Multi-Item Simultaneous Suction Gripper

Abstract

The present invention discloses a multiple article simultaneous adsorption gripper comprising: a driving unit; and a plurality of adsorption rods that move closer to or further apart from each other by the power of the driving unit and adsorb articles using vacuum pressure.

Description

Technology Field

[0001] The present invention relates to a multi-item simultaneous adsorption gripper capable of adsorbing multiple items at once to increase work productivity. Background Technology

[0002] Suction grippers are equipment that uses vacuum to adsorb and move items, and they are widely used in the field of industrial automation.

[0003] These suction grippers are utilized in various industrial settings to perform tasks such as moving, assembling, and packaging goods. The operating principle of a suction gripper is to generate suction force by removing air between the suction pad and the goods through a vacuum generator, thereby creating a difference in pressure compared to atmospheric pressure.

[0004] However, conventional suction grippers have the limitation of being able to suction only one item per operation, which is one of the major factors reducing work productivity.

[0005] For example, when multiple items need to be moved or assembled, the suction gripper must individually suction and move each item, which results in longer working times and lower efficiency compared to manual labor where a person can pick up and move multiple items at once.

[0006] These issues serve as one of the factors causing companies to hesitate in adopting robots. While the primary objectives of introducing robots are to improve productivity and reduce labor costs, the low operational efficiency of existing suction grippers acts as an obstacle to achieving these goals. Consequently, companies may doubt the return on investment for robot adoption, leading to a tendency to hesitate in implementing them.

[0007] Therefore, overcoming the limitations of existing suction grippers and improving work productivity can be considered a very important task in expanding the application of robot technology in industrial sites.

[0008] To achieve this, the development of new technologies is required, such as multi-adsorption grippers or grippers with flexibility and adaptability. Prior art literature

[0010] Republic of Korea Registration No. 10-2521819 The problem to be solved

[0011] The objective of the present invention is to provide a multi-item simultaneous suction gripper capable of suctioning and picking multiple items at once.

[0012] Another objective of the present invention is to provide a multi-item simultaneous adsorption gripper capable of adsorbing items of different heights simultaneously by adjusting the height of the adsorption part.

[0013] Another objective of the present invention is to provide a multi-item simultaneous adsorption gripper capable of adsorbing items of different distances from each other in an optimal state by adjusting the distance between the adsorption parts. means of solving the problem

[0014] To achieve the objective of the present invention, the present invention provides a gripper for simultaneous adsorption of multiple articles, comprising: a driving unit; and a plurality of adsorption rods that move closer to or further apart from each other by the power of the driving unit and adsorb articles using vacuum pressure.

[0015] At this time, the driving unit comprises: a driving motor including a driving shaft; a rotating plate axially coupled to the driving shaft so as to rotate in forward and reverse directions by the power of the driving motor; a plurality of links eccentrically coupled to each point of the rotating plate around the driving shaft to move linearly by the rotational movement of the rotating plate; and a binding pin that connects one end of the rotating plate and the link, and the plurality of suction rods can each be coupled to the other end of the link.

[0016] At this time, the binding pin may include a first binding pin that penetrates the bottom of the link and forms a protrusion toward the rotating plate, and a second binding pin that penetrates the top of the rotating plate and forms an insertion groove into which the protrusion of the first binding pin is inserted.

[0017] At this time, a locking piece protruding toward the other is formed on either the inner surface of the protrusion and the insertion groove, and a locking groove in which the locking piece is caught and coupled is formed on the other of the inner surface of the protrusion and the insertion groove.

[0018] Additionally, the above links may be formed as a pair connected to both points of the rotating plate around the drive shaft, and the suction rods may be a pair connected to each of the links.

[0019] Additionally, the adsorption rod may include: a body having a first hollow conduit formed to form a vacuum pressure; a movable bar formed to move linearly along the first conduit and having a second hollow conduit formed to form the vacuum pressure; and an elastic member interposed between the movable bar and the body in the first conduit to elastically support the movable bar.

[0020] At this time, the adsorption rod may further form an adsorption portion that is extendably formed at the lower part of the movable bar.

[0021] At this time, the adsorption part is formed as a corrugated tube and can be formed to be detachably attached to the moving bar.

[0022] In addition, the suction rod may be formed to be screw-coupled to the link through a fastening member.

[0023] Additionally, the device includes an internal space and a casing having an elongated hole that communicates the internal space with the outside, the driving unit is located in the internal space, and the suction rod can be formed to be exposed to the outside through the elongated hole in the internal space.

[0024] Additionally, the device includes an internal space and a casing having an elongated hole that communicates the internal space with the outside, and a circular guide groove corresponding to the rotation radius of the rotating plate is formed on the bottom surface of the casing, and the binding pin may be formed to be guided along the guide groove.

[0025] At this time, the above-mentioned elongated holes may be formed on both sides with the above-mentioned guide groove in between.

[0026] Additionally, screw threads are formed on the outer surface of the suction rod, and a fastening member is fastened to the screw threads to bring the upper part of the suction rod into close contact with the link, and a lower stopper having a diameter larger than the diameter of the elongated hole is provided on the lower part of the suction rod and is located on the lower side of the casing, and the lower stopper may be formed to restrict the upward movement of the suction rod.

[0027] At this time, the lower stopper may include a fastening member screw-coupled to the suction rod. Effects of the invention

[0028] The effects of the present invention obtained through the above-described solution are as follows.

[0029] First, the present invention can significantly increase work efficiency by adsorbing and picking multiple items simultaneously. Accordingly, the present invention has the effect of improving work productivity by shortening the total work time.

[0030] Second, the present invention can handle a variety of items because it can simultaneously adsorb items of different heights or items that are irregularly stacked and have height differences. Through this, the present invention can increase the utility of the gripper and has the effect of being usable in various work environments.

[0031] Third, the present invention can provide an optimal adsorption environment suitable for items of various sizes and various separation distances through a distance adjustment function between adsorption parts. Accordingly, the present invention improves the environmental adaptability of the gripper, thereby enabling its use in a wider range of working situations. Brief explanation of the drawing

[0032] FIG. 1 is a disassembled drawing of a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention. FIG. 2 is a perspective view showing a gripper for simultaneous adsorption of multiple articles according to a preferred embodiment of the present invention. FIG. 3a is a disassembled drawing of a binding pin constituting a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention. FIG. 3b is a cross-sectional view of a key part showing the state in which a binding pin constituting a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention binds a rotating plate and a link. FIG. 4 is a cross-sectional view showing an adsorption rod constituting a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention. FIGS. 5A and 5B are front views showing the state in which the adsorption rod of a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention is height-adjusted. FIG. 6 is a planar drawing showing a state in which multiple items are stacked inside a box, and is a drawing showing a connection of virtual points where a multiple item simultaneous adsorption gripper according to a preferred embodiment of the present invention can adsorb one or two items. FIGS. 7a and 7b are diagrams illustrating the operation of adjusting the spacing between the adsorption rods of a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention, and are drawings showing the main parts inside the casing in plan view. FIGS. 8a to 8c are drawings illustrating the process of a multiple article simultaneous adsorption gripper according to a preferred embodiment of the present invention adsorbing two articles. Specific details for implementing the invention

[0033] Hereinafter, a gripper for simultaneous suction of multiple items will be described in more detail with reference to the drawings.

[0034] In describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted.

[0035] The attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that all modifications, equivalents, and substitutions included within the concept and technical scope of the present invention are included.

[0036] In the following description, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0037] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0038] Hereinafter, a multiple article simultaneous adsorption gripper (hereinafter referred to as the "adsorption gripper") according to a preferred embodiment of the present invention will be described with reference to the attached FIGS. 1 to 8c.

[0039] The suction gripper can simultaneously suction not only a single item but also multiple items, and since it can suction items of different heights, it can also suction irregularly stacked items at once.

[0040] Accordingly, the present invention can reduce the total work time, thereby increasing work productivity.

[0041] As shown in FIG. 1, the adsorption gripper may include a casing (100), a driving unit (200), and an adsorption rod (300).

[0042] The casing (100) forms the exterior of the suction gripper and serves to protect each component.

[0043] The casing (100) accommodates the driving unit (200) in the internal space (100a) and can install the suction rod (300) by passing it through the inside and outside of the internal space.

[0044] At this time, the casing (100) includes a guide groove (110) and an elongated hole (120), and the guide groove (110) and the elongated hole (120) can be formed on the bottom surface of the casing (100).

[0045] The guide groove (110) guides the movement path of the link described below and can be formed in the center of the bottom surface. The guide groove (110) can be formed in a circular shape as shown in FIG. 1, and can be formed in a stepped shape extending downward from the bottom surface.

[0046] The elongated hole (120) is a part through which the suction rod (300) passes inside and outside the casing (100) and provides a path for the linear movement of the suction rod (300). That is, the suction rod (300) can move linearly by the power of the driving unit (200), and the elongated hole (120) can provide a path for the movement of the suction rod (300).

[0047] The elongated hole (120) can be formed in a straight line toward the guide groove (110) from both sides of the guide groove (110) with the guide groove (110) in between.

[0048] In this specification, two adsorption rods (300) are used as an example, and the number of elongated holes (120) is also described as two, as shown in FIGS. 1 and FIGS. 2.

[0049] Meanwhile, the casing (100) may be made of a square housing and may include a cover (130) that can shield the internal space (100a) from the upper side.

[0050] At this time, a cover slot (131) corresponding to the slot (120) of the casing (100) is also formed in the cover (130). This cover slot (131) serves to prevent interference between the vacuum tube (T) and the cover (130) when connecting a vacuum tube (T) to transmit vacuum pressure from the outside of the casing (100) to the suction rod (300) located in the internal space (100a).

[0051] Additionally, the cover slot (131) is aligned with the slot (120) of the casing (100) so that the movement of the suction rod (300) and the movement of the vacuum tube (T) are synchronized, so that when the suction rod (300) moves, the vacuum tube (T) can also move together.

[0052] Next, the driving unit (200) generates power to widen or narrow the gap between the adsorption rods (300) and can be provided in the internal space (100a) of the casing (100).

[0053] That is, the suction rod (300) moves linearly along the elongated hole (120), and the gap between the suction rods (300) is adjusted, and the driving unit (200) generates power for such movement of the suction rod (300).

[0054] The driving unit (200) serves to generate power capable of reciprocating the adsorption rod (300) in a straight direction, and the configuration of the driving unit (200) for this purpose can be provided in various ways.

[0055] In this specification, as shown in FIGS. 1 and 2, a driving unit (200) comprising a driving motor (210), a rotating plate (220), a link (230), and a binding pin (240) will be described.

[0056] The driving unit (200) converts rotational power into linear motion and can be provided in the internal space (100a) of the casing (100).

[0057] The drive motor (210) generates rotational power and includes a drive shaft (211). At this time, the drive motor (210) can generate power to rotate the drive shaft (211) in forward and reverse directions.

[0058] Additionally, the drive motor (210) can be fixed to the bottom surface of the cover (130).

[0059] The rotating plate (220) is formed to be rotatable in forward and reverse directions by the power of the driving motor (210) and can be formed in a circular shape. At this time, the rotating plate (220) is axially coupled to the driving shaft (211) of the driving motor (210).

[0060] In addition, through holes (221) are formed at each of the two points of the rotating plate (220).

[0061] The through hole (221) is configured to allow a binding pin (240) that binds the rotating plate (220) and the link (230) to pass through, and corresponds to the number of suction rods (300). At this time, the through hole (221) penetrates the rotating plate (220) vertically and can be formed in a circular shape.

[0062] The link (230) is a component that converts the rotational motion of the rotating plate (220) into linear motion. The link (230) can be configured to be linked to the rotational motion of the rotating plate (220) and can be provided in multiple numbers on the rotating plate (220).

[0063] In this specification, since it is assumed that there are two adsorption rods (300) that are subject to linear motion, the link (230) is also assumed to be two.

[0064] At this time, each link (230) forms a coupling hole (231) at one end and the other end. The coupling hole (231) is configured to connect the link (230) to the rotating plate (220) and the suction rod (300). For convenience of explanation, the coupling hole (231) formed at one end of the link (230) is referred to as the first coupling hole (231a), and the coupling hole (231) formed at the other end of the link (230) is referred to as the second coupling hole (231b).

[0065] That is, as shown in FIG. 1, the first coupling hole (231a) of the link (230) can be coupled with the rotating plate (220), and the second coupling hole (231b) of the link (230) can be coupled with the adsorption rod (300).

[0066] The binding pin (240) serves to bind one end of the link (230) to the rotating plate (220).

[0067] In detail, the binding pin (240) passes through the first coupling hole (231a) of the link (230) and the through hole (221) of the rotating plate (220) as shown in FIG. 1, and binds one end of the link (230) to a point on the rotating plate (220).

[0068] At this time, the binding pin (240) can act as a rotation axis so that the link (230) can rotate on the rotating plate (220).

[0069] To this end, the binding pin (240) may be cylindrical in shape having an outer diameter large enough to pass through the first coupling hole (231a) and the through hole (221).

[0070] In detail, the binding pin (240) may be composed of a first binding pin (241) and a second binding pin (242), as shown in FIG. 1 and FIG. 3a.

[0071] The first binding pin (241) is configured to move along the circumferential direction of the guide groove (110) and can be inserted into the first coupling hole (231a) at the bottom of the link (230).

[0072] At this time, the first binding pin (241) may form a flange (241a), and the flange (241a) may be formed with an outer diameter larger than the outer diameter of the first binding pin (241). Additionally, the outer diameter of the flange (241a) may be formed larger than the outer diameter of the first coupling hole (231a) to limit the excessive insertion of the first binding pin (241) into the first coupling hole (231a).

[0073] Additionally, the first binding pin (241) forms a protrusion (241b) that extends toward the upper side. The protrusion (241b) is formed to have an outer diameter smaller than the outer diameter of the first binding pin (241) as a configuration for coupling with the second binding pin (242).

[0074] At this time, the protrusion (241b) may form a catch (241c) on its side as shown in FIG. 3a. The catch (241c) may be formed protruding from the side of the protrusion (241b) and may be formed in the height direction of the protrusion (241b).

[0075] The locking piece (241c) serves to connect the two binding pins (241) into one when combining the first binding pin (241) and the second binding pin (242). To this end, the locking piece (241c) is inserted into the locking groove described later to integrate the first binding pin (241) and the second binding pin (242).

[0076] The binding pins (240) connected by the locking piece (241c) in this manner prevent the rotating plate (220) from moving independently of each other when the rotating plate (220) rotates. That is, the locking piece (241c) serves to fix the binding pins (240) so that they can move together according to the rotation of the rotating plate (220), and by making the connection of the binding pins (240) more robust through the locking piece (241c) in this way, the stability of the rotational movement can be increased.

[0077] The second binding pin (242) is configured to be inserted into the through hole (221) on the upper side of the rotating plate (220) and connected to the first binding pin (241). The second binding pin (242) is formed to have an outer diameter of a size that can be inserted into the through hole (221) and the first coupling hole (231a), and forms an insertion groove (242a) into which the protrusion (241b) of the first binding pin (241) can be inserted.

[0078] As shown in FIG. 3a, the insertion groove (242a) is opened toward the lower side and forms a locking groove (242b) for coupling with the locking piece (241c) of the first binding pin (241).

[0079] The catch groove (242b) is formed on the inner circumference of the insertion groove portion (242a) and is formed in the height direction of the first binding pin (241) so that the catch piece (241c) can be slidably inserted.

[0080] As shown in FIG. 3b, the binding pin (240) of this configuration allows the first binding pin (241) to be inserted into the through hole (221) on the upper side of the rotating plate (220) and the second binding pin (242) to be inserted into the first coupling hole (231a) on the lower side of the link (230), thereby enabling the rotating plate (220) and the link (230) to be bound together as one body.

[0081] At this time, as the locking piece (241c) is inserted into the locking groove (242b), the connection force can be maintained firmly without the rotating plate (220) spinning freely.

[0082] Next, the adsorption rod (300) is configured to adsorb an item by forming a vacuum pressure and can be provided in multiple numbers in the casing (100).

[0083] In this specification, as described above, a pair of adsorption rods (300) are provided in a casing (100) as an example.

[0084] As shown in FIGS. 1 and 2, the adsorption rod (300) is installed so as to be exposed to the outside of the casing (100) through the elongated hole (120) in the internal space (100a) of the casing (100).

[0085] At this time, the adsorption rod (300) forms a hollow conduit in which vacuum pressure is formed and is connected to a vacuum tube (T). At this time, the adsorption rod (300) can form vacuum pressure in the hollow conduit through a separate vacuum pressure generating device (not shown).

[0086] Let's examine the configuration of the adsorption rod (300) in detail.

[0087] As shown in FIG. 4, the adsorption rod (300) may include a body (310), a moving bar (320), an elastic member (330), and an adsorption part (340).

[0088] The body (310) forms the upper part of the suction rod (300) in the drawing and can be connected to the other end of the link (230).

[0089] More precisely, the body (310) is inserted into the second coupling hole (231b) of the link (230) and can be fixed in the second coupling hole (231b) of the link (230) through a fastening member (N).

[0090] At this time, the fastening member (N) may be a nut (N) as shown in FIGS. 1 and 2, and it is preferable that the nut (N) be provided in multiple numbers to prevent loosening due to repeated movement of the suction rod. Through this, the fastening member (N) can help the stable operation of the suction rod (300) by securing a strong bonding force.

[0091] Meanwhile, the body (310) may have screw threads formed on its outer surface for connection with the fastening member (N).

[0092] Additionally, the body (310) is positioned in the elongated hole (120) of the casing (100), and for this purpose, the outer diameter of the body (310) is made to a size corresponding to the inner diameter of the elongated hole (120).

[0093] Additionally, the body (310) forms a conduit for forming vacuum pressure as shown in FIG. 4, and for convenience of explanation, this conduit is called the first conduit (311).

[0094] At this time, the first conduit (311) forms a lifting space for the moving bar (320) and forms a stopper (312) at the top and bottom.

[0095] An upper stopper (312a) formed on the upper part of the first conduit (311) is provided for supporting the elastic member (330), and a lower stopper (312b) formed on the lower part of the first conduit (311) is provided to prevent the movable bar (320) described later from coming off.

[0096] Meanwhile, the lower part of the body (310) forms a lower stopper (313).

[0097] The lower stopper (313) is configured to prevent the body (310) from moving upward into the internal space (100a) through the elongated hole (120).

[0098] That is, if the fastening member (N) is configured to prevent the body (310) from coming out to the lower side through the second coupling hole (231b) of the link (230), the lower stopper (313) is configured to prevent the body (310) from moving to the upper side of the link (230) through the elongated hole (120) and the second coupling hole (231b).

[0099] The lower stopper (313) is formed around the lower circumference of the body (310) to prevent upward movement of the body (310), and is formed to have a diameter larger than the diameter of the body (310) and the elongated hole (120).

[0100] Accordingly, the body (310) can prevent moving to the upper side of the internal space (100a) through the elongated hole (120) as the lower stopper (313) interferes with the elongated hole (120).

[0101] At this time, the lower stopper (313) may further include a nut (N).

[0102] That is, by interposing a nut (N) between the lower stopper (313) and the bottom surface of the casing (100), the gap that may occur between the casing (100) and the lower stopper (313) can be minimized, thereby providing a stable connection of the body (310).

[0103] Meanwhile, the nuts (N) provided on the upper and lower sides relative to the link (230) allow the height of the body (310), that is, the total height of the suction rod (300), to be adjusted relative to the casing (100).

[0104] That is, as shown in FIG. 5a and FIG. 5b, the suction rod (300) is raised along the second coupling hole (231b) of the link (230) and the elongated hole (120) of the casing (100), and the height of the suction rod (300) in the casing (100) can be adjusted by fixing the raised position of the suction rod (300) using a nut (N).

[0105] The moving bar (320) is configured to form a vacuum pressure together with the body (310) to adsorb an item, and is formed to be able to move up and down in the first conduit (311) of the body (310).

[0106] To this end, the moving bar (320) may be formed in a cylindrical shape corresponding to the inner diameter of the first conduit (311) of the body (310), and is formed to have an outer diameter smaller than the inner diameter of the first conduit (311).

[0107] The moving bar (320) forms a second conduit (321) that penetrates the center in the height direction so as to share vacuum pressure with the body (310).

[0108] Additionally, the moving bar (320) forms a step (322) that can be supported by being caught on a lower catch (312b) formed at the bottom of the body (310) so as not to detach from the body (310).

[0109] The elastic member (330) serves to elastically support the movable bar (320) in the first conduit (311) of the body (310) and is interposed between the movable bar (320) and the upper stopper (312a). At this time, the elastic member (330) is installed to apply an elastic force that always pushes the movable bar (320) downward in the drawing.

[0110] Additionally, the elastic member (330) may be formed as a coil spring so as not to cause obstruction in the first conduit (311) and the second conduit (321) that form vacuum pressure.

[0111] The adsorption part (340) is configured to perform adsorption by adhering directly to the surface of the item and is formed at the lower end of the moving bar (320).

[0112] At this time, the adsorption part (340) may be configured to be detachably attached to the movable bar (320) through a fastening means such as a nut to facilitate maintenance and replacement.

[0113] Additionally, the adsorption portion (340) may be formed with a diameter larger than the diameter of the moving bar (320) to increase the contact area with the item and thus increase adsorption efficiency.

[0114] Additionally, the adsorption part (340) can be designed to exert elasticity, and for this purpose, it can be formed in the shape of a bellows or a corrugated tube as shown in FIG. 4.

[0116] Below, the operation of the adsorption gripper composed of the above-described configuration will be explained.

[0117] The suction gripper is connected to and used with the robot (R), and can be configured to generate vacuum pressure on the suction rod (300) through a vacuum generator (not shown), although not specifically illustrated.

[0118] Meanwhile, the operator can first adjust the position of the adsorption rod (300) in the internal space (100a) of the casing (100) appropriately by considering the working environment, etc.

[0119] Specifically, the operator adjusts the height of the suction rod (300) by rotating the nut (N) screwed to the upper part of the suction rod (300) body (310) on the upper side of the link (230) and the nut (N) screwed to the lower part of the suction rod (300) body (310) on the lower side of the bottom surface of the casing (100) to move the body (310) up and down.

[0120] Once the position adjustment is complete, the operator fixes the corresponding nuts (N) back to their original positions. Through this process, as shown in FIGS. 5a and 5b, the position of the suction rod (300) is adjusted by changing the height of the suction part (340) relative to the bottom surface of the casing (100).

[0121] In this way, the height adjustment function of the suction rod (300) allows for optimal settings suitable for the working environment.

[0122] At this time, the pair of suction rods (300) can be adjusted to the same height, and the pair of suction rods (300) can also be adjusted to different positions.

[0123] Next, when the position adjustment of the suction rod (300) is completed, the operator controls the robot (R) to move the suction gripper toward the item to be suctioned.

[0124] At this time, the items are irregularly stacked in the box space as shown in FIG. 6, and the control unit (not shown) detects the storage state of the items and can cause the suction gripper to suction one or two items simultaneously.

[0125] At this time, the control unit detects the distance between the items and adjusts the distance between the adsorption rods (300) in order to adsorb two items.

[0126] To this end, the control unit generates power for the drive motor (210) to rotate the rotating plate (220) in a counterclockwise direction.

[0127] At this time, due to the rotation of the rotating plate (220), the binding pin (240) moves to the left and right sides of the drawing, respectively, as shown in FIGS. 7a and 7b, and one end of the link (230) connected to the binding pin (240) also moves to the left and right sides of the drawing, respectively.

[0128] At this time, since the other end of the link (230) also moves to the left and right sides in the drawing, the pair of suction rods (300) each connected to the other end of the pair of links (230) move away from each other.

[0129] Of course, it is understandable that a pair of suction rods (300) can be brought close to each other by controlling the rotation direction of the rotating plate (220).

[0130] Next, the control unit lowers the robot (R) toward the item and brings the suction part (340) into close contact with the item, as shown in FIGS. 8a and 8b.

[0131] At this time, as illustrated in FIG. 8b, the suction height of the suction part (340) on the item may differ because a part of the item is stacked, and the moving bar (320) of the right suction rod (300) in the drawing rises into the interior of the body (310) and can stably maintain the suction state of the suction rod (300).

[0132] At this time, the elastic member (330) can induce the insertion of the moving bar (320) as it contracts.

[0133] In addition, since the conduits (311, 321) of the adsorption rod (300) are in a state of forming vacuum pressure, at the moment the adsorption part (340) comes into contact with the surface of the item, the wrinkled adsorption part (340) can adsorb the item while contracting.

[0134] Afterwards, the control unit controls the robot (R) to complete the task of lifting and transporting the item as shown in FIG. 8c.

[0135] As explained above, the multi-item simultaneous adsorption gripper according to the present invention can increase work productivity by adsorbing multiple items simultaneously, and can provide an optimal item adsorption environment by adjusting the height and spacing of the adsorption rods. Explanation of the symbols

[0136] 100: Casing 100a: Internal space 110: Guide Home 120: Long hole 130: Cover 131: Cover slot 200: Drive unit 210: Drive motor 211: Drive shaft 220: Turntable 221: Communion 230: Link 231: Connecting hole 231a: First connecting hole 231b: Second connecting hole 240: Binding pin 241: 1st binding pin 241a: Flange 241b: Stone 241c: Obstruction 242: Second binding pin 242a: Insertion groove 242b: Locking groove 300: Suction rod 310: Body 311: 1st Pipeline 312: Stopper 312a: Upper catch 312b: Lower stopper 313: Lower stopper 320: Move bar 321: Second conduit 322: Chin 330: Elastic member 340: Adsorption part T: Vacuum tube N: Fastening member (nut) R: Robot

Claims

Claim 1 A gripper for simultaneous adsorption of multiple articles, comprising: a driving unit; and a plurality of adsorption rods that move closer to or further apart from each other by the power of the driving unit and adsorb articles using vacuum pressure. Claim 2 In claim 1, the driving unit comprises: a driving motor including a driving shaft; a rotating plate axially coupled to the driving shaft so as to rotate in forward and reverse directions by the power of the driving motor; a plurality of links eccentrically coupled to each point of the rotating plate around the driving shaft and configured to move linearly by the rotational movement of the rotating plate; and a binding pin connecting one end of the rotating plate and the link, wherein the plurality of suction rods are each coupled to the other end of the link, a gripper for simultaneous suction of multiple articles. Claim 3 A multiple article simultaneous adsorption gripper according to paragraph 2, wherein the binding pin comprises a first binding pin that penetrates the bottom of the link and forms a protrusion toward the rotating plate, and a second binding pin that penetrates the top of the rotating plate and forms an insertion groove into which the protrusion of the first binding pin is inserted. Claim 4 A gripper for simultaneous adsorption of multiple articles according to paragraph 3, wherein a catch piece protruding toward the other is formed on either the inner surface of the protrusion and the insertion groove, and a catch groove formed on the other of the inner surface of the protrusion and the insertion groove to engage with the catch piece. Claim 5 A multiple article simultaneous adsorption gripper according to paragraph 2, wherein the links are formed as a pair connected to both points of the rotating plate around the drive shaft, and the adsorption rods are a pair connected to each of the links. Claim 6 A multiple article simultaneous adsorption gripper according to claim 1, wherein the adsorption rod comprises: a body having a first hollow conduit formed to form a vacuum pressure; a movable bar formed to move linearly along the first conduit and having a second hollow conduit formed to form the vacuum pressure; and an elastic member interposed between the movable bar and the body in the first conduit to elastically support the movable bar. Claim 7 A multiple article simultaneous adsorption gripper according to claim 6, wherein the adsorption rod further forms an adsorption portion that is extendably formed at the lower part of the movable bar. Claim 8 A gripper for simultaneous adsorption of multiple articles, wherein the adsorption portion is formed as a corrugated tube and is detachably formed on the moving bar. Claim 9 A multiple article simultaneous adsorption gripper according to paragraph 2, wherein the adsorption rod is formed to be screw-coupled to the link through a fastening member. Claim 10 A gripper for simultaneous adsorption of multiple articles according to claim 1, comprising an internal space and a casing having an elongated hole connecting the internal space to the outside, wherein the driving unit is located in the internal space and the adsorption rod is formed to be exposed to the outside through the elongated hole in the internal space. Claim 11 A gripper for simultaneous adsorption of multiple articles according to paragraph 2, comprising an internal space and a casing having an elongated hole connecting the internal space to the outside, wherein a circular guide groove corresponding to the rotational radius of the rotating plate is formed on the bottom surface of the casing, and the binding pin is formed to be guided along the guide groove. Claim 12 A gripper for simultaneous adsorption of multiple articles, wherein the above-mentioned elongated holes are formed on both sides with the above-mentioned guide groove in between. Claim 13 In claim 10, the driving unit comprises: a driving motor including a driving shaft; a rotating plate axially coupled to the driving shaft to rotate in forward and reverse directions by the power of the driving motor; and a plurality of links eccentrically coupled to each point of the rotating plate around the driving shaft to move linearly by the rotational movement of the rotating plate, wherein the suction rod has screw threads formed on its outer surface and a fastening member is fastened to the screw threads to press the upper part of the suction rod against the link, and a lower stopper having a diameter larger than the diameter of the elongated hole is provided at the lower part of the suction rod and is located on the lower side of the casing, and the lower stopper is formed to restrict the upward movement of the suction rod, a gripper for simultaneous suction of multiple articles. Claim 14 In claim 13, the lower stopper comprises a fastening member screw-coupled to the suction rod, a multiple article simultaneous suction gripper.

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