Robotic gripper

Abstract

A robot gripper is provided, including a first gripper disposed at a base bracket and configured to move in a first direction, a second gripper disposed at the base bracket and configured to rotate in a second direction, and a third gripper disposed at the base bracket and configured to rotate in the second direction. The third gripper is configured to face the second gripper.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0186756, filed with the Korean Intellectual Property Office on December 16, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a gripper for a robot. More specifically, this disclosure relates to a gripper for a robot capable of loading and unloading components using magnetic force. Background Technology

[0004] Various automated processes are employed and applied in vehicle manufacturing. For example, automated processes can be used to pick up parts, move parts to target locations, and use robots for unloading.

[0005] In some cases, it may be necessary to use robots corresponding to different sizes and shapes of parts in order to grasp them. In some cases, using multiple robots to grasp parts of various sizes and shapes may increase installation costs and occupy space in the automated process. Summary of the Invention

[0006] This disclosure describes a gripping device for a robot, which is used to grip parts of various sizes and shapes and unload the parts to a target location.

[0007] According to one aspect of the subject matter described in this application, a gripping device for vehicle manufacturing includes: a base support; a first gripper disposed on the base support and configured to move along a first direction, the first gripper being configured to grip a component of a vehicle; a second gripper disposed on the base support and configured to rotate along a second direction, the second gripper being configured to grip a component; and a third gripper disposed on the base support and configured to rotate along the second direction, the third gripper being configured to grip a component. The third gripper is configured to face the second gripper.

[0008] Implementations of this aspect may include one or more of the following features. For example, the first gripper may include: a first main support coupled to a base support; a first gripping portion disposed on the first main support and configured to selectively grip components by magnetic force; and a first floating portion configured to provide elasticity between the first main support and the first gripping portion and configured to support the first gripping portion to move in a first direction.

[0009] In some embodiments, the first floating portion may include: a first floating support configured to support the first gripping portion; and a first elastomer configured to provide elastic force between the first main support and the first floating support along a first direction. In some examples, the first gripping portion may include: a first magnetic force generator configured to generate magnetic force; a first pneumatic generator configured to generate pneumatic pressure and configured to move the first magnetic force generator; and a first clamping portion configured to grip the magnetic force generated by the first magnetic force generator. For example, the first pneumatic generator may include: a first piston; and a first solenoid configured to operate the first piston.

[0010] In some embodiments, the second gripper may include: a second main support disposed at a base support; a second gripping part disposed at the second main support and configured to selectively grip components by magnetic force; and a second floating part configured to provide elasticity between the second main support and the second gripping part, and configured to support the second gripping part to move along a third direction orthogonal to the first and second directions.

[0011] In some embodiments, the second floating portion may include: a second floating support configured to support the second gripping portion and hinged to the second main support; and a plurality of elastic bodies configured to provide elasticity between the second main support and the second floating support. For example, the plurality of elastic bodies may include two elastic bodies arranged along a first direction.

[0012] In some embodiments, the second gripping part may include: a second magnetic force generator configured to generate magnetic force; a second pneumatic generator configured to generate pneumatic pressure and configured to move the second magnetic force generator; and a second clamping part configured to grip the magnetic force generated by the second magnetic force generator. In some examples, the second pneumatic generator may include: a second piston; and a second solenoid configured to operate the second piston.

[0013] In some embodiments, the third gripper may include: a third main support disposed at the base support; a third gripping portion disposed at the third main support and configured to selectively grip components by magnetic force; and a third floating portion configured to provide elasticity between the third main support and the third gripping portion, and configured to support the third gripping portion for movement along a third direction orthogonal to the first and second directions. In some examples, the third floating portion may include: a third floating support configured to support the third gripping portion and hinged to the third main support; and a plurality of elastic bodies configured to provide elasticity between the third main support and the third floating support. For example, the plurality of elastic bodies may include two elastic bodies arranged along the first direction.

[0014] In some embodiments, the third gripping unit may include: a third magnetic force generator configured to generate magnetic force; a third pneumatic generator configured to generate pneumatic pressure to move the third magnetic force generator; and a third clamping unit configured to grip the magnetic force generated by the third magnetic force generator. In some examples, the third pneumatic generator may include: a third piston; and a third solenoid configured to operate the third piston.

[0015] In some embodiments, the second and third grippers are symmetrically arranged about the first gripper. In some embodiments, the first, second, and third grippers are configured to define a triangle in a plane perpendicular to a first direction.

[0016] In some implementations, multiple floating parts can be used to precisely grasp curved and complex-shaped components.

[0017] In some implementations, the position of the component can be actively corrected when gripping the component. Attached Figure Description

[0018] Since these accompanying drawings are provided for reference only in describing exemplary embodiments of the present disclosure, the technical ideas of the present disclosure should not be construed as being limited to the drawings.

[0019] Figure 1 This is a conceptual diagram illustrating an example construction of a robotic system that utilizes a gripping device.

[0020] Figure 2 This is a block diagram illustrating an example construction of a robotic system.

[0021] Figure 3 This is a perspective view showing an example construction of the gripping device.

[0022] Figure 4 Figure 5 is a perspective view showing an example component of the gripping device.

[0023] Figure 6 and Figure 7 This is a perspective view showing an example construction of the first gripper of the gripping device.

[0024] Figure 8 and Figure 9 This is a perspective view showing an example construction of the second gripper of the gripping device.

[0025] Figure 10 and Figure 11 This is a perspective view showing an example construction of the third gripper of the gripping device.

[0026] Figure 12 This is a flowchart used to describe an example operation of the gripping device. Detailed Implementation

[0027] The gripping device used in vehicle manufacturing is described in detail below with reference to the accompanying drawings.

[0028] Figure 1 This is a conceptual diagram illustrating an example construction of a robotic system including a gripping device. Figure 2 This is a block diagram illustrating an example construction of a robotic system.

[0029] In some implementations, refer to Figure 1 and Figure 2 The robot system may include: a gripping device 20; a tray 30 on which parts are loaded; a loading fixture 40 for placing parts; an articulated robot 10 for loading parts loaded on the tray 30 and unloading parts into the loading fixture 40; and a controller 50 for controlling the articulated robot 10.

[0030] In some examples, the multi-joint robot 10 can be implemented as a six-axis multi-joint robot 10, which is capable of moving along the x-axis, y-axis and z-axis directions of the robot based on the base 11, and rotating along the Rx-axis, Ry-axis and Rz-axis directions.

[0031] In some embodiments, the gripping device 20 may be configured to selectively grip parts and is disposed at the end of the articulated robot 10. The robot's gripping device 20 may be configured to unload parts from the tray 30 in one direction (e.g., vertical) and load parts into the loading fixture 40 in one direction (e.g., vertical).

[0032] In some embodiments, the direction (e.g., vertical) in which the gripping device 20 of the articulated robot 10 grips and loads the component from the tray 30 can be the same as the direction (e.g., vertical) in which the articulated robot 10 unloads the component onto the loading fixture 40.

[0033] In some embodiments, the articulated robot 10 may include various sensors, wherein the controller 50 may control the articulated robot 10 and the gripping device 20 mounted on the articulated robot 10 based on information detected by the sensors. The controller 50 may include a robot controller 50 and a vision controller 50. The robot controller 50 and the vision controller 50 may be integrated into a single controller 50.

[0034] In some examples, controller 50 may include circuitry, a computer, a processor, or a pneumatic controller. For example, controller 50 may be implemented using one or more processors operated by a predetermined program, and the memory of controller 50 stores program instructions programmed to execute each step of the control method of the multi-joint robot 10, including the gripping device 20 of the robot according to the present disclosure, via one or more processors.

[0035] Figure 3 This is a perspective view showing an example construction of the gripping device. Figure 4 Figure 5 is a perspective view showing an example component of the gripping device.

[0036] like Figure 3 As shown in Figure 5, the robot's gripping device 20 may include: a mounting bracket 21 mounted on the end of the articulated robot 10; multiple sensors mounted on the mounting bracket 21; a mounting bracket 23 mounted on the lower part of the mounting bracket 21; a base bracket 24 mounted on the lower part of the mounting bracket 23; and a first gripper 100 to a third gripper 300, with the base bracket 24 mounted on the first gripper 100 to the third gripper 300.

[0037] The multiple sensors may include a vision sensor 22 mounted on the bracket 21 and a torque sensor 25 mounted on the bracket 21.

[0038] The vision sensor 22 can capture images of the environment surrounding the robot's gripping device 20, and the captured images can be sent to the controller 50. The vision sensor 22 can be implemented as a three-dimensional structured light sensor capable of capturing large areas at a fast scanning speed.

[0039] The controller 50 determines the position of the articulated robot 10 (e.g., x-axis, y-axis, z-axis, Rx, Ry, Rz positions) based on the images captured by the vision sensor 22, and can control the articulated robot 10 based on the determined position. In other words, the controller 50 can control the articulated robot 10 to transfer to the tray 30 containing parts, control the articulated robot 10 to load parts from the tray 30 via the robot's gripping device 20, control the parts loaded into the articulated robot 10 to transfer to the loading fixture 40, and control the parts loaded into the articulated robot 10 to unload onto the loading fixture 40.

[0040] Torque sensor 25 can measure the torque (or force) transmitted to the gripper 20 of the robot, and the torque (or force) measured by torque sensor 25 can be sent to controller 50. Controller 50 can stably grip the component based on the torque measured by torque sensor 25.

[0041] In some examples, the robot’s gripping device 20 may include a first gripper 100, a second gripper 200, and a third gripper 300 capable of gripping components by magnetic force.

[0042] The first gripper 100, the second gripper 200, and the third gripper 300 can be mounted on the base bracket 24. The second gripper 200 and the third gripper 300 can be arranged symmetrically about the first gripper 100.

[0043] The first gripper 100 can be configured to move along a first direction (e.g., the z-axis direction) designated as a gripping member. The second gripper 200 can be configured to rotate along a second direction (e.g., the Rx direction) designated as a gripping member. The third gripper 300 can be configured to rotate along the second direction (e.g., the Rx direction) designated as a gripping member. That is, the second gripper 200 and the third gripper 300 are configured to rotate about the x-axis. The third gripper 300 can be configured to face the second gripper 200.

[0044] In some implementations, the first gripper 100, the second gripper 200, and the third gripper 300 may be configured to form a triangle about a plane perpendicular to a first direction (e.g., the z-axis direction). For example, the first gripper 100, the second gripper 200, and the third gripper 300 are configured to form a triangle in the xy-plane to stably grip the component.

[0045] Reference Figure 6 and Figure 7 The first gripper 100 may include a first main support 110, a first gripping part 120 and a first floating part 130.

[0046] The first main support 110 is mounted on the lower part of the base support 24, and the first gripping part 120 can be mounted on the first main support 110. The first gripping part 120 can selectively grip components by magnetic force.

[0047] The first floating part 130 can be installed between the first main support 110 and the first gripping part 120. The first floating part 130 can provide elasticity between the first main support 110 and the first gripping part 120, so that the first gripping part 120 floats in a first direction.

[0048] In some embodiments, the first floating part 130 may include a first floating support 131 and a first elastic body 132.

[0049] The first floating bracket 131 supports the first gripping part 120 and can form an approximately inverted "L" shape. That is, the first gripping part 120 is fixed to the first floating bracket 131, so that the first floating bracket 131 and the first gripping part 120 can float as a unit.

[0050] The first elastic element 132 can provide elastic force between the first main support 110 and the first floating support 131 along a first direction. For this purpose, the first elastic element 132 can be implemented as a compression coil spring. In some examples, the first elastic elements 132 can be arranged in pairs, and the pair of first elastic elements 132 can be arranged parallel to the first direction.

[0051] The first gripping part 120 may include a first magnetic force generator 140, a first pneumatic generator 150, and a first clamping part 160.

[0052] The first magnetic force generator 140 can generate magnetic force to grip the component. For example, the first magnetic force generator 140 can be implemented as a neodymium magnet. The magnetic force generated by the first magnetic force generator 140 is applied to the component through the first clamping part 160, thereby enabling the first gripping part 120 to grip the component.

[0053] The first pneumatic generator 150 can generate pneumatic pressure to move the first magnetic generator 140 in a predetermined direction (e.g., the vertical direction with respect to the figures). For example, the first pneumatic generator 150 may include a first solenoid 151 and a first piston 152 operated by the first solenoid 151. When the first solenoid 151 is operated, air pressure is generated inside the first gripping portion 120, thereby causing the first piston 152 to move downward. As the first piston 152 moves downward, the first magnetic generator 140 disposed at the lower part of the first piston 152 can move downward.

[0054] When the first magnetic force generator 140 moves downward and approaches the component, the magnetic force of the first magnetic force generator 140 is applied to the component through the first clamping part 160, thereby enabling the first gripping part 120 to firmly grip the component.

[0055] In some cases, if the first pneumatic generator 150 does not generate pneumatic pressure, the first piston 152 and the first magnetic generator 140 will move upward, and the first magnetic generator 140 will move away from the component. Therefore, the component gripped by the first clamping part 160 can be released from the first clamping part 160.

[0056] The first clamping portion 160 can be in close contact with the component. The first clamping portion 160 can be formed of a flexible material with adhesive properties, such as rubber. Because the first clamping portion 160 is formed of a flexible material, the component can be prevented from being scratched or damaged when the first clamping portion 160 is in close contact with the component.

[0057] When a component approaches the first magnetic force generator 140, the magnetic force can attract the metal component to the first gripping part 120, thereby allowing the component to be loaded. In this case, the first clamping part 160, made of flexible material, can prevent damage or scratches to the component.

[0058] When the component moves away from the first magnetic generator 140, the component adsorbed on the first gripping part 120 can be separated from the first gripping part 120, and the component can be unloaded.

[0059] Reference Figure 8 and Figure 9The second gripper 200 may include a second main support 210, a second gripping part 220, and a second floating part 230.

[0060] The second main support 210 can be installed on the lower part of the base support 24, and the second gripping part 220 can be installed on the second main support 210. The second gripping part 220 can selectively grip components by magnetic force.

[0061] The second floating part 230 can be installed between the second main support 210 and the second gripping part 220. The second floating part 230 can provide elasticity between the second main support 210 and the second gripping part 220, so that the second gripping part 220 floats in a second direction.

[0062] In some embodiments, the second floating part 230 may include a second floating support 231 and a second elastic body 232.

[0063] The second floating support 231 can support the second gripping part 220. That is, the second gripping part 220 is fixed to the second floating support 231, so that the second floating support 231 and the second gripping part 220 can float as a unit.

[0064] The second floating support 231 can be hinged to the second main support 210. For example, the second floating support 231 can be hinged to the second main support 210 via a hinge shaft 211 provided on the second main support 210. Therefore, the second floating support 231 and the second gripping part 220 can rotate in the second direction (Rx direction).

[0065] The second elastic body 232 can provide elastic force along a second direction (Rx direction) between the second main support 210 and the second floating support 231. In some embodiments, a pair of second elastic bodies 232 can be disposed between the second main support 210 and the second floating support 231 along a first direction (x-axis direction) centered on the hinge axis 211. The second elastic body 232 can be implemented as a compression coil spring. By positioning the second elastic bodies 232 above and below the hinge axis 211, the second floating support 231 and the second gripping part 220 can rotate about the second main support 210 along the second direction (Rx direction). For example, a pair of second elastic bodies 232 can be configured to compress and extend with different displacements and support the second gripping part 220 to rotate about the x-axis. That is, a pair of second elastic bodies 232 can be configured to move about each other in the y-direction.

[0066] The second gripping part 220 may include a second magnetic force generator 240, a second pneumatic generator 250, and a second clamping part 260.

[0067] The second magnetic force generator 240 can generate magnetic force to grip the component. In some embodiments, the second magnetic force generator 240 can be implemented as a neodymium magnet. The magnetic force generated by the second magnetic force generator 240 is applied to the component through the second clamping part 260, thereby enabling the second gripping part 220 to grip the component.

[0068] The second pneumatic generator 250 can generate pneumatic pressure to move the second magnetic generator 240 in a predetermined direction (e.g., the vertical direction with respect to the figures). In some embodiments, the second pneumatic generator 250 may include a second solenoid 251 and a second piston 252 operated by the second solenoid 251. When the second solenoid 251 is activated, air pressure is generated inside the second gripping portion 220, causing the second piston 252 to move downward. As the second piston 252 moves downward, the second magnetic generator 240, located at the lower part of the second piston 252, can move downward.

[0069] When the second magnetic force generator 240 moves downward and approaches the component, the magnetic force of the second magnetic force generator 240 is applied to the component through the second clamping part 260, thereby enabling the second gripping part 220 to firmly grip the component.

[0070] In some cases, if the second pneumatic generator 250 does not generate pneumatic pressure, the second piston 252 and the second magnetic generator 240 will move upwards, and the second magnetic generator 240 will move away from the component. Therefore, the component gripped by the second clamping part 260 can be released from the second clamping part 260.

[0071] The second clamping part 260 can be in close contact with the component. The second clamping part 260 can be formed of a flexible material with adhesive properties, such as rubber. Because the second clamping part 260 is formed of a flexible material, the component can be prevented from being scratched or damaged when the second clamping part 260 is in close contact with the component.

[0072] When a component approaches the second magnetic generator 240, the magnetic force can attract the metal component to the second gripping part 220, thereby allowing the component to be loaded. In this case, the second gripping part 260, formed of a flexible material, can prevent damage or scratches to the component.

[0073] When the component moves away from the second magnetic generator 240, the component adsorbed on the second gripping part 220 can be separated from the second gripping part 220 and the component can be unloaded.

[0074] In some examples, the second gripper 220 may be equipped with a first proximity sensor 270. The first proximity sensor 270 can measure the distance to the component, and the measured distance to the component can be sent to the controller 50. The first proximity sensor 270 can determine whether the component has been gripped.

[0075] Reference Figure 10 and Figure 11 The third gripper 300 may include a third main support 310, a third gripping part 320 and a third floating part 330.

[0076] The third main support 310 can be installed on the lower part of the base support 24, and the third gripping part 320 can be installed on the third main support 310. The third gripping part 320 can selectively grip components by magnetic force.

[0077] The third floating part 330 can be installed between the third main support 310 and the third gripping part 320. The third floating part 330 can provide elasticity between the third main support 310 and the third gripping part 320, so that the third gripping part 320 floats in the second direction.

[0078] In some embodiments, the third floating part 330 may include a third floating support 331 and a third elastic body 332.

[0079] The third floating support 331 can support the third gripping part 320. That is, the third gripping part 320 is fixed to the third floating support 331, so that the third floating support 331 and the third gripping part 320 can float as a unit.

[0080] The third floating support 331 can be hinged to the third main support 310. For example, the third floating support 331 can be hinged to the third main support 310 via a hinge shaft 311 provided on the third main support 310. Therefore, the third floating support 331 and the third gripping part 320 can rotate in the second direction (Rx direction).

[0081] The third elastic body 332 can provide elastic force along the second direction (Rx direction) between the third main support 310 and the third floating support 331. In some embodiments, a pair of third elastic bodies 332 can be disposed between the third main support 310 and the third floating support 331 along a first direction (x-axis direction) centered on the hinge axis 311. The third elastic body 332 can be implemented as a compression coil spring. By positioning the third elastic bodies 332 above and below the hinge axis 311, the third floating support 331 and the third gripping part 320 can float about the third main support 310 along the second direction (Rx direction).

[0082] For example, a pair of third elastic bodies 332 can be configured to compress and extend at different displacements and support the third gripping part 320 to rotate about the x-axis. That is, the pair of third elastic bodies 332 can be configured to move about each other in the y-direction.

[0083] The third gripping part 320 may include a third magnetic force generator 340, a third pneumatic generator 350, and a third clamping part 360.

[0084] The third magnetic force generator 340 can generate magnetic force to grip the component. In some embodiments, the third magnetic force generator 340 can be implemented as a neodymium magnet. The magnetic force generated by the third magnetic force generator 340 is applied to the component through the third clamping part 360, thereby enabling the third gripping part 320 to grip the component.

[0085] The third pneumatic generator 350 can generate pneumatic pressure to move the third magnetic generator 340 in a predetermined direction (e.g., the vertical direction with respect to the figures). In some embodiments, the third pneumatic generator 350 may include a third solenoid 351 and a third piston 352 operated by the third solenoid 351. When the third solenoid 351 is operated, air pressure is generated inside the third gripping part 320, thereby causing the third piston 352 to move downward. As the third piston 352 moves downward, the third magnetic generator 340, located at the lower part of the third piston 352, can move downward.

[0086] When the third magnetic force generator 340 moves downward and approaches the component, the magnetic force of the third magnetic force generator 340 is applied to the component through the third clamping part 360, thereby enabling the third gripping part 320 to firmly clamp the component.

[0087] In some cases, if the third pneumatic generator 350 does not generate pneumatic pressure, the third piston 352 and the third magnetic generator 340 will move upwards, and the third magnetic generator 340 will move away from the component. Therefore, the component clamped by the third clamping part 360 can be released from the third clamping part 360.

[0088] The third clamping part 360 can be in close contact with the component. The third clamping part 360 can be formed of a flexible material with adhesive properties, such as rubber. Because the third clamping part 360 is formed of a flexible material, the component can be prevented from being scratched or damaged when the third clamping part 360 is in close contact with the component.

[0089] When a component approaches the third magnetic force generator 340, the magnetic force can attract the metal component to the third gripping part 320, thereby allowing the component to be loaded. In this case, the third gripping part 360, made of a flexible material, can prevent damage or scratches to the component.

[0090] When the component moves away from the third magnetic generator 340, the component adsorbed on the third gripping part 320 can be separated from the third gripping part 320 and the component can be unloaded.

[0091] In some examples, the third gripper 320 may be equipped with a second proximity sensor 370. The second proximity sensor 370 can measure the distance to the component, and the measured distance can be sent to the controller 50. The second proximity sensor 370 can determine whether the component has been gripped.

[0092] The operation of the robot system, including the robot's gripping device 20, will be described in detail below with reference to the accompanying drawings.

[0093] Figure 12 This is a flowchart describing the operation of the robot's gripping device 20.

[0094] Reference Figure 12 The controller 50 can move the articulated robot 10 to the tray 30 containing the parts, and the vision sensor 22 can capture images of the area around the tray 30 and send the images to the controller 50 (S10). The controller 50 can determine the three-dimensional coordinates of the parts from the images captured by the vision sensor 22.

[0095] The controller 50 can move the gripping device 20 of the articulated robot 10 to the position of the gripping component using the determined three-dimensional coordinates (S20). In this case, the gripping device 20 of the articulated robot 10 can be positioned above the component to be gripped.

[0096] The controller 50 can grasp both sides of the component via the second gripper 200 and the third gripper 300 (S30). The controller 50 can control the gripping device 20 of the articulated robot 10 to approach the component, thus enabling both sides of the component to be grasped by the second gripping part 260 of the second gripper 200 and the third gripping part 360 of the third gripper 300. In this case, even if there is an error in the coordinates of the component determined by the vision sensor 22, the component can be accurately grasped according to its curvature profile and shape because the second floating part 230 and the third floating part 330 float along the second direction (Rx direction).

[0097] The controller 50 can grasp the center of the component via the first gripper 100 (S40). When the component is gripped on both sides by the second gripper 260 and the third gripper 360, the controller 50 controls the gripping device 20 of the articulated robot 10 to move closer to the component, thereby enabling the first gripper 160 of the first gripper 100 to grasp the center of the component. In this case, even if there is an error in the coordinates of the component determined by the vision sensor 22, the component can be accurately grasped according to its z-axis shape because the first floating part 130 floats along the first direction (z-axis direction).

[0098] The controller 50 can firmly grip both sides of the component via the second magnetic force generator 240 and the third magnetic force generator 340 (S50). The controller 50 can operate the second pneumatic generator 250 and the third pneumatic generator 350 to bring the second magnetic force generator 240 and the third magnetic force generator 340 closer to the component.

[0099] Therefore, the second gripping part 220 and the third gripping part 320 can firmly grip both sides of the component by the magnetic force generated by the second magnetic force generator 240 and the third magnetic force generator 340.

[0100] When both sides of a component are gripped by the magnetic forces of the second magnetic force generator 240 and the third magnetic force generator 340, the controller 50 can control the articulated robot 10 to lift the robot's gripping device 20 upwards (in the z-axis direction) by a predetermined distance (e.g., 20mm to 30mm) (S60). In this case, only the second pneumatic generator 250 and the third pneumatic generator 350 are operated, and the second magnetic force generator 240 and the third magnetic force generator 340 grip both sides of the component to prevent gripping two or more components.

[0101] The controller 50 can determine whether the robot's gripping device 20 has correctly gripped the part by proximity sensors 270 and 370 (S70).

[0102] If it is determined that the part was not gripped correctly, it may fall off the robot's gripping device 20 during the process of removing the part from the pallet 30 and transferring it to the loading fixture 40. To prevent this, the controller 50 can stop the operation of the second pneumatic generator 250 and the third pneumatic generator 350 and proceed to step S10 to re-execute the part gripping step.

[0103] If it is determined that the component has been correctly gripped, the center of the component can be gripped by the first gripper 100 (S80). In this case, the controller 50 can operate the first pneumatic generator 150 to bring the first magnetic force generator 140 closer to the component. Therefore, the first gripping part 120 can firmly grip the center of the component by the magnetic force generated by the first magnetic force generator 140.

[0104] In step S80, when the part is firmly gripped by the first gripping part 120 to the third gripping part 320, the controller 50 controls the articulated robot 10 to lift the robot's gripping device 20 in the upward direction (z-axis direction) so as to remove the part from the tray 30 (S90).

[0105] After the part is removed from the tray 30, the controller 50 can control the articulated robot 10 to position the robot's gripping device 20 on the upper part of the loading fixture 40, and control the first gripper 100 to the third gripper 300 to place the part on the loading fixture 40 (S100).

[0106] In some embodiments, the robot's gripping device 20 and the robot system including the gripping device 20 have multiple floating parts to precisely grip curved and complex-shaped components.

[0107] Furthermore, when grasping parts, the position of the parts can be actively corrected using magnetic and pneumatic generators, which increases the degree of freedom of part grasping and makes the robot's grasping device 20 easier to standardize.

[0108] While this disclosure has been described in conjunction with what is now considered to be a practical implementation, it should be understood that this disclosure is not limited to the disclosed implementation, but is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A gripping device for vehicle manufacturing, the gripping device comprising: Base support; A first gripper is disposed at the base bracket and moves in a first direction, the first gripper gripping a component of the vehicle; A second gripper is disposed at the base support and rotates in a second direction, and the second gripper grips the component; as well as A third gripper, disposed at the base support and rotating in the second direction, grips the component. The third gripper faces the second gripper.

2. The gripping device according to claim 1, wherein, The first grabber includes: The first main support is connected to the base support; A first gripping part is disposed at the first main support and selectively grips the component by magnetic force; and The first floating part provides elasticity between the first main support and the first gripping part, and supports the first gripping part to move along the first direction.

3. The gripping device according to claim 2, wherein, The first floating part includes: A first floating support supports the first gripping part; and A first elastic body provides elastic force between the first main support and the first floating support along the first direction.

4. The gripping device according to claim 2, wherein, The first gripping unit includes: The first magnetic force generator produces magnetic force; A first pneumatic generator generates pneumatic pressure and moves the first magnetic generator; and The first clamping part grips the component using the magnetic force generated by the first magnetic force generator.

5. The gripping device according to claim 4, wherein, The first pneumatic generator includes: First piston; and The first solenoid operates the first piston.

6. The gripping device according to claim 1, wherein, The second gripper includes: The second main support is installed at the base support; The second gripping part is disposed at the second main support and selectively grips the component by magnetic force; and The second floating part provides elasticity between the second main support and the second gripping part, and supports the second gripping part to rotate in the second direction.

7. The gripping device according to claim 6, wherein, The second floating part includes: A second floating support supports the second gripping part and is hinged to the second main support; and Multiple elastomers provide elasticity between the second main support and the second floating support.

8. The gripping device according to claim 7, wherein, The plurality of elastomers includes two elastomers arranged along the first direction.

9. The gripping device according to claim 6, wherein, The second gripping unit includes: The second magnetic force generator produces magnetic force; The second pneumatic generator generates pneumatic pressure and moves the second magnetic generator; and The second clamping part grips the component using the magnetic force generated by the second magnetic force generator.

10. The gripping device according to claim 9, wherein, The second pneumatic generator includes: The second piston; and The second solenoid operates the second piston.

11. The gripping device according to claim 1, wherein, The third grabber includes: The third main support is installed at the base support; A third gripping part is disposed at the third main support and selectively grips the component by magnetic force; and The third floating part provides elasticity between the third main support and the third gripping part, and supports the third gripping part to rotate in the second direction.

12. The gripping device according to claim 11, wherein, The third floating part includes: A third floating support supports the third gripping part and is hinged to the third main support; and Multiple elastomers provide elasticity between the third main support and the third floating support.

13. The gripping device according to claim 12, wherein, The plurality of elastomers includes two elastomers arranged along the first direction.

14. The gripping device according to claim 11, wherein, The third gripping unit includes: The third magnetic force generator produces magnetic force; A third pneumatic generator generates pneumatic pressure to move the third magnetic generator; and The third clamping part grips the component using the magnetic force generated by the third magnetic force generator.

15. The gripping device according to claim 14, wherein, The third pneumatic generator includes: The third piston; and The third solenoid operates the third piston.

16. The gripping device according to claim 1, wherein, The second gripper and the third gripper are arranged symmetrically about the first gripper.

17. The gripping device according to claim 1, wherein, The first gripper, the second gripper, and the third gripper define a triangle in a plane perpendicular to the first direction.

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