direction.

The stone 10 may be rotated in a stopped state, or the stone 10 may be rotated while the gripper 100 moves.

Subsequently, the curling robot moves the gripper 100 toward the target (house) by using a linear driving device in the state of moving forward or stopping toward the target (house) by itself.

Subsequently, when the first finger 110 and the second finger 120 are opened by controlling the finger driving unit 190, the first finger 110 and the second finger 120 symmetrically arranged with each other may have a stone 10. It opens to move.

In this state, when the curling robot stops or slows down the moving speed, the stone 10 exits the gripper 100 and moves toward the target. Even if the curling robot stops the operation of the linear drive device or slows down, the stone 10 exits the gripper 100 and moves toward the target.

On the other hand, when the gripper 100 is coupled to the linear driving device provided in the stone throwing device (not shown) installed in the stadium, not the curling robot that travels, the first and second fingers 110 and 120 of the gripper 100. In the open state, a person should directly place the stone 10 between the first and second fingers 110 and 120. After positioning the stone 10, it is preferable to hold the stone 10 by pinching the first and second fingers 110 and 120 using separate input means.

As described above, when the first and second fingers 110 and 120 grip the stone 10, the stone driving unit 170 may be controlled to rotate the stone 10 as described above.

Subsequently, when the gripper 100 is advanced by controlling the linear driving device, the first finger 110 and the second finger 120 are opened at a predetermined time and the movement of the gripper 100 is stopped or the speed is slowed. The gripper 100 exits and moves toward the target.

In the above description of the preferred embodiment of the present invention, the present invention is not limited to the above-described embodiments, but may be modified or modified in various forms in a specific application process, and the modified or modified embodiments are also described in the claims below. Naturally, if it includes the technical idea of the present invention disclosed it will belong to the scope of the present invention.

10: stone 100: helmet robot gripper
102: support frame 110: first finger 111: finger frame
120: second finger 121: finger frame
131,132,133,134: first, second, third, fourth roller
141: first finger rotation shaft 142: second finger rotation shaft 151, 152: pulley shaft
160a: first finger drive link 160b: second finger drive link 161: first link member
162: second link member 163: shaft 165: link connecting member
167: gear shaft connecting member 170: roller driving portion
171,172,173,174: first, second, third, fourth pulley
175: drive pulley 180: belt 182: guide roller
190: finger driving unit 191: drive gear 192: driven gear

Claims (12)

Support frame;
A first finger coupled to the support frame by a first finger rotation shaft;
A second finger coupled to the support frame by a second finger rotation shaft;
Rotating the first finger and the second finger, the finger drive unit provided in the support frame, the drive gear coupled to the drive shaft of the finger drive unit, the driven gear meshing with the drive gear, the driven gear and the Finger driving means having a first finger driving link provided between the first finger and a second finger driving link provided between the drive gear and the second finger;
Stone rotating means for rotating the curling stone held between the first finger and the second finger
Including;
The drive gear and the driven gear are installed in a position symmetrical with respect to the curling stone pitch direction,
The first finger driving link and the second finger driving link is a curling stone pitching robot gripper, characterized in that the left and right symmetrical installation relative to the curling stone pitch direction. delete delete The method of claim 1,
The first finger driving link and the second finger driving link are respectively rotatably coupled to the first link member, the second link member, and the support frame to connect the first link member and the second link member. It includes a link connecting member for connecting,
In the first finger drive link,
One end of the first link member is rotatably coupled to the first finger and the other end is rotatably coupled to the first end of the link connecting member,
One end of the second link member is rotatably coupled to the second end of the link connecting member, and the other end is rotatably coupled to the gear shaft connecting member fixed to the gear shaft of the driven gear.
In the second finger drive link,
One end of the first link member is rotatably coupled to the second finger and the other end is rotatably coupled to the first end of the link connecting member,
One end of the second link member is rotatably coupled to the second end of the link connecting member, the other end is a curling stone pitching robot, characterized in that rotatably coupled to the gear shaft fixing member fixed to the gear shaft of the drive gear Gripper delete The method of claim 1, wherein the stone rotating means,
First and second rollers respectively coupled to the first finger;
Third rollers and fourth rollers respectively coupled to the second fingers and installed at symmetrical positions of the first roller and the second roller;
A roller driving part installed on the support frame;
A driving pulley coupled to the drive shaft of the roller driving unit;
A first pulley, a second pulley, a third pulley, and a fourth pulley fixed to each of the first roller, the second roller, the third roller, and the fourth roller and disposed coaxially;
Power transmission means for transmitting the rotational force of the drive pulley to the first pulley, the second pulley, the third pulley, and the fourth pulley.
Curling stone throwing robot gripper, characterized in that it comprises a The method of claim 6
The first roller, the second roller, the third roller, and the fourth roller are respectively located below the first pulley, the second pulley, the third pulley, and the fourth pulley. Curling Stone Helmet Robot Gripper The method of claim 6
The first pulley is installed on the first finger rotation shaft,
The second pulley is installed at the end of the first finger,
The third pulley is installed on the second finger rotation shaft,
And the fourth pulley is installed at an end of the second finger. The method of claim 1,
The support frame is coupled to the curling robot running in the stadium, or curling stone throwing robot gripper, characterized in that coupled to the stone throwing device installed in the stadium to be linearly movable. Support frame;
A first finger coupled to the support frame by a first finger rotation shaft;
A second finger coupled to the support frame by a second finger rotation shaft;
Finger driving means for rotating the first finger and the second finger;
Stone rotating means for rotating the curling stone held between the first finger and the second finger;
Height adjusting means for elevating the first finger and the second finger relative to the support frame or the support frame itself
Curling Stone Helmet Robot Gripper A support frame, a first finger coupled to the support frame by a first finger rotation shaft, a second finger coupled to the support frame by a second finger rotation shaft, and rotating the first finger and the second finger. Throwing a curling stone using a finger grip means and a curling stone throwing robot gripper comprising a roller installed on the support frame, the first finger, or the second finger as being in contact with the side of the curling stone when held. In the way,
Rotating and opening the first finger and the second finger;
Holding the first finger and the second finger by holding a curling stone located between the first finger and the second finger, and contacting the roller to a side of the curling stone;
Moving the gripper in a target direction;
Widening the first finger and the second finger and slowing the gripper
Curling stone pitching method including The method of claim 11,
Moving the gripper in a target direction, or before the rotating method of the curling stone, characterized in that it comprises the step of rotating the curling stone by rotating the roller.

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