Robot with replaceable fingertips and robot system

Abstract

The present invention provides a robot including: a robot arm including a plurality of joints bent in various directions; a plurality of fingers coupled to one end of the robot arm; and a fingertip coupled to the tip of the finger. The tail end part of the finger comprises a first magnet; the combination bulge is positioned on the periphery of the first magnet; the fingertip comprises a fingertip head which is in contact with a clamped object; a second magnet located at the fingertip and coupled to the first magnet; and a coupling groove into which the coupling protrusion is inserted on one side of the fingertip head. The robot can be replaced by fingertips matched with conditions, so that objects in various forms can be clamped.

Description

Technical Field

[0001] An object of the present invention is to provide a robot and a robot system having replaceable fingertips capable of replacing fingertips of a gripper that grips an object. Background Art

[0002] Previously, robots were mainly used for repetitive tasks that only performed pre-specified actions, but in recent years, robots that are combined with artificial intelligence to make autonomous judgments and actions have appeared.

[0003] Artificial intelligence robots that can use various sensors such as visual sensors, proximity sensors, and lidar to identify surrounding conditions, calculate appropriate actions, and execute them are being used in various fields.

[0004] In particular, a robot capable of grasping and carrying objects like a human arm may include an arm that can be bent or opened at various angles, and a gripper for gripping an object may be provided at the end of the arm. The gripper includes two or more fingers, and three or more fingers are required to stably carry the gripped object.

[0005] After the fingers are opened to hold the object between them, they are bent again to hold the object. In order to hold and carry objects, the force of the fingers grasping the object is important, but in order to hold objects of various shapes, the shape of the fingertips is also important.

[0006] The objects that can be clamped can be various, such as thin objects, flat objects, or thin objects, etc. The fingertip shape must match the type of the object to be clamped in order to easily clamp the object.

[0007] However, the fingertips of existing robot grippers are fixed in one shape, and the objects that can be gripped are limited. In order to replace the fingertips, it is necessary to loosen the screws and separate the fingertips and then reinstall them, making it difficult to flexibly respond to various situations. Summary of the invention

[0008] Problem to be solved

[0009] In order to solve the above-mentioned problems, an object of the present invention is to provide a robot and a fingertip replacement method that can automatically replace fingertips without adding additional manual work.

[0010] The problems to be solved by the present invention are not limited to the technical problems mentioned above, and those skilled in the art in the technical field to which the present invention belongs can clearly understand other problems not mentioned from the following description.

[0011] Technical solutions to the problem

[0012] The present invention provides a robot, comprising: a robot arm, comprising a plurality of joints bent in various directions; a plurality of fingers, connected to one end of the robot arm; and fingertips, connected to the end portions of the fingers; the end portions of the fingers comprise: a first magnet; and a coupling protrusion, located around the first magnet; the fingertips comprise: a fingertip head, in contact with a clamped object; a second magnet, located at the fingertip head and connected to the first magnet; and a coupling groove, on one side of the fingertip head for the coupling protrusion to be inserted.

[0013] The coupling protrusion may include a metal material, the size of the second magnet may be larger than the size of the first magnet, and the second magnet may be configured to overlap with at least a portion of the coupling groove.

[0014] The S pole and N pole of the first magnet may be arranged adjacent to each other along a first direction, and the N pole and S pole of the second magnet may be arranged adjacent to each other along the first direction, so that the N pole of the second magnet is opposite to the S pole of the first magnet, and the S pole of the second magnet is opposite to the N pole of the first magnet.

[0015] A third magnet located inside the coupling groove may also be included.

[0016] The first magnet may protrude further than the coupling protrusion, and when the fingertip is coupled to the distal end of the finger, the third magnet may be disposed adjacent to the first magnet.

[0017] A pair of the coupling grooves may be arranged along the first direction, and a magnetic pole different from that of the first magnet may be provided at a position of a magnetic pole of the third magnet in a direction opposite to the first magnet.

[0018] The fingertip may include a coupling ring surrounding the first magnet and an outer periphery of the coupling protrusion at one side of the fingertip.

[0019] The coupling ring may include a placement groove recessed from an outer peripheral edge toward an inner side.

[0020] The fingertip head may include at least one of a hemispherical type including a convex curved surface, a groove type including a concave portion concave inwardly, and a fin type extending long.

[0021] The robot may include: an identification mark located on one side of the fingertip and including information about the shape of the fingertip head; a tip sensor located at the end of the finger and detecting the identification mark; and a controller capable of driving the finger according to the shape of the fingertip head identified by the tip sensor.

[0022] The robot may include: a finger electrode formed on the combining protrusion and connected to the control unit; a fingertip electrode formed on the combining groove and connected to the finger electrode; and a tactile sensor located on the fingertip and connected to the fingertip electrode, wherein the tactile sensor is arranged on the fingertip head.

[0023] According to another aspect of the present invention, a robot system is provided, comprising: a robot comprising a plurality of fingers, wherein the plurality of fingers are coupled to one end of a robot arm comprising a plurality of joints bent in various directions; fingertips coupled to the distal ends of the fingers; and a fingertip bracket on which the fingertips are placed; the fingertips comprising: a fingertip head in contact with a clamped object; a coupling ring surrounding the periphery of the distal end of the finger on one side of the fingertip head; and a placement groove recessed inwardly from the outer periphery of the coupling ring; the fingertip bracket comprising a placement portion, the placement portion being inserted into the placement groove of the fingertip, one side of which is open to form a U-shape.

[0024] The robot may vertically lower the finger from the upper portion of the seating portion toward one side of the fingertip, and when the distal end of the finger is coupled with the fingertip, may move the finger toward the open side of the seating portion.

[0025] The end portion of the finger may include a first magnet, the S pole and the N pole of the first magnet are arranged adjacent to each other along a first direction, and the fingertip may include a second magnet, the second magnet is located at the fingertip and combined with the first magnet, and the N pole and the S pole of the second magnet may be arranged adjacent to each other along the first direction.

[0026] The coupling ring may be circular with a prescribed curvature so that the fingertip can rotate in the seating portion.

[0027] Effects of the Invention

[0028] The robot of the present invention can be replaced with fingertips that match the situation, so that it can clamp objects of various shapes.

[0029] In addition, the robot of the present invention can quickly perform fingertip replacement without requiring additional assembly work, thereby minimizing delays in work execution.

[0030] In addition, the robot of the present invention has the advantage of automatically replacing fingertips without requiring manual work.

[0031] In addition, the fingertip support of the robot of the present invention has a simple structure, so that the volume can be minimized.

[0032] Effects that can be obtained in the present invention are not limited to the above-mentioned effects, and those skilled in the art can clearly understand other effects that are not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a block diagram for explaining a robot system according to an embodiment of the present invention.

[0034] Figure 2 It is a perspective view showing a robot according to an embodiment of the present invention.

[0035] Figure 3 It is a diagram showing a gripper portion of a robot according to an embodiment of the present invention.

[0036] Figure 4 The diagrams show various embodiments of the fingertips of a robot according to an embodiment of the present invention.

[0037] Figure 5 This is an exploded view of the distal end and fingertip of a robot finger according to an embodiment of the present invention.

[0038] Figure 6 This is a cross-sectional view showing a method of combining the distal end portion and the fingertip of a robot finger according to an embodiment of the present invention.

[0039] Figure 7 It is a plan perspective view showing a method of combining the distal end portion and the fingertip of a robot finger according to an embodiment of the present invention.

[0040] Figure 8 2 is a diagram showing a fingertip support of a robot system according to an embodiment of the present invention.

[0041] Fig. 9 This is a diagram showing a method of fastening a fingertip accommodated in a fingertip holder in a robot system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] Hereinafter, the embodiments disclosed in this specification are described in detail with reference to the accompanying drawings. Regardless of the figure numbers, the same or similar structural elements are given the same figure numbers, and repeated descriptions thereof are omitted. The suffixes "module" and "unit" of the structural elements used in the following description are only given or mixed for the convenience of writing the description, and they themselves do not have mutually distinguishable meanings or functions. In addition, in the process of describing the embodiments disclosed in this specification, when it is judged that the specific description of the relevant known technology will confuse the gist of the embodiments disclosed in this specification, the detailed description of the known technology is omitted. In addition, the drawings are only used to help understand the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited to the drawings, and should be understood to include all changes, equivalents and substitutes within the scope of the ideas and technologies of the present invention.

[0043] Terms including ordinal numbers such as first, second, etc. may be used to describe various structural elements, but these structural elements are not limited to these terms. These terms are used only to distinguish one structural element from another structural element.

[0044] When it is mentioned that a certain component is "connected" or "joined" to another component, it can be directly connected or linked to the other component, but it should be understood that there may be other components between them. On the contrary, when it is mentioned that a certain component is "directly connected" or "directly joined" to another component, it should be understood that there are no other components between them.

[0045] Unless the context clearly indicates otherwise, an expression in the singular includes an expression in the plural.

[0046] In the present application, the terms "including" or "having" etc. should be understood as intending to indicate the existence of the features, numbers, steps, actions, structural elements, components or their combinations disclosed in the present specification, but not intending to pre-exclude the existence or additional possibilities of one or more other features, numbers, steps, actions, structural elements, components or their combinations.

[0047] Figure 1 FIG. 1 is a block diagram for explaining a robot system 1000 according to an embodiment of the present invention.

[0048] The robot 100 is a mechanical device that can automatically perform work or operation, and can also be controlled by an external control device or can have a built-in control device. The robot can perform tasks that are difficult for humans to perform, such as lifting heavy objects or performing precision work and in extreme environments.

[0049] In order to perform the operation, the robot 100 may have a driving unit including an actuator or a motor to provide power, and may perform various physical actions such as moving joints. Due to the high manufacturing cost of the robot 100 and the professional operation, industrial robots or medical robots with a special appearance for specific operations were first developed. Industrial robots and medical robots repeatedly perform the same actions in designated places. However, even when performing the same operation, in order to identify subtle differences in the case of precision operations, reflect them and perform optimized operations, robots equipped with artificial intelligence are emerging. The artificial intelligence is equipped with cameras and various sensors 120, and makes judgments based on the information recognized by the cameras and sensors 120.

[0050] The robot 100 uses AI (Artificial Intelligence) technology and can be implemented as a navigation robot, a transport robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, etc. The robot may include a robot control module for controlling actions, and the robot control module may represent a software module or a chip that implements the software module in hardware.

[0051] The robot 100 can perform the above-mentioned actions using a learning model composed of at least one artificial neural network. For example, the robot can use the learning model to identify the surrounding environment and the object, and can use the identified surrounding environment information or object information to determine the action. Here, the learning model can be learned directly in the robot or in an external device such as an AI server.

[0052] At this time, although the robot 100 can use the direct learning model to generate results and perform actions, it can also transmit sensor 120 information to an external device such as an AI server and receive the results generated therefrom to perform actions.

[0053] The robot 100 can obtain the robot's state information, detect (recognize) the surrounding environment and objects, or decide a response to user interaction, or decide an action using the sensor information obtained from the various sensors 120. The sensors 120 may include proximity sensors, illumination sensors, acceleration sensors, magnetic sensors, gyroscope sensors, inertial sensors, RGB sensors, IR sensors, fingerprint sensors, ultrasonic sensors, optical sensors, microphones, laser radars, radars, and the like.

[0054] In order to collect data that can be learned by artificial intelligence, the robot needs to be equipped with various input units and wireless communication units, and can perform optimal actions by integrating various information. The learning processor that executes artificial intelligence can be installed in the control unit inside the robot to perform learning, or the collected information can be transmitted to the server and learned through the server, and then the learning results are retransmitted to the robot, and the operation is performed based on the learning results.

[0055] In order to receive user input, a touch screen or a key may be provided, or instructions may be received by recognizing the user's voice. The processor may utilize at least one of an STT (Speech To Text) engine for converting voice input into a text string or a natural language processing (NLP; Natural Language Processing) engine for obtaining intention information of natural language to obtain the intention information corresponding to the user input.

[0056] Figure 2 1 is a perspective view showing a robot system 1000 according to an embodiment of the present invention. The robot system 1000 of the present invention comprises: a robot 100 including a robot arm 160 that is bent in various directions; a robot control computer 300 for controlling the robot 100; and a fingertip support 200 for placing the fingertip 140.

[0057] like Figure 2 As shown, the robot 100 can change the position and angle of the robot arm 160 to a desired position by controlling a plurality of joints. The gripper 150 located at the end of the robot arm 160 may include a plurality of fingers 151 to be able to grasp an object.

[0058] The finger 151 may include more than two, preferably more than three fingers 151, so as to maintain a balanced force when grasping an object. The finger 151 includes a joint bent inwardly, and an object can be grasped by bringing the distal ends 152 of the fingers together, and the object can be released by opening the distal ends 152 of the fingers.

[0059] A fingertip 140 may be included coupled to a distal end portion 152 of the finger to stably grasp an object. The shape of the fingertip 140 may be optimized and replaced according to the type of object to be grasped.

[0060] In order to detect the object to be gripped and the surroundings, a camera 110 and a sensor 120 may be included. In addition to the camera provided on the robot 100 itself, a camera provided on the outside may be used as an auxiliary camera 110. The sensor 120 may include a proximity sensor to detect to ensure that people or other objects in the surroundings do not collide with the robot arm 160, and to enable the robot arm 160 to move while avoiding surrounding objects. The sensor 120 may include a 6-axis force / torque sensor to detect the movement of the robot arm 160.

[0061] The robot control computer 300 for controlling the robot 100 may be located outside the robot arm 160, and may send and receive signals in a wireless or wired manner. The robot control computer 300 may collect information acquired by the camera 110 and the sensor 120 of the robot 100, and transmit control instructions for controlling the robot arm 160 and the gripper 150 of the robot 100 based on the collected information.

[0062] The robot control computer 300 may include a RAM (Random Access Memory) 310 , a CPU (Central Processing Unit) 320 , and a GPU (Graphic Process Unit) 330 for processing image information of the camera 110 .

[0063] The fingertip 140 coupled to the distal end 152 of the finger of the present invention is replaceable and may include a fingertip holder 200 for storing and accommodating the fingertip 140. The fingertip holder 200 may include a seating portion 210 on which a plurality of fingertips 140 may be seated.

[0064] Figure 3 1 is a diagram showing a gripper 150 of a robot 100 according to an embodiment of the present invention. The robot 100 of the present invention may include three fingers 151, and the distance between the distal ends 152 of the fingers may be changed by a plurality of joints.

[0065] Figure 3 The distal end 152 of the finger shown is combined with a hemispherical fingertip 140, which may be a shape corresponding to a human finger (digital) and can contact an object regardless of direction, thereby being able to grasp objects of various shapes.

[0066] Figure 4 FIG. 1 is a diagram showing various embodiments of the fingertip 140 of the robot 100 according to an embodiment of the present invention. The fingertip 140 of the present invention is replaceable. Figure 3 The hemispherical shape shown can also be replaced with fingertips of other shapes depending on the object to be clamped.

[0067] For example, in order to grasp a thin and long object, a fingertip 140a in the form of a groove that protrudes in the up-down direction and is recessed in the middle portion may be included, and in order to support the bottom surface of a thin and flat object such as a plate or a book, a fin-type fingertip 140c that extends long and flat like a knife may be used. The fingertip 140 may include an identification mark having information about the shape of the fingertip. The finger 151 may include a tip sensor that identifies the identification mark. The identification mark may be an image such as a QR code or a barcode, or may be the configuration or strength of a magnet. The tip sensor may be one of an image sensor that identifies an image or a Hall sensor that detects changes in magnetic force.

[0068] The robot 100 of the present invention not only repeatedly performs designated actions, but also needs to perform various actions according to the situation. The robot control computer 300 can grasp the shape of the recognized target object using the camera 110, and replace it with a suitable fingertip 140 according to its shape. The robot 100 can select the fingertip 140 based on the shape information about the fingertip 140 obtained from the tip sensor.

[0069] The robot 100 with the gripping robot arm 160 of the prior art has the inconvenience that the fingertips 140 cannot be replaced, or even if they can be replaced, manual work is required to loosen the screws and perform assembly.

[0070] The robot 100 of the present invention can utilize magnets to attach and detach the fingertips 140. The robot 100 can automatically replace the fingertips 140 in a short time, thereby being able to grip objects of various shapes.

[0071] Figure 5 FIG. 1 is an exploded view of the end portion 152 and the fingertip 140 of the finger of the robot 100 according to an embodiment of the present invention. Figure 6 1 is a cross-sectional view showing a method of combining the distal end portion 152 of the finger of the robot 100 and the fingertip 140 according to an embodiment of the present invention.

[0072] Reference Figure 5 , may include a first magnet 155 located at the end portion 152 of the finger and a second magnet 145 located at the fingertip 140. An end bracket 154 may be included, the end bracket 154 fixes the first magnet 155 to the end portion 152 of the finger, and the end bracket 154 contacts the bonding surface of the fingertip 140.

[0073] The first magnet 155 may be located at the center of the end bracket 154, and the center of the end bracket 154 where the first magnet 155 is disposed may protrude. A plurality of screws 153 that couple the end bracket 154 with the end portion 152 of the finger may protrude from the end bracket 154 to form a coupling protrusion 153.

[0074] like Figure 4 As shown, the coupling protrusion 153 may protrude from the periphery of the first magnet 155 , and the fingertip 140 may include a coupling groove 143 corresponding to the coupling protrusion 153 .

[0075] The coupling groove 143 and the coupling protrusion 153 can guide the fingertip 140 to be coupled to an accurate position, and can provide assistance when the fingertip 140 grasps an object, so that the fingertip 140 will not rotate and can stably remain fastened to the end portion 152 of the finger.

[0076] The N pole and S pole of the first magnet 155 and the second magnet 145 described later are arranged in the lateral direction and have a bilaterally symmetrical structure, and may have two or four coupling protrusions 153. The coupling protrusion 153 is a screw that fixes the end bracket 154 to the end portion 152 of the finger, and considering the coupling force, it is preferred that the four coupling protrusions (screws) 153 are arranged in a cross shape.

[0077] The coupling protrusion 153 and the coupling groove 143 can function as electrodes to electrically connect the fingertip 140 and the robot 100. In order to perform more precise operations, the fingertip 140 can be equipped with a sensor such as a tactile sensor or a force sensor. In order to receive information from the sensor of the fingertip 140, the fingertip 140 should be electrically connected to the end portion 152 of the finger.

[0078] The coupling protrusion 153 and coupling groove 143 that contact when the fingertip 140 is fastened to the end portion 152 of the finger can be used as electrodes to transmit information collected by the sensor 120 of the fingertip 140 to the control unit (robot control computer 300) of the robot system 1000.

[0079] The second magnet 145 disposed at a position opposite to the first magnet 155 at the distal end 152 of the finger may be located inside the fingertip head 141 of the fingertip 140. The fingertip head 141 is a member that directly contacts the clamped object, and in this embodiment, a hemispherical fingertip head 141 may be provided.

[0080] In order to be coupled with the distal end portion 152 of the finger, a second magnet 145 and a coupling groove 143 may be formed on one side of the finger tip 141. Figure 4 As shown in FIG. 1 , the first magnet 155 may protrude and protrude more than the coupling protrusion 153. The other side of the fingertip head 141 may contact an object and may be as shown in FIG. Figure 4 As shown, the shape is changed according to the application.

[0081] like Figure 6As shown in (a), the other side of the fingertip head 141 may be recessed corresponding to the protruding shape of the first magnet 155 , and the second magnet 145 may be located inside the recess on the other side of the fingertip head 141 .

[0082] The first magnet 155 and the second magnet 145 may be configured with an N pole and an S pole in a direction perpendicular to the coupling direction. In the accompanying drawings, the shaded portion is the N pole, and the unshaded portion is the S pole. Figure 6 As shown in (b), the magnetic poles of the first magnet 155 and the second magnet 145 can be configured so that the opposite poles face each other, so that when the first magnet 155 and the second magnet 145 are close to each other, an attractive magnetic force can be generated, so that the fingertip 140 is combined with the end portion 152 of the finger.

[0083] Figure 7 1 is a perspective view showing a method of combining the end portion 152 of the finger of the robot 100 with the fingertip 140 according to an embodiment of the present invention. Since the first magnet 155 and the second magnet 145 are arranged with N poles and S poles in the horizontal direction, if the N pole of the first magnet 155 and the S pole of the second magnet 145 are arranged in a staggered manner, an attractive force can be generated under the action of magnetic force, and the fingertip 140 can be rotated so that the N pole of the first magnet 155 and the S pole of the second magnet 145 are opposite to each other.

[0084] like Figure 7 When the magnetic poles of the second magnet 145 are arranged not in parallel with the arrangement direction of the magnetic poles of the first magnet 155 but arranged obliquely as shown in (a) or (c) of FIG. 1 , the fingertip 140 can be rotated to Figure 7 As shown in (b), the magnetic pole arrangement of the first magnet 155 and the magnetic pole arrangement of the second magnet 145 are opposite to each other.

[0085] exist Figure 7 In the case of (a), the fingertip 140 rotates clockwise. Figure 7 In the case of (c), the fingertip 140 is rotated in the counterclockwise direction, so that the fingertip 140 can be Figure 7 The second magnet 145 is coupled to the tip portion 152 of the finger in a state where the N pole of the second magnet 145 is arranged on the right side and the S pole of the second magnet 145 is arranged on the left side as shown in (b).

[0086] The end portion 152 of the finger may be provided with a Hall sensor (not shown). When the coupling protrusion 153 is inserted into the coupling groove 143, the Hall sensor detects that the strength of the second magnet 145 is the largest, and thus it can detect that the fingertip 140 is coupled.

[0087] On the other hand, in order to improve the fastening force between the coupling protrusion 153 and the coupling groove 143, a third magnet 144 may be further included at the inner side of the coupling groove 143. The third magnet 144 provides a force to pull the coupling protrusion 153 including the metal material. Since the first magnet 155 protrudes more than the coupling protrusion 153, when the fingertip 140 is coupled to the end portion 152 of the finger, it can be as shown in FIG. Figure 6 As shown in (b) of FIG. 1 , the first magnet 155 and the third magnet 144 are arranged side by side in the horizontal direction.

[0088] However, when the second magnet 145 is larger than the first magnet 155 and has a size that can cover the coupling groove 143, the second magnet 145 can provide a magnetic force to pull the coupling protrusion 153, so the third magnet 144 can be omitted. In addition, when the magnetic force of the second magnet 145 and the first magnet 155 is strong enough, the third magnet 144 can be omitted.

[0089] In addition, the third magnets 144 can also be used for identification marks. A Hall sensor is disposed at the end portion 152 of the finger, and the Hall sensor can detect different magnetic force changes according to the number of third magnets 144, and can identify the type of the fingertip 140 connected to the end portion 152 of the finger based on this.

[0090] At this time, the S pole of the third magnet 144 in the direction of the N pole of the first magnet 155 can be configured to face the center, and the N pole of the third magnet 144 in the direction of the S pole of the first magnet 155 can be configured to face the center, so that no repulsive force is generated between the first magnet 155 and the third magnet 144.

[0091] Since the magnet guides the coupling direction of the fingertip 140, even if the coupling protrusion 153 does not have an inclined surface or other structure to guide the rotation of the fingertip 140, the coupling groove 143 of the fingertip 140 can be coupled to the coupling protrusion 153 of the terminal portion 152 of the finger at an accurate position.

[0092] The magnets 145 and 155 can provide a coupling force in the coupling direction, and the coupling protrusion 153 and the coupling groove 143 can prevent the fingertip 140 from rotating on the finger. In addition, the fingertip 140 can be prevented from being separated from the end portion 152 of the finger under the action of the force applied in the horizontal direction. However, considering the size of the fingertip head 141, the thickness of the coupling protrusion 153 and the coupling groove 143 is relatively thin, so the resistance to the force in the horizontal direction is not very large.

[0093] Therefore, in order to compensate for this defect, the coupling surface of the fingertip head 141 may include a coupling ring 146 surrounding the periphery of the end portion 152 of the finger. The coupling ring 146 is a position that is coupled to the placement portion 210 of the fingertip bracket 200 described later while being fastened to the end portion 152 of the finger. In order to be coupled to the placement portion 210, the coupling ring 146 may include a placement groove 147 formed in a concave shape at the periphery.

[0094] Figure 8 1 is a diagram showing a fingertip support 200 of a robot system 1000 according to an embodiment of the present invention. The fingertip support 200 may include a placement portion 210 into which the coupling ring 146 of the fingertip 140 is inserted, and the placement portion 210 is located at a position separated from the ground by a predetermined distance. The placement portion 210 may be in a U-shape, one side of which is open, and the inner curvature of the placement portion 210 may be a curvature corresponding to the curvature of the fingertip 140.

[0095] The fingertip bracket 200 has a predetermined height, and a placement portion is provided at its upper end so that the other side of the fingertip head 141 of the fingertip 140 will not collide. The fingertip bracket 200 includes a plurality of placement portions 210 to place a plurality of fingertips 140. Since the robot 100 of the present invention includes three fingers, the fingertip bracket 200 may also include three placement portions 210. The placement portion 210 may protrude from the upper end of the fingertip bracket 200 with a thickness corresponding to the placement groove 147 formed in the coupling ring 146.

[0096] Fig. 9 1 is a diagram showing a method of fastening the fingertip 140 received in the fingertip holder 200 of the robot system 1000 according to an embodiment of the present invention. The placement portion 210 of the fingertip holder 200 can be combined with the placement groove 147 of the coupling ring 146 and restrict the movement of the fingertip 140 in the vertical direction.

[0097] Alternatively, the placement portion 210 has a U-shape with one side open, so that the fingertip 140 can be placed or removed along the open direction. Fig. 9 As shown in (a), the end portion 152 of the finger of the robot 100 descends from the vertical upper side to the lower side of the fingertip 140 placed on the placement portion 210 of the fingertip support 200. Under the action of the magnetic force of the first magnet 155 of the end portion 152 of the finger and the second magnet 145 of the fingertip 140, the fingertip 140 can be fastened to the end portion 152 of the finger.

[0098] like Figure 7 As described in the description, even if the direction of the second magnet 145 of the fingertip 140 is not consistent with the first magnet 155, it can be rotated in a state of being placed in the placement portion 210 to correspond to the arrangement of the first magnet 155.

[0099] When the first magnet 155 is combined with the second magnet 145 and the combining protrusion 153 is inserted into the combining groove 143, the robot 100 can Fig. 9 As in (b), the finger tip 140 is removed from the seating portion 210 by horizontally moving the distal end portion 152 of the finger in the direction of opening of the seating portion 210 .

[0100] As described above, the robot 100 of the present invention can be replaced with fingertips 140 that match the situation, so that it can grip objects of various shapes.

[0101] In addition, the robot 100 of the present invention can quickly perform replacement of the fingertips 140 without an additional assembly process, thereby minimizing the delay in the execution of the work.

[0102] In addition, the robot 100 of the present invention has the advantage of automatically replacing the fingertips 140 without requiring manual work.

[0103] In addition, the fingertip support 200 of the robot 100 of the present invention has a simple structure, so that the volume can be minimized.

[0104] The above detailed description should not be interpreted as limiting in all aspects, but should be considered as illustrative. The scope of the present invention should be determined according to the reasonable interpretation of the appended claims, and all changes made within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

1. A robot, wherein: include: A robotic arm including a plurality of joints capable of bending in various directions; a plurality of fingers coupled to one end of the robot arm; as well as Finger tips, respectively combined at the distal ends of the plurality of fingers; The distal end of the finger comprises: a first magnet; and A combining protrusion is located around the first magnet; The fingertips include: The fingertips are in contact with the object being held; a second magnet, located at the fingertip and combined with the first magnet; and A coupling groove is provided on one side of the fingertip for the coupling protrusion to be inserted into.

2. The robot according to claim 1, characterized in that: The combining protrusion comprises a metal material, The second magnet has a size greater than that of the first magnet, and the second magnet is arranged to overlap at least a portion of the coupling groove.

3. The robot according to claim 1, characterized in that: The S pole and the N pole of the first magnet are arranged adjacent to each other along a first direction, The N pole and S pole of the second magnet are arranged adjacent to each other along the first direction, so that the N pole of the second magnet faces the S pole of the first magnet, and the S pole of the second magnet faces the N pole of the first magnet.

4. The robot according to claim 3, characterized in that: The invention also includes a third magnet located inside the coupling groove.

5. The robot according to claim 4, characterized in that: The first magnet is more protruding than the coupling protrusion, When the fingertip is coupled to the distal end of the finger, the first magnet and the third magnet are adjacently arranged so that the S pole of the first magnet faces the N pole of the third magnet and the N pole of the first magnet faces the S pole of the third magnet.

6. The robot according to claim 5, characterized in that: The coupling groove is provided with a pair along the first direction, The S pole of the first magnet is arranged to face the N pole of the third magnet, and the N pole of the first magnet is arranged to face the S pole of the third magnet.

7. The robot according to claim 1, characterized in that: The fingertip further includes a coupling ring, which surrounds the first magnet and an outer periphery of the coupling protrusion on one side of the fingertip.

8. The robot according to claim 7, characterized in that: The coupling ring comprises a placement groove which is recessed inwardly at the outer peripheral edge.

9. The robot according to claim 1, characterized in that: The shape of the fingertip head includes at least one of a hemispherical type including a convex curved surface, a groove type including a concave portion concave inwardly, and a long-extending fin type.

10. A robot system, wherein: include: A robot comprising a plurality of fingers, wherein the plurality of fingers are coupled to one end of a robot arm comprising a plurality of joints; Finger tips, respectively combined at the distal ends of the plurality of fingers; as well as A fingertip support, used for placing the fingertip; The fingertips include: The fingertips are in contact with the object being held; a bonding ring surrounding the periphery of the distal end of the finger on one side of the fingertip; and A placement groove is recessed inwardly at the outer peripheral edge of the coupling ring; The fingertip support includes a placement portion, the placement portion is inserted into the placement groove of the fingertip, and one side of the placement portion is open to form a U shape.

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