Grip device having gripper with improved stability and lifespan

Abstract

Disclosed is a grip device having a gripper with improved stability and lifespan. According to one aspect of the present embodiment, provided is a grip device in which the separation of internal components is structurally prevented, thereby improving the grip stability and lifespan of the gripper.

Description

A gripping device that improves the stability and lifespan of the gripper

[0001] The present embodiment relates to a gripping device that improves grip stability and lifespan of a gripper.

[0002] The content described in this section merely provides background information for the present embodiment and does not constitute prior art.

[0003] In general, secondary batteries are rechargeable and capable of large capacities. Representative secondary batteries include nickel-cadmium, nickel-metal hydride, and lithium-ion batteries. Secondary batteries can be manufactured in flexible pouches, offering the advantage of relatively flexible shape.

[0004] Secondary batteries include pouches and battery cells. A secondary battery comprises a cell pouch, with battery cells arranged inside, and a polymer outer material corresponding to the pouch encasing the battery cells.

[0005] Meanwhile, after manufacturing a secondary battery, inspections must be conducted to ensure that the manufactured secondary battery possesses the electrical characteristics intended for its design and that each cell is free of short circuits. In particular, inspections must be conducted to ensure that the manufactured secondary battery retains the intended electrical characteristics even under constant pressure.

[0006] Accordingly, manufactured secondary battery cells are transported from the cell loading or storage space to the inspection device, where they are placed and inspected. The inspection device simultaneously pressurizes multiple (typically dozens) battery cells and tests their electrical characteristics.

[0007] When inspecting secondary battery cells, gripping the cells is essential for transportation. Accordingly, gripping devices exist for gripping secondary battery cells. However, conventional gripping devices have used fixing means such as double-sided tape or bolts to secure components, such as target detection sensors, to the body of the gripping device. However, when the gripping device is used for a long time, vibration or heat is generated during the gripping process, and the double-sided tape or bolts, which are the fixing means for securing the components, may become separated from the device. The separated fixing means act as foreign matter to both the secondary battery cell and the gripping device, and if they enter the pouch of the secondary battery cell or the gripping device, they can cause significant problems in subsequent processes.

[0008] One embodiment of the present invention aims to provide a gripping device that structurally prevents detachment of an internal configuration, thereby improving grip stability and lifespan of a gripper.

[0009] According to one aspect of the present invention, a gripper in a gripping device for collectively gripping one or more objects is provided, the gripper comprising: a sensor unit for sensing whether an object is located between a pair of grippers facing a body having an inclined surface at an end facing the object, the sensor unit being formed at a position on one side of the body to provide a space in which the remaining components within the gripper are implemented or arranged; a placement groove formed on the opposite side of the body where the placement groove is implemented to provide a space in which the sensor unit can be arranged inside; a grip unit that improves a gripping force for gripping an object and prevents the sensor unit from being separated in one direction; a fixing mount protruding from the opposite end where the inclined surface is implemented within the body so that the gripper can be fixed to one component of the gripping device; and a fixing means for preventing the sensor unit from being separated from the placement groove.

[0010] According to one aspect of the present embodiment, each end of the body is characterized in that it is implemented by being chamfered.

[0011] According to one aspect of the present embodiment, the arrangement groove has a width equal to the width of the sensor unit, thereby minimizing flow in the width direction of the sensor unit arranged therein.

[0012] According to one aspect of the present embodiment, the sensor unit is characterized in that it includes a through hole at one location.

[0013] According to one aspect of the present embodiment, the placement groove is characterized in that it further includes a protrusion that can be combined with the through hole at a position facing the through light when the sensor unit is placed.

[0014] According to one aspect of the present embodiment, the grip portion is characterized in that it is implemented by knurling the body.

[0015] According to one aspect of the present embodiment, the grip portion is characterized in that it includes a through hole at a position facing a configuration for sensing when the sensor portion is placed in the placement groove.

[0016] As described above, according to one aspect of the present embodiment, there is an advantage in that the grip stability and lifespan of the gripper are improved by structurally preventing the internal configuration from being detached.

[0017] FIG. 1 is a drawing illustrating the configuration of a grip device according to one embodiment of the present invention.

[0018] Figure 2 is an enlarged drawing of the configuration of a grip portion in a grip device according to one embodiment of the present invention.

[0019] FIG. 3 is a drawing showing the front of a gripper according to one embodiment of the present invention.

[0020] FIG. 4 is a drawing showing the rear side of a gripper according to the first embodiment of the present invention.

[0021] FIG. 5 is a drawing showing the configuration of a gripper body according to the first embodiment of the present invention.

[0022] Figure 6 is a drawing showing the configuration of a fixing means according to the first embodiment of the present invention.

[0023] FIG. 7 is a drawing showing the rear side of a gripper according to a second embodiment of the present invention.

[0024] Figure 8 is a drawing showing the configuration of a gripper body according to a second embodiment of the present invention.

[0025] Figure 9 is a drawing showing the configuration of a fixing means according to the second embodiment of the present invention.

[0026] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated and described in detail in the drawings. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Throughout the description of each drawing, similar reference numerals have been used to designate similar components.

[0027] Terms such as first, second, A, and B may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term "and / or" includes a combination of multiple related items described herein or any of multiple related items described herein.

[0028] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0029] The terminology used in this application is solely for the purpose of describing specific embodiments and is not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. It should be understood that terms such as "comprise" or "have" in this application do not preclude the presence or possibility of addition of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification.

[0030] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0031] Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0032] In addition, each configuration, process, procedure or method included in each embodiment of the present invention may be shared within a scope that is not technically inconsistent with each other.

[0033] FIG. 1a is a front view illustrating the configuration of a grip device according to one embodiment of the present invention, and FIG. 1b is a side view illustrating the configuration of a grip device according to one embodiment of the present invention.

[0034] Referring to FIGS. 1A and 1B, a grip device (100) according to one embodiment of the present invention includes a cylinder (110, 115), a shaft (120, 125), a grip portion lifting plate (130), a lifting plate guide (135), a grip portion (140), a grip portion guide (150), and a grip portion fixing portion (160).

[0035] The gripping device (100) is a device capable of simultaneously gripping one or more objects without damage. As mentioned in the background technology of the invention, the objects may be secondary battery cells or other objects capable of being gripped. The gripping device (100) structurally prevents the internal components of the device, particularly the internal components of the gripper, which directly grips the object and has the greatest movement, from being detached even when operated multiple times.

[0036] The cylinders (110, 115) supply power to enable the grip portion lifting plate (130) and the grip portion (140) to move along the shafts (120, 125), respectively.

[0037] The shaft (120) is arranged in the vertical direction (Z-axis) so that the grip unit lifting plate (130) can rise and fall along with it. The shaft (120) is arranged at a preset interval in the width direction (y-axis direction) perpendicular to the longitudinal direction (x-axis direction) of the grip device (100). Here, the preset interval means a interval greater than or equal to the interval at which an object or a configuration in which an object is placed (e.g., a pouch, etc.) can be placed or transported. The shaft (120) is arranged at a preset interval in the width direction so that the grip unit lifting plate (130) can engage with it at a plurality of positions and rise and fall along with it.

[0038] The shaft (125) is arranged at a gap between the shafts (120) so that the grip portion (140) can move along it in the width direction. The shaft (125) is arranged between the shafts (120) that are arranged at a predetermined gap in the width direction. Accordingly, the shaft (125) is arranged in the width direction so that the grip portion (140) can move along it in the width direction.

[0039] The grip part elevating plate (130) supports one or more grip parts (140) and moves up and down along the shaft (120). The grip part elevating plate (130) is coupled to the shaft (120) using the elevating plate guide part (135) and moves up and down along the shaft (120). The grip part elevating plate (130) supports one or more grip parts (140) so that the grip parts (140) can move up and down simultaneously. The grip part elevating plate (130) structurally supports one or more grip parts (140) and is coupled to the shaft (120) by the elevating plate guide part (135). The grip part elevating plate (130) can move up and down along the shaft (120) and can move up and down the grip parts (140) that it supports.

[0040] The lifting / lowering plate guide part (135) is partially connected to the grip lifting / lowering plate (130) and is coupled to the shaft (120) to move along the shaft (120). Accordingly, when an external force is applied to the grip lifting / lowering plate (130) by the cylinder (110), the lifting / lowering plate guide part (135) can be raised and lowered along the shaft (120). By the lifting / lowering plate guide part (135), the grip lifting / lowering plate (130) and the grip part (140) connected thereto can also be raised and lowered together.

[0041] The grip part (140) is arranged on the shaft (125) one or more times to grip an object or to put down an object being gripped. The grip part (140) can be moved closer to or further away from an object by the grip part raising / lowering plate (130). After moving in this way, the grip part (140) can structurally grip the object or put down the object being gripped, depending on the situation. When there are a large number of objects or objects that are separated from each other (in the width direction) must be gripped simultaneously, a plurality of grip parts (140) can be arranged to grip or put down the objects simultaneously or sequentially. The grip part (140) structurally minimizes the detachment of the internal components even when the gripping of objects is repeated, thereby improving the grip stability and lifespan of the gripper and minimizing adverse effects caused by the detachment of the internal components. The specific structure of the grip part (140) will be described later with reference to FIG. 2.

[0042] The grip guide portion (150) allows the grip portion (140) to move in the width direction along the shaft (125). The grip guide portion (150) is connected to the grip portion (140) by a grip portion fixing portion (160) to be described later, thereby allowing the grip portion (140) to move along the shaft (125). Accordingly, the grip portion (140) can move from one position to another position in the width direction. Alternatively, when a plurality of grip portions (140) are included in the grip device (100), they can move closer to or farther away from each other.

[0043] The grip portion fixing portion (160) is connected to the grip portion (140) and the grip portion guide portion (150), respectively, so that the grip portion (140) can move on the shaft (125) according to the grip portion guide portion (150).

[0044] Figure 2 is an enlarged drawing of the configuration of a grip portion in a grip device according to one embodiment of the present invention.

[0045] Referring to FIG. 2, a grip portion (140) according to one embodiment of the present invention includes a body (210), a cylinder (220, 225), a gripper fixing plate (230a), and a gripper (240).

[0046] The body (210) provides a space in which the remaining components within the grip portion (140) can be implemented or arranged. Although not shown in FIG. 2, cylinders (220, 225) and gripper fixing plates (230) are arranged in both directions of the body (210) to move the grippers (240a, 240b).

[0047] Cylinders (220, 225) are arranged on the body (210) to move the gripper fixing plate (230) in the longitudinal direction (x-axis). One or more cylinders (220, 225) are arranged on the body (210) and move the gripper fixing plate (230). Although not shown in FIG. 2, a gripper fixing plate (one of 230a and 230b) for fixing one of the grippers (240a, 240b) is arranged on one surface of the body (210), and a gripper fixing plate (the other of 230a and 230b) for fixing the other one is arranged on the other surface of the body (210). Accordingly, one or more cylinders (220, 225) are arranged on each surface of the body to move each gripper fixing plate (230).

[0048] The gripper fixing plates (230) are respectively arranged on one side of the body (210) to fix one or more grippers (240). A pair of grippers (240a, 240b) can completely grip an object. The gripper fixing plates (230) fix a plurality of pairs of grippers (240a, 240b). At this time, one of the gripper fixing plates (230) fixes grippers of one type (the type varies depending on the direction in which the surface of the gripper that grips the object faces) among the pair of grippers (240a, 240b) and fixes the grippers of the corresponding type at preset intervals. The gripper fixing plates (230) are respectively arranged on both sides of the body (210) to fix grippers of different types. Each gripper fixing plate (230) is powered by the cylinder (220, 225) as described above and moves in the longitudinal direction, and the grippers (240a, 240b) move closer to or further away from each other.

[0049] The gripper (240) is fixed to the gripper fixing plate (230) by a separate fixing means (not shown) and grips or puts down an object. The gripper (240) has a structure described below with reference to FIGS. 3 to 9, so that it can grip an object completely without damage, while structurally preventing the internal components of the gripper (240) from being detached.

[0050] A pair of grippers (240a, 240b) that structurally grasp an object can be moved as far apart or as close as possible. As illustrated in FIG. 2, one of the pair of grippers (240a, 240b) can be structurally and completely connected to a complementary-shaped gripper among the adjacent pair of grippers (240a, 240b). Accordingly, the pair of grippers (240a, 240b) can be moved as far apart as possible from each other before grasping an object, thereby minimizing the problem of the gripper (240) colliding with the object while descending for grasping. When an object is located between the pair of grippers (while the gripper (240) descends for grasping), the pair of grippers (240a, 240b) sense whether the object is located between them, and then approach each other to grasp the object. After gripping, a pair of grippers (240a, 240b) ascend and descend, completing gripping. The process of a pair of grippers (240a, 240b) putting down the object is performed in the reverse order of the gripping process.

[0051] FIG. 3 is a drawing showing the front side of a gripper according to one embodiment of the present invention, FIG. 4 is a drawing showing the rear side of a gripper according to the first embodiment of the present invention, FIG. 5 is a drawing showing the configuration of a gripper body according to the first embodiment of the present invention, and FIG. 6 is a drawing showing the configuration of a fixing means according to the first embodiment of the present invention.

[0052] Referring to FIGS. 3 to 6, a gripper (240) according to the first embodiment of the present invention includes a body (310), a placement groove (311), a wire groove (313), an inclined surface (316, 319, 338), a holding portion (320), a through hole (325), a fixing mount (330), a fixing hole (334), a sensor portion (340), and a fixing means (350).

[0053] The body (310) according to the first embodiment of the present invention provides space for the remaining components within the gripper (240) to be implemented or arranged. Meanwhile, each end of the body (310) may be implemented with a chamfer. Accordingly, even if a portion of the body (310) collides with an object to be gripped, damage to the object can be minimized.

[0054] The placement groove (311) is formed at a position on one side of the body (310) to provide a space in which the sensor unit (340) can be placed inside. The placement groove (311) is formed on the opposite side of the side where the grip unit (320) of the body (310) is formed, and since it has the same width as the width (length in the y-axis direction) of the sensor unit (340), the movement of the sensor unit (340) placed inside the placement groove (311) can be minimized.

[0055] Referring to FIG. 5, the placement groove (311) may further include a protrusion (510) that can be coupled with the sensor unit (340) arranged within the placement groove (311) to minimize the flow of the sensor unit (340). If the sensor unit (340) includes a through hole (not shown) that can be coupled with the protrusion (510), the body (310) may include the protrusion (510) at a position facing the through hole (not shown) of the sensor unit (340) within the placement groove (311). The protrusion (510) and the through hole (not shown) are coupled, and the flow of the sensor unit (340) arranged within the placement groove (311), particularly, the flow in the width direction (y-axis direction), can be further suppressed.

[0056] Referring to FIG. 5, the body (310) includes a placement groove (311) on one surface, and further includes a fixing means fixing groove (520) within the placement groove (311). The fixing means fixing groove (520) is formed on the inner surface of the body (310) where the placement groove (311) is formed, to the same thickness as the lengthwise (x-axis) thickness of the fixing means (350). When the sensor unit (340) is placed within the placement groove (311), the fixing means fixing groove (520) is formed at the rear end of the sensor unit (340) within the placement groove (311) in a direction away from the grip unit (320). Accordingly, when the fixing means (350) is placed in the fixing means fixing groove (350), the sensor unit (340) can be completely fixed. When the sensor unit (340) is placed in the placement groove (311), the sensor unit (340) may not be detached in the direction of the grip unit (320) by the grip unit (320), and may not be detached in the opposite direction of the grip unit (320) by the fixing means (350). In particular, the fixing means (350) may prevent detachment of the sensor unit (340) simply by being placed in the fixing means fixing groove (520) without using a separate fastening means. Accordingly, no matter how the grip device (100) operates, the problem of the fastening means, etc. being detached may not occur.

[0057] The body (310) includes a wire groove (313) in which a wire (to be connected to the sensor unit (340)) is arranged on a surface where the grip portion (320) of the body (310) is formed. The wire groove (313) is implemented on the surface where the grip portion (320) of the body (310) is formed, and is implemented in the form of a groove that is open from the upper portion of the grip portion (320) to one side of the body (310) outside the position of the placement groove (311) or to one position of the fixed mount (330). When the sensor unit (340) is arranged in the placement groove (311) and the wire is arranged in the wire groove (313), the wire arranged along the wire groove (313) can be supported by the body (310) from one area. Accordingly, the wire can be prevented from being arranged in the wire groove (313) and from coming off.

[0058] An inclined surface (316) is implemented at the end (typically the lower end of the body) facing the object of the body (310). As the inclined surface (316) is implemented, the object to be gripped can be smoothly introduced to the gripping part (320) along the inclined surface (316) without damage.

[0059] The gripping part (320) is implemented on one side of the body (310) where the placement groove (311) is formed, thereby improving the gripping force so as to be able to grip an object, and preventing the sensor part (340) (arranged in the placement groove (311)) from being dislodged in the direction of one side of the body (310). The gripping part (320) may have a knurled form having a plurality of protrusions to improve the gripping force. As the gripping part (320) is implemented on one side of the body (310) in a knurled form, the gripping area capable of gripping an object and the frictional force with the object increase, so that the gripping force can be improved. In the position where the gripping part (320) is implemented for gripping, an adhesive means such as double-sided tape may be placed, and a (rubber) pad for gripping may be placed. However, in this case, the gripping action of the pad may be repeated several times, or the pad may be exposed to high temperatures during the process of gripping the object, which may cause the position of the pad to change, the adhesive strength of the adhesive means to decrease, and the pad to come off. The change in the position of the pad may cause the position of the through-hole (325) to be described later to change, which may cause the problem of reducing the sensing accuracy of the sensor part (340). The pad may block the sensing path of the sensor part (340), and the object may be mistakenly recognized as being located between a pair of grippers (240) even though it is not located between them. In addition, the detachment of the pad may cause the problem described above in the background technology of the invention. Therefore, the gripping part (320) can fundamentally prevent the occurrence of the above-mentioned problem by having a knurling process on one side of the body (310).

[0060] A through hole (325) is implemented in the gripper (320). The through hole (325) is implemented at a position facing the configuration for sensing when the sensor unit (340) is placed in the placement groove (311). As described below, the sensor unit (340) senses whether an object is positioned between a pair of grippers (240). Typically, the object can be sensed by irradiating light from one sensor unit within a pair of grippers (240) and determining whether the irradiated light is received by the other sensor unit. The through hole (325) is implemented in the gripper (320) at the aforementioned position so that one sensor unit within a pair of grippers (240) can irradiate light and the other sensor unit within a pair of grippers (240) can receive light.

[0061] The fixed mount (330) is formed in a protruding shape at the opposite end of the body (310) where the inclined surface (316) is implemented, so that the body (310) can be fixed to the grip portion (140), more specifically, the gripper fixing plate (230a). The fixed mount (330) is implemented to be biased to one side at the opposite end of the body (310) where the inclined surface (316) is implemented, and is implemented with a length (in the width direction) less than half of the length in the width direction of the body (310).

[0062] Meanwhile, an inclined surface (338) is formed on one side of the fixed mount (330) (the opposite side to the side where the grip portion (320) is positioned), and an inclined surface (319) in the opposite direction to the inclined surface (338) is implemented on the same side (the opposite side to the side where the grip portion (320) is positioned) in the direction in which the fixed mount (330) of the body (310) protrudes. As described above, since the fixed mount (330) is implemented to have a length less than half the length in the width direction of the body (310), and the inclined surfaces (338, 319) in opposite directions are implemented on the same side, different pairs of adjacent grippers (240) can come into proximity and be structurally coupled (see FIG. 2). Accordingly, different pairs of adjacent grippers (240) are coupled, and a pair of grippers (240a, 240b) can be as far apart from each other as possible.

[0063] The fixing hole (334) is implemented in a direction in which the wire is exposed to the outside of the body (310) along the wire groove (313) in the fixing mount (330), so as to fix the wire. Since the fixing hole (334) is implemented in the aforementioned position in the fixing mount (330), when the wire connected to the sensor unit (340) is exposed to the outside of the body (310) along the wire groove (313), it is coupled with an external coupling means (not shown) and fixes the wire.

[0064] The sensor unit (340) is respectively placed in the placement groove (311) of a pair of grippers (340a, 340b) and senses whether an object is positioned between the pair of grippers (340a, 340b). One sensor unit (340) can sense whether an object is positioned by irradiating light and the other sensor unit (340) can sense whether an object is positioned by receiving light, but this is not necessarily limited to this and any method may be used as long as the object can be sensed.

[0065] The fixing means (350) is arranged in the fixing means fixing groove (520) within the placement groove (311) to prevent the sensor unit (340) from being separated from the placement groove (311). As illustrated in FIG. 6, the fixing means (350) may include a partially open circular body (610) and through holes (620) formed at both ends of the open body (610). An external force may be applied to each through hole (620) by an external device to bring the through holes (620) closer to each other or to reduce the overall diameter of the body (610). The fixing means (350) to which the external force is applied may be arranged in the fixing means fixing groove (520) within the placement groove (311), and once arranged, the fixing means (350) does not come off from the fixing means fixing groove (520). Accordingly, the fixing means (350) can be placed in the fixing means fixing groove (520) to prevent the sensor part (340) from being detached, and the sensor part (340) can be fixed within the gripper (240) without using a separate coupling means.

[0066] FIG. 3 is a drawing showing the front side of a gripper according to one embodiment of the present invention, FIG. 7 is a drawing showing the rear side of a gripper according to a second embodiment of the present invention, FIG. 8 is a drawing showing the configuration of a gripper body according to a second embodiment of the present invention, and FIG. 9 is a drawing showing the configuration of a fixing means according to the second embodiment of the present invention.

[0067] Referring to FIG. 3 and FIGS. 7 to 9, the gripper (240) according to the second embodiment of the present invention includes a body (310) and a fixing means (710) that are different from the gripper (240) according to the first embodiment of the present invention.

[0068] The body (310) within the gripper (240) according to the second embodiment of the present invention includes all the components included within the gripper (240) according to the first embodiment of the present invention, but includes a fixing means coupling portion (810) instead of a fixing means fixing groove (520).

[0069] As illustrated in FIG. 9, the fixing means (710) includes a body (910), a hole (915), a protrusion (920, 925), and a through hole (930).

[0070] The body (910) provides a space in which the protrusions (920, 925) and the through holes (930) of the fixing means (710) are implemented.

[0071] A hole (915) is formed in the body (910) at a position spaced apart from the protrusion (920) in the width direction (y-axis direction) by a preset length. The hole (915) is formed from the position to the opposite end of the protrusion (920) within the body (910). The end of the body (910) where the protrusion (925) is located by the hole (915) can be divided into an upper end and a lower end based on the hole (915).

[0072] The protrusion (920) has a shape that protrudes vertically from one end of the body (910) in the width direction (y-axis direction). The protrusion (920) may protrude by a relatively longer length than the protrusion (925).

[0073] The protrusion (925) has a shape that protrudes vertically from one end opposite the body (910) in the width direction (y-axis direction).

[0074] A through hole (930) is formed at the end of the body (910) where a protrusion (925) is formed. As the hole (915) is formed in the body (910), a through hole (930) is formed in each part of the body (910) divided into upper and lower parts. An external force may be applied to each through hole (930) by an external device to bring each through hole (930) closer to each other. Accordingly, the distance between the upper and lower parts of the body (910) divided by the hole (915) or the distance between the ends of the protrusions (925) may vary.

[0075] As illustrated in Fig. 8, the fixing means coupling portion (810) is formed on a surface (opposite to the surface where the grip portion is formed) where the arrangement groove (311) of the body (310) is formed. The fixing means coupling portion (810) has a shape in which the body (310) is etched in the longitudinal direction on the corresponding surface of the body (310). Accordingly, the fixing means (710) can be arranged within the body (310). In order for the fixing means (710) to be arranged in the fixing means coupling portion (810), the length (in the vertical direction) of the formed fixing means coupling portion (810) is implemented to be at least longer than the spacing between the protrusions (920) of the fixing means (710).

[0076] However, when the fixing means coupling part (810) is implemented in this way, although the fixing means (710) can be placed, it is difficult for the fixing means (710) to be coupled. Accordingly, a fixing means fixing part (820) is additionally formed on the surface where the arrangement groove (311) of the body (310) is formed. The fixing means fixing part (820) has a structure that protrudes in a direction that makes them approach each other in the vertical direction from a position within the fixing means coupling part (810). In order not to interfere with the placement of the sensor unit (340) in the arrangement groove (311), the fixing means fixing part (820) protrudes in one or more structures so as not to overlap and protrude with the arrangement groove (311). At this time, the length in the vertical direction along which the fixing means fixing part (820) protrudes may protrude as much as is shorter than the maximum length between the protrusions (925) within the fixing means (710). Accordingly, when the fixing means (710) is placed on the fixing means coupling portion (810) in a state where the upper and lower parts of the body (910) are brought closer together by an external device through the through hole (930), the fixing means fixing portion (820) and the protrusion (920) or the protrusion (925) come into contact. Accordingly, the fixing means fixing portion (820) can prevent the fixing means (710) from being dislodged in the width direction (y-axis direction). In particular, when the maximum length of the fixing means fixing portion (820) in the width direction is the same as the length in the width direction between the protrusion (920) and the protrusion (925) of the fixing means (710), the fixing means (710) can be completely fixed in the width direction by the fixing means fixing portion (820).

[0077] The fixing means fixing portion (820) further includes a fixing means separation prevention portion (825) that protrudes vertically at a point spaced apart by the thickness of the body (910) in the longitudinal direction (x-axis). As the fixing means separation prevention portion (825) is implemented as described above, the end of the fixing means fixing portion (820) has a stepped shape. As the fixing means separation prevention portion (825) is implemented as described above, when the fixing means (710) is arranged in the fixing means coupling portion (810), separation of the fixing means (710) in the longitudinal direction (x-axis) can be prevented. If the fixing means fixing portion (820) prevents separation of the fixing means (710) in the width direction (y-axis), the fixing means separation prevention portion (825) prevents separation of the fixing means (710) in the longitudinal direction (x-axis). Accordingly, the sensor unit (340) can also be fixed within the gripper (240) according to the second embodiment of the present invention without using a separate coupling means.

[0078] Meanwhile, referring to FIG. 3 and the aforementioned content, although the gripping portion (320) according to the first or second embodiment of the present invention is described as being implemented in a form of being knurled within the body (310), it is not necessarily limited thereto, and the gripping portion (320) may be implemented in a form in which a separate attachment means (e.g., double-sided tape) is attached to one surface within the body and a (rubber) pad is combined as the attachment means. The gripping portion (320) is implemented with a separate attachment means and pad, and can improve gripping force.

[0079] The above description is merely an example of the technical idea of ​​the present embodiment, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of ​​the present embodiment, but rather to explain it, and the scope of the technical idea of ​​the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of rights of the present embodiment.

[0080]

[0081] CROSS-REFERENCE TO RELATED APPLICATION

[0082] This patent application claims priority under 35 USC § 119(a) of U.S. Patent Application No. 10-2023-0166388, filed in Korea on November 27, 2023, the entire contents of which are incorporated by reference herein. Furthermore, this patent application claims priority in countries other than the United States for the same reasons, the entire contents of which are incorporated by reference herein.

Claims

1. In a gripper within a gripping device that grips one or more objects at once, A body comprising a sloped surface at an end facing the object, providing space for the remaining components within the gripper to be implemented or placed; A sensor unit that senses whether an object is positioned between a pair of facing grippers; A placement groove formed at a location on one side of the body to provide a space in which the sensor unit can be placed inside; A gripping part implemented on the opposite side of the surface where the body's placement groove is implemented to enhance the gripping force for gripping an object and prevent the sensor part from being dislodged in one direction; A fixed mount protruding from the opposite end of the body where the inclined surface is implemented so that the gripper can be fixed to one component of the grip device; and A fixing means for preventing the above sensor part from being detached from the above placement home A gripper characterized by including a.

2. In paragraph 1, Each end of the above body, A gripper characterized by being implemented by chamfering.

3. In paragraph 1, The above placement home is, A gripper characterized by having a width identical to the width of the sensor portion, thereby minimizing flow in the width direction of the sensor portion placed inside the gripper.

4. In paragraph 1, The above sensor part, A gripper characterized by including a through hole at one position.

5. In paragraph 4, The above placement home is, A gripper characterized in that, when the above sensor unit is arranged, it further includes a protrusion that can be combined with the through hole at a position facing the through light.

6. In paragraph 1, The above-mentioned part is, A gripper characterized by being implemented by knurling processing on the above body.

7. In paragraph 6, The above-mentioned part is, A gripper characterized in that the sensor part includes a through hole at a position facing the configuration for sensing when the sensor part is placed in the placement groove.

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