Suction device, robot end effector, and robot

Abstract

The adsorption device (100) of the present invention includes an adsorption body (110) having an inner surface (112) that contacts the object to be adsorbed and having pores (116) in the center, and a holder (120) having an air passage (122) communicating with the pores (116) and the air passage (122) being connected to a vacuum device. The inner surface (112) of the adsorption body (110) is provided with a directional dry adhesive layer (130), and the directional dry adhesive layer (130) has a plurality of micro-wedge structures (132). This adsorption device achieves stable loading and unloading of the micro-wedge structure of the directional dry adhesive layer by deformation of the adsorption body due to negative pressure, improves the shear force and torque load capacity of the adsorption device without substantially sacrificing the vacuum adsorption force along the adsorption direction, and does not leave colloidal residue on the surface of the object to be adsorbed. Alternatively, a robot end effector and a robot are also provided.

Description

Technical Field

[0001] The present invention relates to a suction device, and particularly to a suction-type suction device and a robot equipped with the suction device.

Background Art

[0002] Conventional suction-type devices have problems such as weak shear load, torque load, and moment resistance. Some suction devices are designed as anti-slip suction devices, and a hard rubber material is provided next to the pores of the suction part. The problem with this solution is that the rubber material needs to be strongly pressed against the surface of the object in order to generate sufficient friction, and this pressure is determined by the required friction and the coefficient of friction. The coefficient of friction is usually less than 1, and this pressure consumes the suction force due to the balance of forces. Also, the use of an additional adhesive can significantly increase the coefficient of friction or the adhesive force, so that a suction force can be provided even with a small pressing force. However, most adhesives become difficult to separate from the object once used, leaving residues that are difficult to clean on the surface.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Based on this, there is a need to provide a suction device having good suction force and not leaving residues, and a robot equipped with the suction device.

Means for Solving the Problems

[0004] In one embodiment, a suction device is provided, which includes the following. A suction body having pores in the central part and configured such that the inner surface contacts the object to be adsorbed; A holder connected to the suction body, having an air passage communicating with the pores and configured such that the air passage is connected to a vacuum device; A directional dry adhesive layer provided on the inner surface of the suction body. The directional dry adhesive layer has a plurality of microwedge structures that are inclined away from the pores. According to the adsorption device of the above embodiment, the deformation of the adsorption body due to negative pressure enables stable loading and unloading of the microwedge structure of the directional dry adhesive layer, improves the shear force and torque load capacity of the adsorption device without substantially sacrificing the vacuum adsorption force along the adsorption direction, and leaves no colloidal residue on the surface of the object to be adsorbed.

[0005] In one embodiment, the suction body is made of a deformable material, and the holder includes a holder body and support legs connected to the holder body, the support legs surrounding the suction body, and the support legs are configured to come into contact with the object to be suctioned when the suction device is pressed against the object to be suctioned and the suction body deforms in contact with the object to be suctioned.

[0006] Furthermore, the suction device further includes auxiliary support legs, a deformable diaphragm, and an auxiliary directional dry adhesive layer, wherein the auxiliary support legs are located between the holder body and the support legs and are connected to the holder body via the deformable diaphragm, and the auxiliary directional dry adhesive layer is provided at the bottom of the auxiliary support legs.

[0007] In one embodiment, the number of deformable diaphragms is multiple, and the multiple deformable diaphragms are spaced apart from each other between the auxiliary support legs and the holder body.

[0008] In one embodiment, the suction body is made of a deformable material, the holder includes a holder body and support legs connected to the holder body, the suction body surrounds the support legs, and the support legs are configured to come into contact with the object to be suctioned when the suction device is pressed against the object to be suctioned and the suction body deforms in contact with the object to be suctioned.

[0009] In one embodiment, the suction device includes an auxiliary support leg, a deformable diaphragm, and an auxiliary directional dry adhesive layer, wherein the auxiliary support leg is located inside the support leg and connected to the holder body via the deformable diaphragm, and the auxiliary directional dry adhesive layer is provided at the bottom of the auxiliary support leg.

[0010] In one embodiment, the number of deformable diaphragms is multiple, and the multiple deformable diaphragms are spaced apart from each other between the auxiliary support legs and the holder body.

[0011] In one embodiment, the plurality of microwedge structures are arranged in a circular shape, with a plurality of microwedge structures provided around each circumference.

[0012] A robot end effector, comprising the suction device described in any one of the above items.

[0013] A robot, including an end effector as described in any one of the above items. [Brief explanation of the drawing]

[0014] To more clearly describe embodiments of the present invention or prior art, the drawings necessary for describing the embodiments or prior art will be briefly described. The drawings described below are merely those shown for embodiments of the present invention, and it will be clear that those skilled in the art can obtain drawings of other embodiments based on these drawings without requiring any creative effort. [Figure 1A] This is a schematic diagram of the adsorption device according to the first embodiment. [Figure 1B] Figure 1A is a schematic diagram showing the adsorption device fixed to the object to be adsorbed. [Figure 1C] This is a magnified view of area C in Figure 1B. [Figure 2A] This is a schematic diagram of the adsorption device according to the second embodiment. [Figure 2B] Figure 2A is a schematic diagram showing the adsorption device fixed to the object to be adsorbed. [Figure 3A] It is a schematic diagram of the adsorption device according to the third embodiment. [Figure 3B] It is a schematic diagram in which the adsorption device shown in FIG. 3A is fixed to the adsorbed object. [Figure 4A] It is a schematic diagram of the adsorption device according to the fourth embodiment. [Figure 4B] It is a schematic diagram in which the adsorption device shown in FIG. 4A is fixed to the adsorbed object. [Figure 5A] It is a schematic diagram of the adsorption device according to the fifth embodiment. [Figure 5B] It is a schematic diagram in which the adsorption device shown in FIG. 5A is fixed to the adsorbed object. [Figure 6] It is a schematic diagram of a robot according to an embodiment.

Mode for Carrying Out the Invention

[0015] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, hereinafter, while referring to the drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are some of the embodiments of the present application, not all of them. Generally, the components of the embodiments of the present application described and illustrated in the drawings of this specification may be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained on the premise that those skilled in the art do not perform creative labor belong to the protection scope of the present application.

[0017] Note that for similar reference numerals and alphabetical letters, in order to indicate similar items in the following drawings, once an item is defined in one drawing, it is not necessary to further define and interpret it in subsequent drawings.

[0018] In describing the embodiments of this application, it should be understood that orientations or positional relationships indicated by terms such as “center,” “up,” “down,” “left,” “right,” “vertical,” “horizontal,” “inside,” and “outside” are based on the orientations or positional relationships shown in the drawings, or are orientations or positional relationships that are normally placed when the product of this application is in use, or are orientations or positional relationships that a person skilled in the art would normally understand, and are merely for the purpose of facilitating and simplifying the description of this application, and do not indicate or imply that the equipment or element mentioned has a specific orientation or must be configured and operated in a specific orientation, and should not be understood as limiting this application.

[0019] Furthermore, terms such as "first," "second," etc., are merely for the purpose of distinguishing and explaining, and should not be understood as indicating or implying relative importance.

[0020] Referring to Figures 1A and 1B, the first embodiment provides an adsorption device 100, which is configured to be detachably fixed mainly to an object to be adsorbed (S). The adsorption device 100 includes an adsorption body 110 and a holder 120.

[0021] The adsorption body 110 is roughly bowl-shaped and includes an inner surface 112 for contacting the object to be adsorbed (S) and an outer surface 114 facing the inner surface 112. The adsorption body 110 may be made of a deformable material such as rubber or silicone. The adsorption body 110 further has pores 116 in the center.

[0022] The holder 120 is fixedly connected to the central part of the suction body 110. An air passage 122 is provided inside the holder 120. One end of the air passage 122 communicates with the pores 116, and the other end is connected to an external vacuum generator (not shown) via piping or the like.

[0023] The adsorption device 100 further includes a directional dry adhesive layer 130 provided on the inner surface 112 of the adsorption body 110. As shown in Figure 1C, the directional dry adhesive layer 130 has a micro-wedge structure 132 that is inclined away from the pores 116.

[0024] In some embodiments, the microwedge structures 132 may be arranged in a circular pattern, with multiple microwedge structures 132 provided around each circumference. Specifically, each microwedge structure 132 includes a first inclined surface and a second inclined surface, the bottom of which is connected to the bottom of the second inclined surface to form a protruding tip. The angle between the first inclined surface and the vertical surface is in the range of 50° to 80°, the angle between the second inclined surface and the vertical surface is in the range of 20° to 60°, and the vertical height of the microwedge structure is 40 μm to 200 μm. The microwedge structures 132 may be integrally molded with the suction body 110 using a mold, or they may be individually molded and bonded to the inner surface 112 of the suction body 110 with an adhesive or the like. In other embodiments, the multiple microwedge structures 132 may be arranged in other configurations, such as symmetrically. The shape and dimensions of each microwedge structure 132 can be adjusted according to actual requirements.

[0025] Referring to Figures 1B and 1C, the adsorption device 100 can have two states during use: a "loaded state" and an "unloaded state." After the adsorption body 110 is attached to the surface of the object to be adsorbed (S), the adhesion mechanism of the micro-wedge structure 132 is the van der Waals force effect. When no tangential load is applied, the micro-wedge structure 132 is slightly inclined, with only its tip in contact with the surface of the object to be adsorbed (S). In this state, the van der Waals force is negligible, and the micro-wedge structure 132 is in a non-operating state. When the vacuum generator is turned on, air inside the adsorption body 110 is drawn in through the pores 116 and air passages 122, and the adsorption body 110 elastically deforms under the action of negative pressure, pressing the micro-wedge structure 132 firmly against the surface of the object to be adsorbed (S). The micro-wedge structure 132 bends when subjected to force, significantly increasing the contact area with the object to be adsorbed (S), generating an adhesive force in the normal direction. At this time, the micro-wedge structure 132 is in an "operated" state.

[0026] In the above embodiment, the directional dry adhesive layer 130 is provided on the inner surface 112 of the suction body 110. When the vacuum generator is turned on, the suction body 110 deforms due to the pressure difference between the inner surface 112 and the outer surface 114, and is pressed against the surface of the object to be adsorbed (S), and the directional dry adhesive layer 130 is compressed and activated. Since the equivalent coefficient of friction of the directional dry adhesive layer 130 exceeds the coefficient of friction of the rubber material constituting the suction body 110, the shear force and torque resistance of the suction device 100 is improved. In addition, since the suction body 110 contracts uniformly along its center under negative pressure, a load distributed along the center is applied to the circularly arranged micro-wedge structure 132, providing a stable and reliable load.

[0027] When the adsorption device 100 no longer needs to be fixed to the object to be adsorbed (S), the vacuum generator can be turned off, allowing outside air to enter the adsorption body 110 through the pores 116 and air passages 122, and the pressure difference between the inner surface 112 and outer surface 114 of the adsorption body 110 becomes zero. As a result, the adsorption body 110 returns to its original undeformed state, and the micro-wedge structure 132 of the directional dry adhesive layer 130 is no longer pressed against the surface of the object to be adsorbed (S), with only the tip in contact with the object to be adsorbed (S), the normal adhesive force is negligible, and it is in a "non-operating" state. At this time, the adsorption device 100 can be removed from the surface of the object to be adsorbed (S) with very little force, and no colloidal residue is left on the surface of the object to be adsorbed (S).

[0028] The adsorption device 100 provided in the above embodiment achieves stable loading and unloading of the micro-wedge structure 132 of the directional dry adhesive layer 130 by deformation of the adsorption body 110 due to negative pressure, thereby improving the shear force and torque load capacity of the adsorption device 100 without sacrificing vacuum adsorption force along the adsorption direction. Therefore, the adsorption device 100 can be applied as a manipulator for picking up porous objects and objects with irregular surfaces, which cannot be achieved with conventional vacuum adsorption manipulators, and can effectively solve the shortcomings of conventional vacuum adsorption manipulators, which suffer from insufficient stability under interference of adhesive force and torque. It has a wide range of application prospects in picking up and transporting products such as ultrathin wafers, ultrathin glass, flexible circuit boards, and wearable products.

[0029] Referring to Figures 2A and 2B, the second embodiment provides a suction device 200, which is configured to be detachably fixed mainly to an object to be adsorbed (S). Similar to the first embodiment, the suction device 200 includes a suction body 210 and a holder 220. The difference between the suction device 200 of the second embodiment and the suction device 100 of the first embodiment is that the holder 220 includes a holder body 222 and support legs 224 connected to the holder body 222. In this embodiment, the support legs 224 first extend laterally from the upper end of the holder body 222 and then bend to extend toward the suction body 210. The width W of the support legs 224 is slightly larger than the diameter D of the suction body 210, so that the support legs 224 surround the suction body 210. In one embodiment, the holder body 222 and the support legs 224 may be made of a hard material such as metal or engineering plastic.

[0030] The directional dry adhesive layer 230 is attached to the inner surface of the suction body 210. The support legs 224 are not in contact with the object to be adsorbed (S) when the suction body 210 is about to contact the surface of the object to be adsorbed (S). When the vacuum generator is turned on, the suction body 210 deforms due to the pressure difference between its inner and outer surfaces and is pressed against the surface of the object to be adsorbed (S), and the directional dry adhesive layer 230 is compressed and activated. At this time, the suction body 210 deforms upward, thereby causing the support legs 224 to come into direct contact with the object to be adsorbed (S). The support legs 224, made of a rigid material, surround the suction body 210 and can provide additional normal support to the suction body 210. Even if the object to be attached (S) tends to tip over relative to the suction device 200, the support legs 224 can withstand tipping moments from any direction (the magnitude of the moment depends on the width W of the support legs 224 and the suction strength of the suction body 210). This avoids lateral and longitudinal swaying of the suction body 210, ensures that the suction body 210 maintains contact with the object to be attached (S) at an angle and direction perpendicular to the surface of the object to be attached (S), and provides a more stable and reliable load.

[0031] Similar to the first embodiment, when it is no longer necessary to fix the adsorbent (S), the vacuum generator can be turned off, allowing outside air to enter the adsorption body 210 through the pores 216 and air passages 222, and the pressure difference between the inner and outer surfaces of the adsorption body 210 becomes zero. As a result, the adsorption body 210 returns to its original undeformed state, and the micro-wedge structure 232 of the directional dry adhesive layer 230 is no longer pressed against the surface of the adsorbent (S), with only the tip in contact with the adsorbent (S), the normal adhesive force is negligible, and it is in a "non-operating" state. At this time, the adsorption device 200 can be removed from the surface of the adsorbent (S) with very little force, and no colloidal residue is left on the surface of the adsorbent (S).

[0032] In the second embodiment, the suction device 200 provides additional normal support to the suction body 210 by support legs 224, thereby enabling the entire suction device 200 to withstand large moment impacts and improve load-bearing stability.

[0033] Referring to Figures 3A and 3B, the third embodiment provides an adsorption device 300, which is configured to be detachably fixed mainly to an object to be adsorbed (S). Similar to the second embodiment, the adsorption device 300 includes an adsorption body 310 and a holder 320, the holder 320 including a holder body 322 and support legs 324 connected to the holder body 322. The difference between the adsorption device 300 and the adsorption device 200 is that the adsorption device 300 further includes auxiliary support legs 330, an auxiliary directional dry adhesive layer 340 and a deformable diaphragm 350.

[0034] The auxiliary support legs 330 are located between the holder body 322 and the support legs 330 and surround the suction body 310. The auxiliary directional dry adhesive layer 340 is provided at the bottom of the auxiliary support legs 330. The auxiliary directional dry adhesive layer 340 may be formed from the same material as the directional dry adhesive layer. The deformable diaphragm 350 is located between the holder body 322 and the auxiliary support legs 330; in other words, the auxiliary support legs 330 are connected to the holder body 322 via the deformable diaphragm 350. The deformable diaphragm 350 may be made from a thin metal, plastic, rubber, or other material. In this embodiment, there are two deformable diaphragms 350, which are spaced vertically apart between the auxiliary support legs 330 and the holder body 322. Specifically, one deformable diaphragm 350 is provided between the upper end of the auxiliary support leg 330 and the central part of the holder body 322, and the other deformable diaphragm 350 is provided between the central part of the auxiliary support leg 330 and the bottom part of the holder body 322. In some embodiments, the number of deformable diaphragms 350 may be one, three, or more.

[0035] Similar to the second embodiment, when the suction body 310 is attached to the surface of the object to be adsorbed (S), the support legs 324 and auxiliary support legs 330 are not in contact with the object to be adsorbed (S). When the vacuum generator is turned on, the suction body 310 deforms due to the pressure difference between its inner and outer surfaces and is pressed against the surface of the object to be adsorbed (S), and the directional dry adhesive layer is compressed and activated. At this time, the suction body 310 deforms upward, thereby causing the support legs 324 to make direct contact with the object to be adsorbed (S). Also, the two deformable diaphragms 350 deform simultaneously, and the auxiliary support legs 330 also make direct contact with the object to be adsorbed (S) at the same time, thereby causing the auxiliary directional dry adhesive layer 340 located at the bottom of the auxiliary support legs 330 to be compressed and activated.

[0036] Similar to the second embodiment, when it is no longer necessary to fix the adsorbent (S), the vacuum generator can be turned off, and the adsorption body 310 returns to its original undeformed state. As a result, the micro-wedge structure 332 of the directional dry adhesive layer is no longer pressed against the surface of the adsorbent (S) and is in a "non-operational" state. At this time, the two deformable diaphragms 350 also return to their original undeformed state, and as a result, the auxiliary directional dry adhesive layer 340 is no longer pressed against the surface of the adsorbent (S) and is also in a "non-operational" state. Therefore, the adsorption device 300 can be removed from the surface of the adsorbent (S) with very little force, and no colloidal residue is left on the surface of the adsorbent (S).

[0037] In the adsorption device 300 according to the third embodiment, the directional dry adhesive layer requires minimal pressure to "actuate" before providing high shear force. Therefore, when the vacuum generator is turned on, the deformable diaphragm 350 deforms, thereby activating the auxiliary directional dry adhesive layer 340 by pressing it very gently against the surface of the object to be adsorbed (S). When subjected to an external shear force, the directional dry adhesive layer and the auxiliary directional dry adhesive layer 340 work together to resist the shear force, and the deformable diaphragm 350 also firmly fixes the auxiliary support legs 330 to the surface of the object to be adsorbed (S), thereby improving load-bearing stability.

[0038] In another embodiment, the suction body 310 and the directional dry adhesive layer located on its inner surface may be omitted. In this case, the auxiliary directional dry adhesive layer 340 and the deformable diaphragm 350 can be combined to form a structure similar to the suction body, providing sufficient suction force. The support legs 324 provide additional normal support to the auxiliary directional dry adhesive layer 340 and the deformable diaphragm 350.

[0039] Referring to Figures 4A and 4B, the fourth embodiment provides an adsorption device 400, which is configured to be detachably fixed mainly to an object to be adsorbed (S). Similar to the first embodiment, the adsorption device 400 includes an adsorption body 410 and a holder 420. The difference between the adsorption device 400 and the adsorption device 100 is that the holder 420 includes a holder body 422 and support legs 424 connected to the holder body 422. In this embodiment, the support legs 424 are formed extending downward from the bottom of the holder body 222. The adsorption body 410 is provided around the support legs 424, i.e., the width of the support legs 424 is smaller than the diameter of the adsorption body 410.

[0040] Similar to the second embodiment, when the suction body 410 is attached to the surface of the object to be attracted (S), the support legs 424 are not in contact with the object to be attracted (S). When the vacuum generator is turned on, the suction body 410 deforms due to the pressure difference between its inner and outer surfaces and is pressed against the surface of the object to be attracted (S), and the micro-wedge structure 432 of the directional dry adhesive layer 430 is compressed and activated. At this time, the suction body 410 deforms upward, thereby causing the support legs 424 to make direct contact with the object to be attracted (S). The support legs 224, made of a rigid material, can provide additional normal support to the suction body 410, preventing lateral and longitudinal swaying of the suction body 410, thereby ensuring that the suction body 410 maintains contact with the object to be attracted (S) at an angle and direction perpendicular to the surface of the object to be attracted (S), and providing a more stable and reliable load.

[0041] When the adsorption device 400 no longer needs to be fixed to the object to be adsorbed (S), the vacuum generator can be turned off, and outside air enters the adsorption body 410 through the pores 416 and air passages 422, resulting in zero pressure difference between the inner and outer surfaces of the adsorption body 410. As a result, the adsorption body 410 returns to its original undeformed state, and the micro-wedge structure 432 of the directional dry adhesive layer 430 is no longer pressed against the surface of the object to be adsorbed (S). Only the tip contacts the object to be adsorbed (S), and the adhesive force in the normal direction becomes negligibly small, resulting in a "non-operating" state. At this time, the adsorption device 400 can be removed from the surface of the object to be adsorbed (S) with very little force, and no colloidal residue is left on the surface of the object to be adsorbed (S).

[0042] Referring to Figures 5A and 5B, the fifth embodiment provides an adsorption device 500, which is configured to be detachably fixed mainly to an object to be adsorbed (S). Similar to the fourth embodiment, the adsorption device 500 includes an adsorption body 510 and a holder 520, the holder 520 including a holder body 522 and support legs 524 connected to the holder body 522. The difference between the adsorption device 500 and the adsorption device 400 is that the adsorption device 500 further includes auxiliary support legs 530, an auxiliary directional dry adhesive layer 540 and a deformable diaphragm 550.

[0043] The auxiliary support leg 530 is located inside the support leg 524. The auxiliary directional dry adhesive layer 540 is provided at the bottom of the auxiliary support leg 530. The deformable diaphragm 550 is located between the support leg 524 and the auxiliary support leg 530; in other words, the auxiliary support leg 530 is connected to the support leg 524 via the deformable diaphragm 550. In this embodiment, there are two deformable diaphragms 550, which are spaced vertically apart between the auxiliary support leg 530 and the support leg 524. Specifically, one deformable diaphragm 550 is located between the upper end of the auxiliary support leg 530 and the central part of the support leg 524, and the other deformable diaphragm 550 is located between the bottom of the auxiliary support leg 530 and the bottom of the support leg 524. In some embodiments, the number of deformable diaphragms 550 may be one, three, or more.

[0044] Similar to the third embodiment, when the suction body 510 is attached to the surface of the object to be adsorbed (S), the support legs 524 and auxiliary support legs 530 are not in contact with the object to be adsorbed (S). When the vacuum generator is turned on, the suction body 510 deforms due to the pressure difference between its inner and outer surfaces and is pressed against the surface of the object to be adsorbed (S), and the directional dry adhesive layer is compressed and activated. At this time, the suction body 510 deforms upward, thereby causing the support legs 524 to make direct contact with the object to be adsorbed (S). Also, the two deformable diaphragms 550 deform simultaneously, and the auxiliary support legs 530 also make direct contact with the object to be adsorbed (S) at the same time, thereby causing the auxiliary directional dry adhesive layer 540 located at the bottom of the auxiliary support legs 530 to be compressed and activated.

[0045] When the adsorption device 500 no longer needs to be fixed to the object to be adsorbed (S), the vacuum generator can be turned off, and the adsorption body 510 returns to its original undeformed state. As a result, the micro-wedge structure 532 of the directional dry adhesive layer is no longer pressed against the surface of the object to be adsorbed (S) and is in a "non-operational" state. At this time, the two deformable diaphragms 550 also return to their original undeformed state, and as a result, the auxiliary directional dry adhesive layer 540 is no longer pressed against the surface of the object to be adsorbed (S) and is also in a "non-operational" state. Therefore, the adsorption device 500 can be removed from the surface of the object to be adsorbed (S) with very little force, and no colloidal residue is left on the surface of the object to be adsorbed (S).

[0046] Referring to Figure 6, one embodiment further provides a robot 600. The robot 600 is configured to grasp or release an object and may include a plurality of joint members 601 and an end effector 602. Specifically, the end effector 602 includes any of the suction devices disclosed in the above embodiments. Those skilled in the art should understand that the structure shown in Figure 6 is merely an exemplary embodiment of the robot 600. In other embodiments, the robot 600 may include more or fewer components, such as I / O devices, network access devices, communication buses, processors, memory, actuators, and sensors. For example, the robot 600 may include a processor and memory that stores instructions that, when executed by the processor, cause a control system to be implemented. The memory may also store instructions that, when executed by the processor, cause the processor to activate or deactivate the end effector 602 in order to grasp or release an object to be suctioned.

[0047] The technical features of the embodiments described above can be combined in any way. For the sake of brevity, not all combinations of the technical features in the embodiments described above have been explained, but these combinations of technical features should be considered to fall within the scope described herein, as long as they are not contradictory.

[0048] The embodiments described above are merely examples of some embodiments of the present application, and although their descriptions are specific and detailed, they should not be interpreted as limiting the scope of protection of the invention. Furthermore, a person skilled in the art can make some modifications and improvements as long as they do not deviate from the spirit of the present application, and all of these also fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be the same as that of the claims.

Claims

1. Adsorption device, An adsorption body having pores in the center and configured so that its inner surface is in contact with the object to be adsorbed, A holder connected to the adsorption body, having an air passage communicating with the pores, and configured such that the air passage is connected to a vacuum device, The adsorption body includes a directional dry adhesive layer provided on its inner surface, The adsorption device is characterized in that the directional dry adhesive layer has a plurality of microwedge structures that are inclined away from the pores.

2. The aforementioned adsorption body is manufactured from a deformable material, The holder includes a holder body and support legs connected to the holder body. The support legs surround the suction body, The suction device is configured such that when it is pressed against the object to be suctioned and the suction body deforms upon contact with the object to be suctioned, the support legs come into contact with the object to be suctioned. The adsorption device according to feature 1.

3. The invention further includes auxiliary support legs, a deformable diaphragm, and an auxiliary directional dry adhesive layer, The adsorption device according to claim 2, characterized in that the auxiliary support leg is located between the holder body and the support leg and is connected to the holder body via the deformable diaphragm, and the auxiliary directional dry adhesive layer is provided at the bottom of the auxiliary support leg.

4. The suction device according to claim 3, characterized in that the number of deformable diaphragms is multiple, and the multiple deformable diaphragms are provided between the auxiliary support legs and the holder body with a distance between them.

5. The aforementioned adsorption body is manufactured from a deformable material, The holder includes a holder body and support legs connected to the holder body, and the suction body surrounds the support legs. The adsorption device according to claim 1, characterized in that when the adsorption device is pressed against the object to be adsorbed and the adsorption body is deformed in contact with the object to be adsorbed, the support legs are configured to come into contact with the object to be adsorbed.

6. It includes auxiliary support legs, a deformable diaphragm, and an auxiliary directional dry adhesive layer, The adsorption device according to claim 5, characterized in that the auxiliary support leg is located inside the support leg and connected to the holder body via the deformable diaphragm, and the auxiliary directional dry adhesive layer is provided at the bottom of the auxiliary support leg.

7. The suction device according to claim 6, characterized in that the number of deformable diaphragms is multiple, and the multiple deformable diaphragms are provided between the auxiliary support legs and the holder body with a distance between them.

8. The adsorption device according to claim 1, characterized in that the plurality of microwedge structures are arranged in a circular shape, and a plurality of microwedge structures are provided around each circumference.

9. It is the end effector of the robot, A robot end effector characterized by including the suction device described in claim 1.

10. It is a robot, A robot characterized by including the end effector described in claim 9.

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