KR102610293B1 - Adsorption adaptive gripper with the array of linear passive cylinders - Google Patents

Abstract

The present invention relates to a suction-type adaptive gripper with a straight cylinder arrangement.
The adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention includes a body in which a plurality of guide grooves having an adaptation means are formed therein and a vacuum hole connecting the plurality of guide grooves and the vacuum means is formed, and a plurality of the above. Adaptation means provided inside each of the guide grooves and retracted when pressure is applied while maintaining a normal forward state, close contact means provided on one side of the adaptation means and in contact with an object, and provided on one side of the body and in contact with the close contact means It is configured to include a vacuum means that allows the adsorption of an object, and a receiving groove in which a stopper is installed is formed inside the body, and the inside of the receiving groove is so that the forward or backward movement of the adapting means can be selectively restricted. A stopper is further provided.
According to the present invention, objects of irregular or various shapes can be adsorbed, and the phenomenon of releasing the adsorption of the object is prevented as the shaking of the adapting means is reduced.

Description

Adsorption adaptive gripper with the array of linear passive cylinders}

The present invention relates to an adsorption-type adaptive gripper having a straight cylinder arrangement. More specifically, the present invention relates to an adsorption-type adaptive gripper that allows gripping of objects with irregular or various shapes through a plurality of adaptation means and is provided with a stopper to improve the grip of the object. The present invention relates to an adsorption type adaptive gripper having a straight cylinder arrangement so that the movement of the adaptation means can be reduced by limiting the movement of the adaptation means when the gripper is made.

In general, it allows a robot or automated facility to pick up an object so that the object can be transported or fixed. The object can be picked up by generating a vacuum at the joint surface between the mechanical gripper, which can mechanically pick up the object, and the object. There is a vacuum gripper.

The mechanical gripper is suitable for gripping regular objects, but for irregular objects, it is made of multiple joints, such as the gripper for a robot hand capable of adaptive grip published in Korean Patent No. 10-1862023, which increases the cost or makes the device larger. There were problems such as:

In addition, the vacuum gripper is capable of gripping objects through a simple structure compared to the mechanical gripper, but since it requires a dedicated adsorption unit suitable for an object with a planar shape or a specific object, there is a limit to gripping an irregular object or an arbitrary object. There was.

Korea Registered Patent No. 10-1862023

Therefore, the purpose of the present invention is to solve the problems of the prior art as described above, and to enable gripping of objects with irregular or various shapes through a plurality of adaptation means and to provide a stopper to grip the object. To provide an adsorption type adaptive gripper having a straight cylinder arrangement so that the movement of the adaptation means can be restricted when a grip is achieved, thereby reducing the shaking of the adaptation means.

According to the features of the present invention for achieving the above-described object, a body in which a plurality of guide grooves with adapting means are formed and a vacuum hole connecting the plurality of guide grooves and the vacuum means is formed, and a plurality of Adaptation means provided inside each of the guide grooves and retracted when pressure is applied while maintaining a normal forward state; Close contact means provided on one side of the adaptation means and in contact with an object; Close contact means provided on one side of the body; It is characterized by including a vacuum means that allows adsorption of objects in contact.

At one end of the guide groove, a first prevention end is formed to prevent the cylinder provided inside the guide groove from being separated.

The adaptation means is characterized in that it includes a cylinder that is hollow on the inside and is transported along the inside of the guide groove, and an elastic member that is provided on one side of the cylinder and presses the cylinder to maintain its forward state.

At one end of the cylinder, a second prevention end is formed to prevent the cylinder from being separated from the inside of the guide groove while the cylinder is transported along the inside of the guide groove.

The close contact means is characterized by being composed of a ball joint that is hollow on the inside and rotatable inside the cylinder, and a close contact member that is provided on one side of the ball joint and is in contact with an object.

The adhesion member is characterized in that it is made of an elastic body.

The body is characterized in that a receiving groove in which a stopper is installed is formed inside the body.

A stopper is provided inside the receiving groove to selectively restrict the forward or backward movement of the adaptation means.

The stopper is characterized by including a stopper body forming an external shape, and a plurality of stopper holes formed through one surface of the stopper body and selectively contacting the cylinder according to the movement of the stopper body.

The stopper is characterized in that it is made of a metal material.

The stopper body is formed to be divided to correspond to the number of each cylinder.

One side of the stopper is characterized by a transfer means that allows the stopper to be selectively transferred to one side.

The transfer means is provided as a pair on opposite sides inside the receiving groove and includes a support part for supporting the transfer screw, a transfer screw coupled to the support part and rotated by receiving power, and a stopper and the transfer screw. It is characterized by comprising an apron that is transferred along the transfer screw by rotation of the transfer screw, and a first power unit that is provided on one side of the transfer screw and provides power for rotation of the transfer screw.

The transfer means is characterized by being made of an electromagnet that is selectively magnetized depending on the presence or absence of current supply.

The transport means includes a plurality of magnetic members having magnetism, a plurality of rotating parts coupled to at least one magnetic member, and a plurality of rotating parts each coupled to the rotating parts and rotating by receiving power from a driving gear. It is characterized by comprising a slave gear, a motor gear that is coupled to the slave gear and allows the slave gear to rotate, and a second power unit that is coupled to the prime gear and provides power for rotation of the prime gear.

The adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention has the following effects.

In the present invention, there is an advantage in that a plurality of adaptation means can be provided to enable suction grip of objects with irregular or various shapes.

The present invention has the advantage of preventing shaking of the adapting means by selectively restricting the transport of the adapting means by providing a stopper and a transfer means.

1 is a perspective view showing the configuration of a preferred embodiment of an adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention.
Figure 2 is a cross-sectional view showing the configuration of a preferred embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 3 is a cross-sectional view showing the configuration of the adhesion means constituting a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 4 is a cross-sectional view showing one embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 5 is a cross-sectional view showing an application example of an embodiment of a stopper and an embodiment of a moving means constituting a preferred embodiment of an adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention.
Figure 6 is a cross-sectional view showing another embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 7 is a cross-sectional view showing an application example of one embodiment of a stopper and another embodiment of a moving means constituting a preferred embodiment of an adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention.
Figure 8 is a cross-sectional view showing another embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention.
Figure 9 is a cross-sectional view showing an application example of another embodiment of the stopper and another embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention.
Figure 10 is a perspective view showing an application example of a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 11 is a perspective view showing another application example of a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.
Figure 12 is a perspective view showing another application example of a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.

Hereinafter, a preferred embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention will be described with reference to the drawings.

1 to 12 show one embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention. That is, Figure 1 shows a perspective view showing the configuration of a preferred embodiment of an adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention, and Figure 2 shows a preferred embodiment of the adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention. A cross-sectional view showing an example configuration is shown, and FIG. 3 is a cross-sectional view showing the configuration of the adhesion means constituting a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention, and FIG. 4 is a cross-sectional view showing the configuration of the adhesion means of the present invention. A cross-sectional view showing an embodiment of a moving means constituting a preferred embodiment of an adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention is shown, and Figure 5 shows a preferred embodiment of the adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention. A cross-sectional view showing an application example of an embodiment of the stopper and an embodiment of the moving means constituting the embodiment is shown, and Figure 6 shows a preferred embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention. A cross-sectional view showing another embodiment of the moving means is shown, and Figure 7 shows an embodiment of a stopper constituting a preferred embodiment of an adsorption-type adaptive gripper with a straight cylinder arrangement according to the present invention and application of another embodiment of the moving means. A cross-sectional view showing an example is shown, and Figure 8 shows a cross-sectional view showing another embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention, and Figure 9 shows A cross-sectional view showing an application example of another embodiment of the stopper and another embodiment of the moving means constituting a preferred embodiment of the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention is shown, and Figure 10 shows the application of another embodiment of the stopper according to the present invention. A perspective view showing one application example of a preferred embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement is shown, and FIG. 11 is a perspective view showing another application example of a preferred embodiment of an adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention. is shown, and Figure 12 is a perspective view showing another application example of a preferred embodiment of the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention.

As shown in these drawings, the adsorption type adaptive gripper having a straight cylinder arrangement according to the present invention is formed with a plurality of guide grooves 110 having an adaptation means 200 therein, and a plurality of guide grooves 110 ) and a body in which a vacuum hole 120 connecting the vacuum means 400 is formed, and an adaptation means 200 that is provided inside each of the plurality of guide grooves 110 and retracts when pressure is applied while maintaining a normal forward state. ), a close contact means 300 provided on one side of the adaptation means 200 and in contact with an object, and a vacuum provided on one side of the body 100 and allowing the adsorption of the object in contact with the close contact means 300. It is composed of means 400 and the like.

The body 100 is a part that forms the external shape of an adsorption-type adaptive gripper having a straight cylinder arrangement according to the present invention, and has a shape similar to a hexahedron, for example.

Of course, the body 100 may have a different shape.

A plurality of guide grooves 110 are formed inside the body 100.

The guide groove 110 is formed long in the height direction even inside the body 100, and is recessed from the bottom of the body 100 (in FIG. 2) upward.

In this way, the guide groove 110 allows a part of the adapting means 200 to be inserted so that the adapting means 200 can be transported along the inside, and also allows the object to be moved through the adhesion means 300 by the vacuum means 400. This is a site that provides a path for adsorption of .

A plurality of these guide grooves 110 may be formed inside the body 100 to be spaced apart from each other.

That is, a plurality of guide grooves 110 may be formed, and one guide groove 110 is configured to accommodate and guide one adaptation means 200.

Meanwhile, a first prevention end 111 is formed at one end of the guide groove 110 to prevent the cylinder 210 provided inside the guide groove 110 from being separated.

The first prevention end 111 is formed to protrude inward from the bottom of the guide groove 110, and the cylinder 210 provided inside the guide groove 110 deviates to the outside of the guide groove 110. This is a configuration to prevent this from happening.

That is, the first prevention end 111 allows the lower end of the guide groove 110 to be formed to be stepped.

At the same time, a vacuum hole 120 is formed inside the body 100.

The vacuum hole 120 is formed on the upper side (in FIG. 2) of the body 100 and is a portion that provides a path through which the vacuum means 400 and the plurality of guide grooves 110 can be connected. .

That is, the vacuum hole 120 corresponds to a through hole extending from the outer surface of the body 100 to each vacuum hole 120.

The vacuum means 400 is connected to the guide groove 110 by the vacuum hole 120.

Meanwhile, a vacuum means 400 is provided on the outer surface of the body 100.

The vacuum means 400 is provided on the outer surface of the body 100 and connected to the vacuum hole 120, and is configured to allow adsorption by vacuum when the adhesion means 300 comes into contact with an object.

In the present invention, it is assumed that the vacuum means 400 is connected to the upper right side of the body 100, as shown in FIG. 2.

Since this vacuum means 400 is a widely known configuration, detailed description will be omitted.

Meanwhile, an adaptation means 200 is provided inside each guide groove 110.

The adaptation means 200 includes a cylinder 210 that is hollow on the inside and is transported along the inside of the guide groove 110, and is provided on one side of the cylinder 210 to maintain the cylinder 210 in a forward state. It is configured to include an elastic member 220 that pressurizes.

The cylinder 210 is formed in the shape of a pillar with a hollow interior, and is located inside the guide groove 110, and a portion of the cylinder 210 is exposed to the outside of the body 100 in the process of being transported along the guide groove 110. am.

In this way, the cylinder 210 is formed to be hollow in order to provide a suction path by the vacuum means 400.

In addition, at one end of the cylinder 210, there is a second prevention end 211 that prevents the cylinder 210 from being separated from the inside of the guide groove 110 while being transported along the inside of the guide groove 110. is formed

The second prevention end 211 is formed at the upper part of the cylinder 210 (in FIG. 2) and is a part that allows the upper outer ring of the cylinder 210 to expand.

In this way, the upper outer ring of the cylinder 210 is expanded by the second prevention end 211, and the first prevention end 111 is formed at the bottom of the guide groove 110, so that the first prevention end 111 and The separation of the cylinder 210 is prevented by the second prevention end 211 being caught.

In addition, an elastic member 220 is provided on the upper side of the cylinder 210 (in FIG. 2).

The elastic member 220 is located between the upper part of the cylinder 210 and the upper end of the guide groove 110, and maintains the cylinder 210 in a forward state (in FIG. 2, downward movement) in normal times. It is a configuration that allows this.

That is, the elastic member 220 always pressurizes the cylinder 210 by its elasticity, thereby allowing the cylinder 210 to maintain its forward state.

Of course, when the close contact means 300 coupled to the cylinder 210 is in contact with an object and the elastic member 220 receives a compressive force, the cylinder 210 may be retracted (in FIG. 2, transferred upward). .

The adaptation means 200 configured as described above allows the contact means 300 to come into contact with an object having an irregular shape or various shapes.

That is, when the plurality of adaptation means 200 come into contact with an object having an irregular shape as shown in FIG. 12, the adaptation means located at a relatively close distance between the body 100 and the object are connected to the body 100. The distance between the body 100 and the object comes into contact with the object before the adaptation means located at a relatively long distance, and the adaptation means located at a relatively long distance between the body 100 and the object is compressed to the section where it comes into contact with the object.

In this way, the grip is performed by adapting to the object to be gripped according to the degree to which the plurality of adaptation means 200 are compressed.

An example of gripping an object through adaptation of the adaptation means 200 is shown in FIGS. 10 to 12 .

Meanwhile, a contact means 300 is provided at the lower end (in FIG. 2) of the adaptation means 200.

The close contact means 300 includes a ball joint 310 that is hollow on the inside and rotatable inside the cylinder 210, and is provided on one side of the ball joint 310 and has a hollow interior. In addition, it is configured to include a close contact member 320 that is in contact with the object.

The ball joint 310 has a spherical shape with a hollow interior, and is a rotatably restricted portion at the lower end of the cylinder 210 (in FIG. 2).

Due to the ball joint 310, the contact member 320 is rotated during the contact process with the object, and complete contact can be achieved.

As such, the upper part of the ball joint 310 is inserted into the lower end of the cylinder 210, and the lower part is supported by the cap 212 coupled to the lower end of the cylinder 210, so that it can be restrained inside the cylinder 210. There will be.

And, a close contact member 320 is provided at the lower part of the ball joint 310 (in FIG. 2).

The adhesion member 320 is provided at the lower part of the ball joint 310 and is a part that rotates with the rotation of the ball joint 310.

In addition, it is desirable that the contact member 320 is made of a flexible material so as to maximize the contact area with the object.

In addition, the adhesion member 320 is preferably formed to be hollow on the inside so that suction can be performed by the vacuum means 400.

For this purpose, it is assumed that the contact member 320 is made of an elastic body.

Additionally, the adhesion member 320 may be formed in the form of a corrugated pipe so that it can be easily deformed.

Meanwhile, a receiving groove 130 in which a stopper 500 is installed is formed inside the body 100.

The receiving groove 130 corresponds to a groove that accommodates a plurality of guide grooves 110 formed inside the body 100, and provides an area for installing the stopper 500 therein. It is a part.

That is, the receiving groove 130 is connected to the plurality of guide grooves 110 and has a larger area than the plurality of guide grooves 110.

In addition, the receiving groove 130 may be preferably formed on the lower side (in FIG. 2) of the body 100 so that it can be fixed by the stopper 500 even when the adaptation means 200 is fully advanced.

A stopper 500 is provided inside the receiving groove 130 to selectively restrict the forward or backward movement of the adaptation means 200.

First, an embodiment of the stopper 500 will be described.

The stopper 500 includes a stopper body 510 forming an external shape, and a plurality of stopper holes formed through one surface of the stopper body 510 and selectively contacting the cylinder 210 according to the transport of the stopper body 510. It consists of (520) and others.

The stopper body 510 is formed in the shape of a square plate, and is preferably formed with an area larger than the area formed by the plurality of guide grooves 110.

A stopper hole 520 is formed on the upper surface (front side in FIG. 4) of the stopper body 510.

The stopper hole 520 is formed through the stopper body 510 from the top to the bottom, and is a portion where the cylinder 210 is accommodated.

That is, it is preferable that the stopper holes 520 are formed in plural numbers at positions corresponding to the plurality of guide grooves 110 in the stopper body 510 and have a larger diameter than the guide grooves 110.

According to one embodiment of the stopper 500 configured as described above, the stopper body 510 is perpendicular to the cylinder 210 inside the body 100 by one embodiment or another embodiment of the transport means 600. When the cylinder 210 is transported in a direction, it comes into contact with a portion of the circumference of the cylinder 210, thereby preventing vibration of the cylinder 210 or the cylinder 210 from being transported along the longitudinal direction (up and down in FIG. 2).

Meanwhile, a transfer means 600 is provided on one side of the stopper 500 to selectively transfer the stopper 500 to one side.

First, an embodiment of the transfer means 600 will be described.

The transfer means 600 is provided as a pair on opposite sides inside the receiving groove 130 and includes a support part 611 that supports the transfer screw 612, and is coupled to the support part 611 to provide power. A transfer screw 612 that receives and rotates, an apron 613 that is coupled to the transfer screw 612 and the stopper 500 and is transferred along the transfer screw 612 by rotation of the transfer screw 612, and the transfer screw 612 It is provided on one side of the screw 612 and includes a first power unit 614 that provides power for rotation of the transfer screw 612.

As shown in FIG. 4, the support portion 611 is provided on the left and right sides of the receiving groove 130, respectively, and allows the transfer screw 612 to be rotatably supported.

In other words, the support portion 611 corresponds to a type of bearing.

A transfer screw 612 is coupled to the support portion 611.

The transfer screw 612 is a part that is rotated by being supported at both ends by a pair of support parts 611, and is a part that guides the transfer and transfer path of the apron 613.

The apron 613 is coupled to the transfer screw 612.

The apron 613 is a part that is screwed to the transfer screw 612 and coupled to the upper or lower surface of the stopper 500, and is transferred along the longitudinal direction of the transfer screw 612 by rotation of the transfer screw 612. This is a portion that allows the plurality of stopper holes 520 formed in the stopper body 510 to contact the plurality of cylinders 210.

And, the first power unit 614 is coupled to the transfer screw 612.

The first power unit 614 is coupled to the right end of the transfer screw 612 (in FIG. 4) and is a part that provides power for rotation of the transfer screw 612.

As an example, the first power unit 614 is provided at the right end of the transfer screw 612, but it may also be provided at the left end.

In addition, as an example, the first power unit 614 is coupled with the transfer screw 612 from the outside of the body 100, but the body ( It would also be possible to be located inside 100).

By an embodiment of the transfer means 600 configured as described above, an embodiment of the stopper 500 can be selectively transferred.

Next, another embodiment of the transfer means 600 will be described.

The transfer means 600 is made of an electromagnet that is selectively magnetized depending on whether current is supplied or not.

That is, since the transfer means 600 is made of an electromagnet, the transfer means 600 is selectively magnetized depending on whether or not current is supplied to the electromagnet. When magnetized by supplying a current, the stopper 500 is magnetized to the transfer means 600. ) This is a configuration that allows the stopper 500 to pressurize the cylinder 210 by allowing it to be transferred to the ) side.

Of course, if current is not supplied, the stopper 500 is not transferred to the transfer means 600, so the cylinder 210 can be transferred along the inside of the guide groove 110.

For this purpose, the stopper 500 may preferably be made of a metal material.

According to another embodiment of the transfer means 600 configured as described above, an embodiment of the stopper 500 can be selectively transferred.

Next, another embodiment of the stopper 500 will be described.

The stopper body 510 may be formed to be divided to correspond to the number of each cylinder 210.

That is, in the present invention, as nine cylinders 210 are provided, the stopper body 510 may be divided into nine.

In this way, one stopper hole 520 is formed in each of the nine divided stopper bodies 510.

That is, in another embodiment of the stopper 500, the stopper body 510 is configured in a divided form to correspond to the number of each cylinder 210.

According to another embodiment of the stopper 500 configured as described above, the divided stopper body 510 can be individually transferred by another embodiment of the transfer means 600, thereby being transferred to each cylinder 210. It is possible to provide a uniform transfer amount according to another embodiment of the means 600.

Next, another embodiment of the transfer means 600 will be described.

The transfer means 600 includes a plurality of magnetic members 621 having magnetism, a plurality of rotating parts 622 coupled to at least one magnetic member 621, and a plurality of rotating parts (621) that are coupled to at least one magnetic member 621. A slave gear 623 that is coupled to 622 and rotated by receiving power from the drive gear 624, and a drive gear 624 that is coupled to the slave gear 623 and allows the slave gear 623 to rotate. and a second power unit 625 that is coupled to the driving gear 624 and provides power for rotation of the driving gear 624.

The magnetic member 621 is made of a magnetic material and is a portion that selectively comes into contact with the stopper body 510 as the rotating part 622 rotates.

That is, when the magnetic member 621 is rotated to be perpendicular to the cylinder 210, the stopper body 510 is transferred toward the magnetic member 621, and thus the stopper body 510 comes into contact with the cylinder 210. Transport of the cylinder 210 by the stopper 500 is limited.

Of course, when the magnetic member 621 is rotated to be parallel to the cylinder 210, the stopper body 510 becomes free, so the cylinder 210 can be transported along the guide groove 110.

Such magnetic members 621 may be provided in plural numbers to correspond to different embodiments of the stopper 500 in which the stopper body 510 is divided.

That is, it is preferable that the number of magnetic members 621 corresponds to the number of divided stopper bodies 510.

Meanwhile, a rotating part 622 supporting the magnetic member 621 is provided.

The rotating portion 622 is a portion coupled to the magnetic member 621 and is provided in plural numbers.

In the present invention, as an example, as the nine cylinders 210 are arranged in three rows, three rotating parts 622 are provided so that they can be positioned adjacent to each row.

For example, the rotating part 622 is formed in the shape of a pillar that is elongated to the left and right (in FIG. 8).

In this way, a plurality of magnetic members 621 are supported on the rotating part 622 at a predetermined distance apart.

In the present invention, as an example, three magnetic members 621 are coupled to one rotating part 622 to be spaced apart from each other.

This is to provide maximum magnetism to each cylinder 210.

Of course, it would also be possible to transport an embodiment of the stopper 500 in which the stopper body 510 is not divided through a single magnetic member 621.

Meanwhile, a subordinate gear 623 is provided at the right end (in FIG. 8) of the rotating part 622.

The subordinate gear 623 is a part coupled to the right end of the rotating part 622 and is configured to rotate by receiving power from the driving gear 624 so that the rotating part 622 can be rotated.

It would be preferable that the number of subordinate gears 623 corresponds to the number of rotating parts 622.

In the present invention, for example, if three rotating parts 622 are provided and three subordinate gears 623 are provided, it is preferable that the three subordinate gears 623 are sequentially connected so that power can be transmitted to each other.

As such, a driving gear 624 is provided to provide power to the subordinate gear 623.

The driving gear 624 is a part coupled to the subordinate gear 623 and is configured to rotate by receiving power from the second power unit 625 so that the subordinate gear 623 can rotate.

As such, the driving gear 624 is preferably coupled to one of the plurality of subordinate gears 623, and in the present invention, the driving gear 624 is coupled to a subordinate gear provided on the outside (lower side in FIG. 8). Take this as an example.

The second power unit 625 is coupled to the driving gear 624.

The second power unit 625 is a part that provides power for rotation of the driving gear 624.

By another embodiment of the transfer means 600 configured as described above, another embodiment of the stopper 500 can be selectively transferred.

That is, the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention is provided with a plurality of adaptation means, making it possible to adsorb and grip objects with irregular or various shapes.

In addition, in the adsorption type adaptive gripper with a straight cylinder arrangement according to the present invention, as a stopper and a transfer means are provided, the transfer of the adaptation means can be selectively restricted, thereby preventing the shaking of the adaptation means.

The scope of the present invention is not limited to the embodiments illustrated above, and many other modifications based on the present invention will be possible to those skilled in the art within the above technical scope.

100. Body 110. Guide groove
111. First prevention stage 120. Vacuum hole
130. Accommodation Home 200. Means of Adaptation
210. Cylinder 211. Second prevention stage
212. Cap 220. Elastic member
300. Adhesion means 310. Ball joint
320. Adhesion member 400. Vacuum means
500. Stopper 510. Stopper body
520. Stopper hole 600. Transport means
611. Support 612. Transfer screw
613. Apron 614. 1st power unit
621. Magnetic member 622. Rotating part
623. Slave gear 624. Drive gear
625. 2nd power unit

Claims (15)

A body in which a plurality of guide grooves with adaptation means are formed and a vacuum hole connecting the plurality of guide grooves and the vacuum means is formed;
Adaptation means provided inside each of the plurality of guide grooves and retracted when pressure is applied while maintaining a normal forward state;
Close contact means provided on one side of the adaptation means and in contact with an object;
It is provided on one side of the body and is configured to include a vacuum means that allows adsorption of an object in contact with the close contact means,
A receiving groove is formed inside the body, in which a stopper is installed to selectively restrict the forward or backward movement of the adaptation means,
A transfer means is provided on one side of the stopper to selectively transfer the stopper to one side,
The transport means is,
A plurality of magnetic members are provided and have magnetism;
A plurality of rotating parts are provided and coupled to at least one magnetic member;
A plurality of slave gears are provided, each coupled to the rotating part, and rotated by receiving power from the main gear;
a driving gear coupled to the slave gear and allowing the slave gear to rotate;
An adsorption-type adaptive gripper having a straight cylinder arrangement, characterized in that it includes a second power unit that is coupled to the driving gear and provides power for rotation of the driving gear. According to claim 1,
An adsorption-type adaptive gripper having a straight cylinder arrangement, characterized in that a first prevention end is formed at one end of the guide groove to prevent the cylinder provided inside the guide groove from being separated. According to claim 1,
The adaptation means are:
A cylinder having a hollow interior and being transported along the inside of the guide groove;
An adsorption-type adaptive gripper having a straight cylinder arrangement, comprising: an elastic member provided on one side of the cylinder and pressuring the cylinder to maintain its forward state. According to claim 3,
An adsorption-type adaptive gripper having a straight cylinder arrangement, characterized in that a second prevention end is formed at one end of the cylinder to prevent the cylinder from being separated from the inside of the guide groove while the cylinder is transported along the inside of the guide groove. According to claim 1,
The adhesion means is,
A ball joint that has a hollow interior and is rotatable inside the cylinder;
An adsorption-type adaptive gripper having a straight cylinder arrangement, comprising: a close contact member provided on one side of the ball joint and having a hollow interior and contacting an object. According to claim 5,
An adsorption-type adaptive gripper having a straight cylinder arrangement, wherein the contact member is made of an elastic body. delete delete According to claim 1,
The stopper is,
Stopper body forming the outline;
An adsorption-type adaptive gripper having a straight cylinder arrangement, comprising a plurality of stopper holes formed through one surface of the stopper body and selectively contacting the cylinder as the stopper body is transported. According to clause 9,
The stopper is an adsorption-type adaptive gripper having a straight cylinder arrangement, wherein the stopper is made of a metal material. According to clause 9,
An adsorption-type adaptive gripper having a straight cylinder arrangement, wherein the stopper body is divided to correspond to the number of cylinders. delete According to claim 1,
The transport means is,
A pair of support parts provided on opposite sides of the receiving groove to support the transfer screw;
A transfer screw coupled to the support portion and rotated by receiving power;
an apron that is coupled to the transfer screw and the stopper and is transferred along the transfer screw by rotation of the transfer screw;
An adsorption-type adaptive gripper having a straight cylinder arrangement, comprising a first power unit provided on one side of the transfer screw and providing power for rotation of the transfer screw. According to claim 1,
An adsorption-type adaptive gripper having a straight cylinder arrangement, wherein the transfer means is made of an electromagnet that is selectively magnetized depending on the presence or absence of current supply. delete

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