Vibration-based gripper and assembly method using same

Abstract

In a vibration-based gripper and an assembly method using same, the gripper comprises an excitation unit and a gripping unit. The excitation unit generates vibration. The gripping unit grips an assembly target. While the assembly target and the gripping unit are vibrating due to the vibration of the excitation unit, the assembly target is self-aligned and coupled to a coupling unit.

Description

Vibration-based gripper and assembly method using the same

[0001] The present invention relates to a vibration-based gripper and an assembly method using the same, and more particularly, to a vibration-based gripper capable of omitting alignment and realizing precise assembly by applying vibration during assembly, minimizing damage by automatically reducing vibration displacement according to an external force during the assembly process, and capable of automatic alignment and gripping of objects of various types and shapes, and an assembly method using the same.

[0002] Technologies related to grippers are being developed in various ways, and recently, in addition to devices that simply grip specific objects, technologies related to various grippers that can perform gripping more effectively by considering the characteristics of the object to be gripped are being developed.

[0003] Meanwhile, in the technology of these grippers, if vibration occurs during the gripping process or an unexpected external force is applied, gripping may be hindered and accurate gripping may be difficult, so technologies that absorb external force or external vibration during the gripping process have been developed.

[0004] However, in special circumstances, technologies that apply vibrations have been applied. For example, Japanese Patent No. 7144391 discloses a technology for a gripper that applies vibrations to the grip pad of the gripper to change the shape of the gripped object. Japanese Patent No. 7174399 also discloses a technology for driving the opening or closing of a gripper using a vibrating element in the gripper module.

[0005] As mentioned above, for some grippers, technologies for performing gripping in conjunction with vibration are being developed, but the occurrence of external force or vibration during the gripping process is understood to be a factor that disturbs the alignment state between the gripping target object and the gripper, and therefore, gripper technologies that apply vibration are only developed in very limited technologies.

[0006]

[0007] Accordingly, the technical problem of the present invention is conceived from this point, and the purpose of the present invention is to provide a vibration-based gripper capable of automatic alignment and customization, which can omit alignment by applying vibration during assembly and realize precise assembly, automatically reduce vibration displacement according to external force during the assembly process to minimize damage, and can grip objects of various types and shapes.

[0008] In addition, another object of the present invention is to provide an assembly method using the gripper.

[0009] In one embodiment of the present invention for achieving the above-described object, a vibration-based gripper and an assembly method using the same are provided. The gripper includes a vibration unit and a gripping unit. The vibration unit generates vibration. The gripping unit grips an assembly object. When the assembly object and the gripping unit vibrate due to the vibration of the vibration unit, the assembly object aligns itself to the joint and is coupled.

[0010] In one embodiment, the assembly object can be moved in a first direction toward the joint, coupled to the joint, and vibrated in a third direction.

[0011] In one embodiment, the assembly object may be moved in the second direction while vibrating in the third direction so that alignment with the joint in the horizontal direction can be performed.

[0012] In one embodiment, the holding unit can simultaneously vibrate in second and third directions that are perpendicular to each other, and the assembly target can be moved in the first direction and joined to the joining portion while simultaneously vibrating in the second and third directions.

[0013] In one embodiment, the excitation unit is an electromagnetic force-based excitation unit, and when an external force is applied, a displacement can be induced equal to the force offset by the electromagnetic force.

[0014] In one embodiment, the present invention may further include a transmission unit connected between the holding unit and the gripping unit to transmit vibration generated in the holding unit to the gripping unit.

[0015] In one embodiment, the transmission unit may include a coupling frame connected to the holding unit, a central frame connected to the gripping unit, and an inclined frame connecting the coupling frame and the central frame.

[0016] In one embodiment, the inclined frames are configured as a pair that are symmetrical to each other, so that the transmission unit can have an overall triangular frame shape.

[0017] In one embodiment, the gripping unit may include a guide frame extending in a third direction, a slide sliding along the guide frame, and a gripping portion that grips the assembly object, is fixed to the slide and vibrates in the third direction, and is fixed to the central frame.

[0018] In one embodiment, the excitation unit may include a pair of first and second excitation units that independently generate vibrations.

[0019] In one embodiment, when the first and second excitation units generate vibrations in the same phase, the assembly object vibrates only in the vertical direction and is coupled to the coupling unit, and when the first and second excitation units generate vibrations in different phases, the assembly object can rotate about the rotational axis toward the coupling unit and be coupled to the coupling unit.

[0020] In one embodiment, the excitation unit further includes a connecting frame having a first excitation shaft extending from the first excitation unit connected to one end thereof and a second excitation shaft extending from the second excitation unit connected to the other end thereof, and one end and the other end of the connecting frame may each include a rotatable flexible joint.

[0021] In one embodiment, the transmission unit may include a coupling frame connected to the connecting frame, a central frame connected to the gripping unit and having a pair of first and second openings formed therein, and first and second rollers connected to each of the first and second openings and having variable positions within each of the first and second openings.

[0022] In one embodiment, the device further includes a link unit that transmits the vibration of the excitation unit to the gripping unit, and a transmission unit that connects the excitation unit and the link unit, wherein the excitation unit is provided in the body portion, and a pair of the gripping units can be connected to each of both sides of the body portion.

[0023] In one embodiment, each of the gripping units may include a grip driving portion extending from the body portion, a grip portion for gripping the object, and a sliding portion between the grip driving portion and the grip portion for guiding vibration of the grip portion.

[0024] In one embodiment, the transmission unit may include a front frame to which the bearing unit and the link unit are connected, a connecting frame extending to the rear end of the front frame, a central sliding portion provided between the connecting frame and the body portion to guide vibration of the connecting frame, and a link guide portion that connects both sides of the link unit and the front frame and is fixed to the body portion to guide vibration of the front frame and the link unit.

[0025] In one embodiment, the link unit may include a link portion rotatably connected to the transmission unit, and an extension portion connected between the link portion and the gripping unit.

[0026] According to another embodiment of the present invention, a gripper for achieving the above-described object includes a driving unit, a suspension unit, and a transmission unit. The driving unit generates a driving force. The suspension unit is connected to the driving unit and converts the driving force into vibration and transmits it. The transmission unit is connected to the suspension unit and transmits the vibration to an assembly target. Due to the vibration, the assembly target can be aligned and coupled to a coupling portion while vibrating in a predetermined direction.

[0027] In one embodiment, the drive unit generates a rotational driving force, the suspension unit converts the rotational driving force into a linear motion, and can induce the transmission unit to vibrate.

[0028] In one embodiment, the suspension unit may include an adaptive suspension portion connected between the drive unit and the transmission unit, and a drive guide portion extending from the drive unit to guide the movement direction of the transmission unit.

[0029] In one embodiment, the adaptive suspension may include a first connecting portion connected to a crank portion of the drive unit, a second connecting portion connected to the transmission unit, and an absorbing portion extending between the first and second connecting portions and absorbing an external force transmitted from the transmission unit.

[0030] In one embodiment, the present invention further includes a fixing module for fixing the assembly object to a vibration unit that receives vibration from the vibration unit, and the fixing module may include a flexible fixing part that brings the assembly object into close contact with the lower surface of the vibration unit.

[0031] In one embodiment, the flexible fixing member can absorb vibration of the assembly object and fix the assembly object while being extended from one side of the exciter member and fixed to an insertion member formed on the other side of the exciter member.

[0032] In an assembly method according to one embodiment for realizing another object of the present invention described above, an assembly object is gripped and moved to a target fastening position. While vibrating the assembly object, the assembly object is brought into contact with a joint in a first direction. The gripping part is moved in a second direction and scanned. As the assembly object and the joint are fastened, the vibration displacement in the third direction naturally decreases. After the fastening is completed, the gripping of the assembly object is released.

[0033] According to embodiments of the present invention, by generating vibration in the assembly object, in the process of joining the assembly object to the joining portion, the assembly object can naturally find its own position and induce joining without performing alignment between the assembly object and the joining portion.

[0034] Through this, easy joining can be performed while skipping precise alignment through vibration in a direction in which alignment is difficult, especially for assembled structures that require very precise alignment in a specific direction, such as an assembly target and a joint.

[0035] At this time, by applying vibration in the second direction in addition to the third direction, which is the vertical direction, it is possible to perform accurate and easy joining without precisely performing alignment along both the third and second directions when joining the assembly object and the joining part.

[0036] Thus, for an assembly object having a rectangular joint surface as well as an assembly object having a rectangular or square joint surface, immediate jointing is possible very easily without separate alignment with the joint, and a system that automatically finds the position and joins when assembling the joint using a gripper is possible.

[0037] Meanwhile, while vibration is performed in the vertical direction to omit separate alignment, the alignment can be carried out in a scanning form in the horizontal direction (second direction), so that alignment can be effectively performed at the joint surface of the joint and the assembly target.

[0038] In particular, the excitation unit is an electromagnetic force-based excitation unit, and when an external force is applied, a displacement equal to the force offset by the electromagnetic force is induced. Therefore, even if an external force is generated when the assembly object is coupled to the coupling portion, the external force is offset and the vibration displacement is naturally reduced. Accordingly, damage or breakage of the excitation unit as well as the gripper can be minimized.

[0039] In addition, a transmission unit is interposed between the gripping unit and the holding unit, so that the vibration of the holding unit is transmitted to the gripping unit, and the gripping unit is provided with a slide and a guide frame so that the gripping portion for holding the assembly object vibrates in the vertical direction (third direction), so that the vibration of the gripper can be effectively implemented.

[0040] In addition, the excitation unit includes first and second excitation units that generate vibrations with different phases, so that when alignment in the vertical direction (third direction) is required, the excitation unit generates vibrations with the same phase, and when alignment in the so-called roll direction other than the vertical direction is required, the excitation unit generates vibrations with different phases, thereby inducing natural alignment through rotation. Thus, even when the assembly object and the coupling unit are positioned in different postures, effective alignment and coupling can be induced.

[0041] At this time, the vibrations of different phases can be effectively transmitted to the gripping unit through the transmission unit, and since the transmission unit has a triangular shape and is connected to a pair of gripping parts of the gripping unit, vibrations of different phases can be induced in the gripping parts. Thus, rotation of the assembly object in the roll direction can be induced, and alignment through rotation can be induced.

[0042] Furthermore, since a pair of gripping units extend from both sides of the body to grip a central object, various objects can be effectively gripped regardless of their size or shape. In addition, when the object is gripped, the gripping units vibrate due to the vibration of the excitation unit, and through this vibration, the object can be effectively connected to the fastening member without requiring precise alignment.

[0043] In addition, the above-mentioned holding unit is provided at the center of the body part and is simultaneously transmitted to the link units on both sides through the transmission unit, so that vibration by one holding unit can be transmitted at the same frequency to the gripping units on both sides, so that vibration can be induced to the object while maintaining the stability of the overall gripping while the gripping unit is gripping the object.

[0044] As described above, by means of a gripping unit that rotates about a second direction as a center axis of rotation and a gripping unit that vibrates along the second direction, effective gripping of objects having various shapes and sizes is possible, and the object can be accurately fastened to a predetermined fastening portion while omitting a certain portion of precise alignment through vibration of the object.

[0045] FIG. 1 is a perspective view illustrating a gripper according to one embodiment of the present invention.

[0046] Figure 2 is a side view illustrating the gripper of Figure 1.

[0047] Figure 3 is a front view showing another example of the gripper of Figure 1.

[0048] Figure 4 is a front view showing a gripper according to another embodiment of the present invention.

[0049] Figure 5 is a front view showing a gripper according to another embodiment of the present invention.

[0050] Figure 6 is a perspective view illustrating a gripper according to another embodiment of the present invention.

[0051] Figure 7 is an enlarged front view of the gripper of Figure 6.

[0052] Figures 8a to 8c are front views illustrating a step of fixing an assembly target using the gripper of Figure 6.

[0053] Figures 9 and 10 are perspective views illustrating a gripper according to another embodiment of the present invention.

[0054] Fig. 11 is a perspective view showing in detail the transfer unit and the gripping unit in the gripper of Fig. 9.

[0055] Figures 12a and 12b are schematic images illustrating a state in which a connector is connected to a joint using the gripper of Figure 9.

[0056] Figure 13 is a flowchart illustrating an assembly method using the gripper of Figure 9.

[0057] Figures 14a to 14d are schematic diagrams for explaining the assembly method of Figure 13.

[0058] FIG. 15 is a front perspective view illustrating a vibration-based gripper according to another embodiment of the present invention.

[0059] Fig. 16 is a rear perspective view illustrating the gripper of Fig. 15.

[0060] Figures 17 and 18 are perspective views illustrating in detail the transfer unit and the gripping unit in the gripper of Figure 15.

[0061] Figures 19a and 19b are front and back views showing the gripper of Figure 15 in a rotating state.

[0062] Fig. 20 is an enlarged front view showing the gripper of Fig. 15 moving up and down.

[0063] Fig. 21 is a rear perspective view illustrating a gripper according to another embodiment of the present invention.

[0064] Fig. 22 is a front perspective view illustrating the gripper of Fig. 21.

[0065] Figures 23a to 23c are perspective views sequentially illustrating the state in which the gripper of Figure 21 operates.

[0066] Fig. 24 is a perspective view showing a gripper according to another embodiment of the present invention.

[0067] Figure 25 is a perspective view showing the gripper of Figure 24 from another direction.

[0068] Figures 26 and 27 are perspective views showing the gripper of Figure 24 from another direction.

[0069] Figures 28a and 28b are perspective views and side views showing a state in which an object is gripped using the gripper of Figure 24, vibration is applied, and the object is fastened to a fastening part.

[0070] Fig. 29 is a perspective view showing a state in which another object is gripped using the gripper of Fig. 24.

[0071] The present invention is susceptible to various modifications and takes various forms, and thus embodiments are described in detail herein. However, this is not intended to limit the present invention to a specific disclosed form, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Similar reference numerals have been used to designate similar components throughout the description of each drawing. While terms such as "first," "second," etc. may be used to describe various components, these components should not be limited by these terms.

[0072] The above terms are used solely to distinguish one component from another. The terms used in this application are used solely to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0073] In this application, it should be understood that terms such as “comprise” or “consist of” are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0074] 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 this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having 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 explicitly defined herein.

[0075] Hereinafter, with reference to the attached drawings, a preferred embodiment of the present invention will be described in more detail.

[0076] Fig. 1 is a perspective view illustrating a gripper according to one embodiment of the present invention. Fig. 2 is a side view illustrating the gripper of Fig. 1.

[0077] Referring to FIGS. 1 and 2, the gripper (10) according to the present embodiment includes a driving unit (100), a transmission unit (200), and a driving part (300).

[0078] The above-mentioned excitation unit (100) may have a square block shape as illustrated, and a vibration generating element that generates vibration may be positioned inside. Of course, the shape or structure of the above-mentioned excitation unit (100) is not necessarily limited to that illustrated.

[0079] By the vibration generating element provided in the above-mentioned driving unit (100), vibration is generated along the second direction (Y), and the vibration thus generated is transmitted to the driving unit (300) through the transmission unit (200).

[0080] The above-described transmission unit (200) may be a structure such as an extension bar extending between the above-described driving unit (100) and the above-described driving part (300), as shown, and is caused to vibrate along the third direction (Z) as shown by the arrow due to vibration generated from the above-described transmission unit (200).

[0081] The above-mentioned excitation unit (300) is fixed to the lower end of the transmission unit (200), and may have a square block or square frame shape with a predetermined area as shown. The above-mentioned excitation unit (300) is formed integrally with the transmission unit (200), and through this, the vibration of the transmission unit (200) in the third direction (Z) is directly transmitted to the above-mentioned excitation unit (300).

[0082] The above-mentioned part (300) includes a fixed surface (310) having a predetermined area, and as shown, the fixed surface (310) corresponds to the lower surface of the above-mentioned part (300).

[0083] At this time, the size and shape of the area of ​​the fixed surface (310) of the above-mentioned part (300) can be designed to be variable in various ways, and it is sufficient to design it by considering the size and shape of the assembly target (410) fixed to the fixed surface (310).

[0084] The above assembly target (410) constitutes an assembly unit (400) together with a connecting portion (420), and corresponds to a configuration in which the parts are assembled together by the gripper (10) in this embodiment. In this case, the assembly unit (400) may be, for example, a connector, and thus the assembly target (410) may be a connector holder and the connecting portion (420) may be a connector.

[0085] That is, the assembly target (410) has a joining groove (411) formed in the shape of a groove on the joining surface (412, see FIG. 3), and the joining part (420) is inserted into the inside of the joining groove (411), so that the joining part (420) and the assembly target (410) are joined to each other.

[0086] At this time, an example in which four coupling grooves (411) are formed is shown through the drawing, but the number, structure, and shape of the coupling grooves (411) can be designed in various ways, and a structure in which the coupling part (420) is inserted onto the assembly target (410) and assembled with each other is sufficient.

[0087] Furthermore, the drawing illustrates a state in which the assembly target (410) is fixed on the exciter (300) and the coupling part (420) is inserted into the assembly target (410) from the outside and assembled with each other. However, alternatively, the coupling part (420) may be vibrated while fixed on the exciter (300) and inserted into the assembly target (410) located externally and assembled with each other.

[0088] The assembly target (410) has its upper surface fixed on the fixing surface (310), and the fixing method of the assembly target (410) is not limited. That is, the assembly target (410) may be fixed to the fixing surface (310) through a separate adhesive member (not shown), or a separate fixing groove (not shown) may be formed on the fixing surface (310) and the upper surface of the assembly target (410) may be inserted into and fixed in the fixing groove. Furthermore, a predetermined magnetic member may be interposed between the fixing surface (310) and the assembly target (410), so that they may be fixed to each other through magnetic force.

[0089] As described above, in a state where the upper surface of the assembly target (410) is fixed on the fixed surface (310), the assembly target (410) also vibrates simultaneously due to the vibration of the exciter (300). That is, the assembly target (410) can also be viewed as being formed integrally with the exciter (300), and through this, the vibration of the exciter (300) in the third direction (Z) is transmitted as is to the assembly target (410), so that it vibrates in the third direction (Z) as well.

[0090] At this time, the vibration range or vibration frequency of the assembly target (410) can be controlled in various ways. For example, based on the height (H) of the assembly target (410), i.e., the thickness, vibration can be applied so that the assembly target (410) vibrates with a displacement (D) of 1.5 to 3 times the height (H) in the third direction.

[0091] That is, the assembly target (410) can perform reciprocating vibration within a range of 1.5 to 3 times the height (H) and move reciprocally in the third direction (Z).

[0092] At this time, the vibration frequency of the assembly target (410) can be set in various ways by taking into consideration the degree of alignment required between the assembly target (410) and the coupling part (420), i.e., the size of the coupling groove (411), etc.

[0093] As described above, by the vibration of the above-mentioned part (300) in the third direction (Z), the assembly target (410) also vibrates with a predetermined displacement (D) in the third direction (Z).

[0094] In this way, when the assembly target (410) is vibrated in the third direction (Z), and the coupling part (420) is brought closer in a direction toward the assembly target (410), or, alternatively, when the assembly target (410) is brought closer in a direction toward the coupling part (420), the coupling part (420) and the assembly target (410) are naturally aligned in the third direction (Z), find their own positions, and are coupled to each other.

[0095] That is, according to the repetitive vibration in the third direction (Z), the assembly target (410) repeatedly passes through a position where the assembly target (410) and the coupling part (420) are aligned in the third direction (Z), and at this time, in the process where the coupling part (420) and the assembly target (410) approach each other and come into contact, the coupling part (420) is inserted into the coupling groove (411) of the assembly target (410) along the first direction (X) at the position where the alignment is made.

[0096] At this time, the first direction (X) is a direction perpendicular to the third direction (Z), and forms a plane along which the fixed surface (310) extends together with the second direction (Y).

[0097] Therefore, in the process of assembling the assembly object (410) with the coupling part (420), the alignment in the third direction (Z) between the assembly object (410) and the coupling part (420) can be omitted, and the alignment in the third direction (Z) is naturally performed by the vibration.

[0098] Of course, since no separate vibration occurs in the second direction (Y) perpendicular to the third direction (Z), during the assembly process of the assembly unit (400), the coupling portion (420) and the assembly target (410) must first be aligned with each other along the second direction (Y).

[0099] Figure 3 is a front view showing another example of the gripper of Figure 1.

[0100] Referring to FIG. 3, a gripping portion (320) may be additionally provided on the fixed surface (310) of the above-mentioned portion (300).

[0101] That is, the above-mentioned grip part (320) is located on both sides of the assembly target (410) and fixes the assembly target (410) so that it does not move in the second direction (Y).

[0102] As previously explained, the assembly target (410) is vibrated only along the third direction (Z) by the vibration of the excitation unit (300), but no separate vibration is performed in the second direction (Y). Accordingly, the assembly target (410) and the coupling unit (420) must be aligned with each other along the second direction (Y).

[0103] However, in the case of the assembly target (410) and the coupling portion (420) aligned with each other along the second direction (Y), the aligned state may be misaligned due to vibration in the third direction (Y). Therefore, the grip portion (320) is provided to support both side surfaces of the assembly target (410), so that the position of the assembly target (410) can be fixed so that it does not move in the second direction (Y) even if it vibrates in the third direction (Z).

[0104] Through this, while the alignment state in the second direction (Y) is maintained, the coupling part (420) and the assembly target (410) can find their own positions and be coupled only in the third direction (Z).

[0105] Figure 4 is a front view showing a gripper according to another embodiment of the present invention.

[0106] In the case of the gripper (11) according to the present embodiment, it is substantially the same as the gripper (10) described with reference to FIGS. 1 to 3, except that the direction of vibration generation of the excitation unit (301) and the direction of vibration of the assembly target (410) are different. Therefore, any overlapping description will be omitted.

[0107] Referring to Fig. 4, in the gripper (11) according to the present embodiment, vibration is generated in the second direction (Y) by the excitation unit, and accordingly, vibration in the second direction (Y) is transmitted through the transmission unit (201). Accordingly, the excitation unit (301) also vibrates in the second direction (Y).

[0108] At this time, the vibration of the above-mentioned excitation unit (301) in the second direction (Y) may be the same in both magnitude and frequency of vibration, except that the direction of vibration is different in the horizontal direction compared to the vibration of the above-mentioned excitation unit (300) in the preceding FIGS. 1 to 3.

[0109] Additionally, as the above-mentioned excitation part (301) vibrates in the second direction (Y), the position of the assembly target (410) fixed to the fixed surface (311) also changes.

[0110] Generally, as illustrated in FIGS. 1 and 4, the assembly target (410) has a rectangular shape with a joining surface (412), and the length of one edge may be formed to be relatively larger than the length of the other edge. That is, the joining surface (412) may have a rectangular shape that is elongated in the longitudinal direction.

[0111] Accordingly, in Fig. 1, a surface extending in the longitudinal direction of the assembly target (410) is attached to the fixing surface (310), and among the surfaces of the assembly target (410), a relatively wide surface is attached to the fixing surface (310), thereby enabling more stable fixing. In this case, the assembly target (410) is arranged elongated in the horizontal direction.

[0112] In contrast, in the case of FIG. 4, the fixed surface (311) extends along the third direction (Z), so that a relatively wide surface of the assembly target (410) is attached to the fixed surface (310). Thus, the assembly target (410) is fixed on the fixed surface (311) in a vertically erected form, as illustrated.

[0113] In this state, the assembly target (410) is vibrated in the second direction (Y). At this time, the assembly target (410) and the coupling part (420) do not need to be separately aligned in the second direction (Y), but the assembly target (410) and the coupling part (420) need to be aligned in advance in the third direction (Z), so that the assembly target (410) and the coupling part (420) can find their positions on their own and be assembled to each other.

[0114] That is, as in the present embodiment, the assembly target (410) can be fixed on the fixed surface (310) of the exciter (301) so that the joining surface (412) is positioned in a form that is extended in the vertical direction in addition to the horizontal direction, and in this fixed state, the assembly target (410) can find its own position and be assembled with the joining portion (420) in a state where alignment in the second direction (T) is omitted by applying vibration in the second direction (Y).

[0115] As described above, considering the shape and alignment direction of the assembly target (410), vibration can be applied to the assembly target (410) by selecting either the second direction (Y) or the third direction (Z), thereby performing assembly with the connecting portion (420) while omitting separate alignment for either direction.

[0116] Figure 5 is a front view showing a gripper according to another embodiment of the present invention.

[0117] In the case of the gripper (12) according to the present embodiment, it is substantially the same as the gripper (10) described with reference to FIGS. 1 to 3, except for the shape of the assembly target (401) and the simultaneous vibration of the excitation parts (300, 301). Therefore, any overlapping description will be omitted.

[0118] Referring to FIG. 5, in the gripper (12) according to the present embodiment, the joint surface (432) of the assembly target (401) has an overall square shape, and the vibration parts (300, 301) apply vibration in both the second direction (Y) and the third direction (Z).

[0119] First, in the case of the above assembly target (401), as illustrated, it may be manufactured so that the length of the edge along the second direction (Y) and the length of the edge along the third direction (Z) are equal to or similar to each other. That is, rather than the shape in which the joining surface (412) is formed to be elongated in the longitudinal direction as in FIGS. 1 and 4, it may be formed to have an overall square shape.

[0120] Of course, in the case of having a square-shaped joint surface (412) like this, as described in FIGS. 1 and 4, the assembly target (401) may be vibrated in only one direction of the third direction (Z) and the second direction (Y) while being fixed to one of the vibration parts (300, 301).

[0121] However, in this embodiment, the assembly target (401) is vibrated in both the third direction (Z) and the second direction (Y) by the vibration of the first excitation unit (300) and the second excitation unit (301).

[0122] That is, one side of the assembly target (401) is fixed to the first fixed surface (310) of the first excitation part (300), and the other side of the assembly target (401) is fixed to the second fixed surface (311) of the second excitation part (301).

[0123] Thus, both the vibration in the third direction (Z) applied through the first excitation unit (300) and the vibration in the second direction (Y) applied through the second excitation unit (301) can be transmitted to the assembly target (401). Accordingly, the assembly target (401) vibrates in both the second and third directions (Y, Z).

[0124] Meanwhile, as described above, the range or frequency of vibration in each of the second and third directions (Y, Z) may be substantially the same as the range or frequency of vibration along the third direction (Z) described with reference to FIG. 1.

[0125] In addition, in the case of the present embodiment, since the assembly object (401) vibrates in both the second and third directions (Y, Z) as described above, the assembly object (401) and the coupling part (420) do not need to be aligned in advance with respect to both the second and third directions (Y, Z).

[0126] That is, the above-mentioned joint (420) and the above-mentioned assembly object (401) can independently find positions where they are aligned with each other along the second direction (Y) by vibration in the second direction (Y), and similarly, they can independently find positions where they are aligned with each other along the third direction (Z) by vibration in the third direction (Z).

[0127] Thus, the coupling portion (420) and the assembly target (401) can be naturally assembled with each other by self-aligning with respect to both the second and third directions (Y, Z) through an action of moving to approach each other in the first direction (X).

[0128] Of course, the application of vibration in the second and third directions (Y, Z) can also be applied to a case where the joining surface of the assembly object has a relatively long rectangular shape, as described with reference to FIGS. 1 and 4.

[0129] However, in order to ensure more stable fixation and uniform transmission of stable vibration in both directions, it may be more desirable for the assembly object to have a square shape, as shown in Fig. 5, or a square shape in which the lengths of adjacent corners are similar or not significantly different.

[0130] Fig. 6 is a perspective view illustrating a gripper according to another embodiment of the present invention. Fig. 7 is an enlarged front view of the gripper of Fig. 6. Figs. 8a to 8c are front views illustrating steps of fixing an assembly object using the gripper of Fig. 6.

[0131] The gripper (13) according to the present embodiment is substantially the same as the gripper (10) described with reference to Fig. 1, except that it further includes a fixing module (500). Accordingly, the same reference numbers are used for the same components, and redundant descriptions are omitted.

[0132] Referring to FIGS. 6 to 8c, the gripper (13) according to the present embodiment further includes the fixing module (500), and the configurations of the excitation unit (100), the transmission unit (200), and the excitation part (302) described above are the same. Accordingly, descriptions of the vibration of the excitation part (302) and the coupling of the assembly unit (400) through the vibration thereof are omitted. However, the shape of the excitation part (302) is partially deformed, which will be described later.

[0133] In the gripper (10) of Fig. 1, the assembly target (410) can be attached to the fixing surface (310) of the excitation unit (300) using an attachment unit, a fixing groove, magnetic force, etc. However, in the case of such attachment, the fixing force may be weakened by the applied vibration, making it difficult to stably fix the assembly target (410).

[0134] Accordingly, in the present embodiment, by additionally providing the fixing module (500), the fixing force of the assembly target (410) to the excitation part (300) can be further increased.

[0135] Specifically, the fixed module (500) includes a vertical moving part (510), a fixed frame (520), and a fixed part (530).

[0136] The above vertical moving part (510) moves entirely in the third direction (Z) to induce fixing and releasing of the assembly target (410) through the fixing module (500).

[0137] The above vertical moving part (510) includes a sliding frame (511) and a vertical transport frame (512).

[0138] As illustrated, the sliding frame (511) extends along the third direction (Z) and is coupled to a guide groove (110) formed along the third direction (Z) on one surface of the holding unit (100). Thus, the sliding frame (511) slides along the guide groove (110) in the third direction (Z), moves upward along the third direction (Z) to fix the assembly target (410), and moves downward along the third direction (Z) to release the fixing state of the assembly target (410).

[0139] The vertical transport frame (512) extends from the lower end of the sliding frame (511) along the second direction (Y), thereby allowing the vertical moving part (510) to have an overall 'L' shape.

[0140] Thus, the position of the vertical transport frame (512) is changed in the upper and lower directions along the third direction (Z) simultaneously according to the sliding movement of the sliding frame (511).

[0141] The above fixed frame (520) is connected to the vertical moving part (510) to move the fixed part (530), and includes a horizontal fixed frame (521) and a vertical fixed frame (522).

[0142] The horizontal fixed frame (521) is connected to the vertical transfer frame (521) and extends a predetermined length along the second direction (Y), and the vertical fixed frame (522) extends a predetermined length along the third direction (Z) from the end of the horizontal fixed frame (521). Thus, the fixed frame (520) may also have an overall 'L' shape.

[0143] At this time, the fixed frame (520) is moved integrally with the vertical moving part (510), and when the vertical moving part (510) moves downward along the third direction (Z), it simultaneously moves downward, and when it moves upward, it simultaneously moves upward.

[0144] Meanwhile, the fixed frame (520) may further include an extension frame (523) formed at the end of the vertical fixed frame (522), and the fixed part (530) is fixed on the extension frame (523).

[0145] At this time, the extension frame (523) may be a frame for precisely positioning the position of the fixing part (530) by considering the position of the insertion part (351) formed in the supporting part (302).

[0146] The above-mentioned fixing part (530) fixes the assembly target (410) on the fixing surface (310) of the above-mentioned part (302), and includes a flexible fixing part (531), a first fixing part (532), a second fixing part (533), and a fixing block (535).

[0147] The flexible fixing member (531) is fixed at one end to one side of the excitation member (302) via the first fixing member (532), and the other end is fixed to the extension frame (523) via the second fixing member (533).

[0148] In this case, as illustrated in FIG. 8a, one end of the flexible fixing member (531) is rotatably connected to one side of the exciter member (302) via the first fixing member (532), and similarly, the other end of the flexible fixing member (531) is rotatably connected to the other side of the exciter member (302) via the second fixing member (533).

[0149] At this time, the flexible fixing part (531) may be a substrate shape having flexibility and elasticity as a whole, and may have a structure that bends and extends from the first fixing part (532) toward the second fixing part (533) with a predetermined area.

[0150] The above fixed block (535) is fixed at a position adjacent to the other end of the flexible fixed part (531), and as shown, has a cross-section in the shape of the letter 'ㄱ', so that it can be combined on the insertion part (351) formed in the supporting part (302).

[0151] The above-mentioned excitation part (302) transmits the vibration transmitted through the transmission unit (200) to the assembly target (410). In the case of the present embodiment, a predetermined protrusion (350) is formed on the other side edge of the excitation part (302) to form an insertion part (351), as shown.

[0152] That is, the protrusion (350) is formed with a hook-shaped cross-section so as to have the insertion portion (351), which is a groove having a predetermined depth, on the other side edge of the supporting portion (302). Thus, the fixing block (535) is inserted and positioned in the insertion portion (351) formed by the protrusion (350), and through this, the flexible fixing portion (531) provides fixing force to the assembly target (410).

[0153] The method of fixing the assembly target (410) through the above-mentioned fixing module (500) is described as follows.

[0154] First, referring to FIG. 8A, in the initial state, the vertical moving part (510) is positioned relatively lower, and accordingly, the fixed frame (520) is also positioned lower on the assembly target (410). In addition, the flexible fixed part (531) also extends between the first fixed part (532) and the second fixed part (533), but since the extension frame (523) of the fixed frame (520) is positioned relatively lower, a predetermined fixed space (360) is formed between the flexible fixed part (531) and the fixed surface (310) of the excitation part (302).

[0155] Accordingly, the assembly target (410) can be positioned in contact with the fixed surface (310) through the fixed space (360).

[0156] Thereafter, referring to FIG. 8b, when the vertical moving part (510) moves upward along the third direction (Z), the fixed frame (520) fixed thereto also moves upward along the third direction (Z). At this time, when the vertical moving part (510) is moved until the extension frame (523) is positioned above the excitation part (302), as illustrated, the flexible fixing part (531) comes into contact with the lower surface of the assembly target (410) and extends.

[0157] That is, the flexible fixing part (531) is extended while contacting the lower surface of the assembly target (410) while one end is fixed to the first fixing part (532), and the other end of the flexible fixing part (531) is positioned above the excitation part (302) along the extension frame (523).

[0158] Accordingly, as shown, the flexible fixing member (531) extends in an overall 'U' shape and supports the lower surface of the assembly target (410), thereby more stably fixing the assembly target (410) to the fixing surface (310).

[0159] Meanwhile, at this time, the fixed block (535) located at the other end of the flexible fixed part (531) is inserted into the insertion part (351). In particular, since the cross-section of the fixed block (535) has an ‘ㄱ’ shape, the fixed block (535) maintains a stable inserted state on the insertion part (351).

[0160] After this, referring to FIG. 8c, when the excitation part (302) vibrates along the third direction (Z), the assembly target (410) also vibrates in the third direction (Z). Even when such vibration occurs, the assembly target (410) is stably supported by the flexible fixing part (531) and remains in stable contact with the fixing surface (310).

[0161] At this time, as illustrated, as the vibration occurs, the excitation unit (302) vibrates, and accordingly, the position of the fixed frame (520) in the third direction (Z) relative to the excitation unit (302) can be changed. However, regardless of the change in the relative position of the fixed frame (520) with respect to the excitation unit (302), the fixed block (535) having an 'ㄱ' shape can maintain a stable inserted and fixed state in the insertion unit (351).

[0162] Accordingly, the flexible fixing member (531) can stably maintain a fixing state for the assembly target (410) as shown in FIG. 8c.

[0163] After this, although not shown, when the assembly of the assembly target (410) and the coupling part (420) is completed, the fixed frame (520) is moved to a height relatively higher than the exciter (302), the fixed block (535) is removed from the insertion part (351), and the flexible fixed part (531) can be repositioned to the lower side of the assembly target (410) in the initial state as in FIG. 8a.

[0164] As described above, the assembly of the assembly unit (400) can be performed while the assembly target (410) is more stably fixed through the fixing module (500).

[0165] Figures 9 and 10 are perspective views illustrating a gripper according to another embodiment of the present invention. Figure 11 is a perspective view illustrating in detail the transfer unit and the gripping unit in the gripper of Figure 9.

[0166] Referring to FIGS. 9 to 11, the gripper (20) according to the present embodiment includes a frame unit (1100), a fixing unit (1200), a gripping unit (1300), a holding unit (1400), and a transmission unit (1500).

[0167] The above frame unit (1100) forms a frame structure on the upper part of the gripper (20), and may be formed into frame structures of various structures in addition to the structure shown. In particular, although not shown, the frame unit (1100) is mounted on an external structure, the end of a robot arm, a manipulator, etc., and it is obvious that its design or structure may vary depending on the structure to which it is mounted.

[0168] Accordingly, the gripper (20) is mounted on the robot arm or manipulator, etc., and performs a predetermined movement or operation while fastening the assembly target to the joint as described below.

[0169] Hereinafter, the shape and structure of the drawing will be described as an example of the design of the frame unit (1100), but the detailed shape or structure is not limited to the described example, except for the structure in which the fixed unit, gripping unit, or further the holding unit is fixed to the lower portion.

[0170] The above frame unit (1100) includes a horizontal frame (1110), a vertical frame (1120), and an auxiliary frame (1130).

[0171] The above horizontal frame (1110) is a frame structure extending along a plane (XY plane) formed by the first and second directions (X, Y), and its area can be varied in consideration of the size or structure of the fixed unit (1200) and the holding unit (1400) mounted below.

[0172] Although not shown, a predetermined mounting portion may be formed in the center of the above horizontal frame (1110) with a groove, hole, or other fastening structure to which an external structure, the end of a robot arm, a manipulator, etc. described above can be mounted.

[0173] The vertical frame (1120) extends downward from both ends of the horizontal frame (1110) along the third direction (Z), and forms a predetermined storage space (1101) at the bottom together with the horizontal frame (1110). In addition, the holding unit (1400) described below is positioned in the storage space (1101).

[0174] At this time, the first to third directions (X, Y, Z) define space in directions that are perpendicular to each other.

[0175] The auxiliary frame (1130) is a frame-shaped structure located on one side of the horizontal frame (1110), and the fixing unit (1200) described below is fixed to the lower side. At this time, the auxiliary frame (1130) may be omitted, and if the auxiliary frame (1130) is omitted, the fixing unit (1200) may be directly fixed to the lower surface of the horizontal frame (1110).

[0176] The above-described fixed unit (1200) extends downward from the auxiliary frame (1130), and since the auxiliary frame (1130) is formed at the front end of the horizontal frame (1110), the fixed unit (1220) is fixed to the front end of the horizontal frame (1110). In addition, the fixed unit (1200) corresponds to a frame structure that extends a predetermined length along the third direction (Z) and to which the gripping unit (1300) described below is fixed.

[0177] That is, the fixed unit (1200) includes a vertical fixed part (1210), a horizontal fixed part (1220), and fixed parts (1221, 1222), and the gripping unit (1300) is connected to the lower surface. As described above, the fixed unit (1200) is extended to maintain a predetermined gap between the position where the gripping unit (1300) is mounted and the frame unit (1100). As described above, since the fixed unit (1200) is formed to extend to a predetermined length, a space can be provided in the storage space (1101) formed on the rear side of the fixed unit (1200) in which a holding unit (1400) of a predetermined length can be positioned.

[0178] Accordingly, the extended length of the fixed unit (1200) can be selected by considering the length or size of the holding unit (1400).

[0179] The vertical fixing member (1210) is a frame whose upper end is connected to the auxiliary frame (1130) and which extends a predetermined length in the downward direction, i.e., the third direction (Z). As described above, the extending length of the vertical fixing member (1210) can be variably designed in consideration of the size or length of the holding unit (1400).

[0180] The horizontal fixing member (1220) is a frame that is fixed to the lower end of the vertical fixing member (1210) and extends a predetermined length along the second direction (Y). At this time, the length of the horizontal fixing member (1220) can be designed to vary in consideration of the spacing between a pair of gripping members (1350, 1360) of the gripping unit (1300) described below.

[0181] The above-mentioned fixing parts (1221, 1222) are extended as a pair on the lower surface of the horizontal fixing part (1220) and extend a predetermined length along the third direction (Z). Accordingly, a pair of guide frames (1310, 1320) of the gripping unit (1300) are each mounted on the pair of fixing parts (1221, 1222).

[0182] The above-mentioned fixed parts (1221, 1222) are moved in the second direction (Y) while fixing the above-mentioned guide frames (1310, 1320). That is, the fixed parts (1221, 1222) provided as a pair are connected to the lower surface of the horizontal fixed part (1220) so as to be able to slide, and thus, the gap between the pair of fixed parts (1221, 1222) can be variously controlled by a separate driving control.

[0183] Thus, as the pair of fixed parts (1221, 1222) slide in the second direction (Y) on the lower surface of the horizontal fixed part (1220) and their positions are varied, the spacing between the guide frames (1310, 1320) fixed to the lower portion of the fixed parts (1221, 1222) can also be varied.

[0184] Thus, the pair of gripping parts (1350, 1360) described below can be moved in the second direction (Y) and the interval between them can be controlled to perform gripping on the assembly target (21).

[0185] That is, the gripping unit (1300) is fixed to the lower portion of the fixing unit (1200), and the assembly target (21) is gripped through the gripping unit (1300). At this time, since the gripping unit (1300) is located at the lower portion of the fixing unit (1200), it is located on the front side of the frame unit (1100) as a whole. At this time, the front side of the frame unit (1100) means a position close to the coupling portion (130, see FIG. 12a) along the first direction (X) in the drawing.

[0186] More specifically, the gripping unit (1300) includes a pair of first and second guide frames (1310, 1320), a pair of first and second slides (1330, 1340), and a pair of first and second gripping portions (1350, 1360).

[0187] That is, the gripping unit (1300) has an overall symmetrical structure, and each component is formed as a pair, thereby gripping the assembly target (120, see FIG. 12a) located at the center.

[0188] The first and second guide frames (1310, 1320) are fixed to the fixing members (1221, 1222), respectively, and extend downward along the third direction (Z). At this time, the first guide frame (1310) includes a first horizontal guide frame (1311) that is fixed to the fixing member (1221) and extends horizontally in the second direction (Y), a first vertical guide frame (1312) that extends vertically in the third direction (Z) from the first horizontal guide frame (1311), and a first guide rail (1313) formed on the inner surface of the first vertical guide frame (1312).

[0189] That is, the first guide frame (1310) is formed integrally in an overall ‘ㄱ’ shape, and the first guide rail (1313) is formed along the inner surface.

[0190] Likewise, the second guide frame (1320) also has a symmetrical shape with the first guide frame (1310), is fixed to the fixing member (1222), and includes a second horizontal guide frame (1321) extending horizontally in the second direction (Y), a second vertical guide frame (1322) extending vertically in the third direction (Z) from the second horizontal guide frame (1321), and a second guide rail (1323) formed on the inner surface of the second vertical guide frame (1322).

[0191] Thus, the first and second guide rails (1313, 1323) face each other and extend a predetermined length along the third direction (Z).

[0192] The first and second slides (1330, 1340) are slidably moved along the first and second guide rails (1313, 1323), respectively, and are coupled to the outer side of each of the first and second guide rails (1313, 1323) to move up and down along the third direction (Z), which is the extension direction of the first and second guide rails (1313, 1323).

[0193] At this time, although not shown, the movement of the first and second slides (1330, 1340) along the third direction (Z) can be controlled through a separate drive control unit.

[0194] Furthermore, as described below, when vibration is applied by the holding unit (1400), the first and second slides (1330, 1340) vibrate in the third direction (Z) on the first and second guide rails (1313, 1323).

[0195] The first and second gripping parts (1350, 1360) are mounted on the first and second slides (1330, 1340), respectively, and grip the assembly target (21).

[0196] That is, the first and second gripping parts (1350, 1360) face each other at a predetermined distance apart from each other along the second direction (Y) and have a symmetrical shape. Thus, the assembly target (21) can be gripped between the first and second gripping parts (1350, 1360). In addition, when vibration is applied to the first and second gripping parts (1350, 1360) by the excitation unit (1400), the first and second gripping parts (1350, 1360) also vibrate in the third direction (Z) together with the first and second slides (1330, 1340).

[0197] As described above, the fixing parts (1221, 1222) slide in the second direction (Y) on the horizontal fixing part (1220) and their positions are changed, so that the gap between the first and second gripping parts (1350, 1360) is controlled, thereby performing gripping of the assembly target (21).

[0198] Each of the first and second gripping parts (1350, 1360) includes first and second tip parts (1351, 1361) at the ends, and can grip both sides of the assembly target (21) by fixing them through the first and second tip parts (1351, 1361).

[0199] In addition, when the assembly target (21) is held between the first and second gripping parts (1350, 1360), the positions of the first and second gripping parts (1350, 1360) can be changed in the third direction (Z), so that the position of the assembly target (21) in the third direction (Z) can also be controlled. In addition to the position control in the third direction (Z), a reciprocating movement, i.e., vibration, along the third direction (Z) is performed by the vibration described below.

[0200] The above-mentioned excitation unit (1400) generates vibration, and the assembly target (21) is excited by the vibration generated by the above-mentioned excitation unit (1400).

[0201] Specifically, the above-mentioned driving unit (1400) includes a driving part (1410) and a driving shaft (1420).

[0202] The above-mentioned excitation unit (1410) may be an excitation element that generates vibration. At this time, the excitation element may be, for example, an excitation device that utilizes electromagnetic force, and generates vibration through electromagnetic force, but when an external force is applied from the outside, the vibration is offset by the external force, and only the residual vibration after the offset can be induced. In other words, when the displacement of the vibration that is already generated is offset by the external force, the displacement of the vibration can be reduced. Thus, the vibration displacement in a state where there is no external force is reduced by the external force, and the external force is naturally absorbed to minimize the external force transmitted to the entire gripper (20), thereby minimizing damage or breakage of the gripper (20) as well as the excitation unit (1410).

[0203] That is, when the assembly target (21) described below vibrates with a predetermined displacement in the third direction (Z) and is coupled with the coupling portion (22), the displacement in the third direction (Z) decreases. Therefore, a large impact may occur during this process, but if the exciter (1410) is a vibrator using electromagnetic force, when an external force is applied, displacement can be generated only by the amount of force offset by the electromagnetic force, so that breakage or damage caused by the external force or impact described above can be prevented.

[0204] As shown, the above-mentioned portion (1410) extends a predetermined length along the third direction (Z) and is stored in the storage space (1101) formed by the frame unit (1100).

[0205] Furthermore, as described above, considering the extension length of the above-described portion (1410), the extension length of the above-described fixed unit (1200) and ultimately the positions of the tip portions (1351, 1361) of the first and second grip portions (1350, 1360) can be designed.

[0206] In addition, although the drawing shows that the above-mentioned part (1410) has a cylindrical shape, it is not limited thereto.

[0207] The vibration generated in the above-mentioned excitation part (1410) is transmitted to the excitation axis (1420). That is, the excitation axis (1420) extends in the third direction (Z) through the center of the above-mentioned excitation part (1410) and protrudes downward from the above-mentioned excitation part (1410).

[0208] In addition, the end of the excitation shaft (1420) is fixed to the transmission unit (1500) described below. Thus, the vibration generated in the excitation part (1410) induces a reciprocating displacement change of the excitation shaft (1420) in the third direction (Z), and accordingly, the transmission unit (1500) fixed to the excitation shaft (1420) is also induced to change a reciprocating displacement in the third direction (Z). That is, the transmission unit (1500) vibrates in the third direction (Z).

[0209] As described above, the transmission unit (1500) transmits the vibration state of the shaft (1420) to the gripping unit (1300). Specifically, the transmission unit (1500) includes an inclined frame (1510), a central frame (1520), first and second holders (1530, 1540), and a coupling frame (1550).

[0210] First, the above-mentioned coupling frame (1550) is connected to the above-mentioned shaft (1420), and as shown, the above-mentioned shaft (1420) can be connected in a fixed manner.

[0211] The above-mentioned inclined frame (1510) is a frame structure in which one end is connected to the above-mentioned connecting frame (1550) and the other end is connected to the above-mentioned central frame (1520), and a pair of first and second inclined portions (1511, 1512) extend symmetrically.

[0212] At this time, the central frame (1520) has a frame structure that extends along the second direction (Y) with a width or length greater than the width of the coupling frame (1550). Accordingly, the first and second inclined portions (1511, 1512) have a frame structure that extends while being inclined outward while extending from the coupling frame (1550) to the central frame (1520).

[0213] Thus, as shown, the overall transmission unit (1500) has a triangular shape, particularly an isosceles triangle shape, and a predetermined internal space (1501) is formed inside.

[0214] The central frame (1520) is in contact with the rear surfaces of a pair of first and second gripping parts (1350, 1360) and is connected to the first and second gripping parts (1350, 1360) through the first and second holders (1530, 1540).

[0215] That is, in the central frame (1520), first and second opening grooves (1521, 1522) are formed at positions that contact the rear surfaces of the first and second grip portions (1350, 1360), and the first and second holders (1530, 1540) are positioned on the first and second opening grooves (1521, 1522).

[0216] The first holder (1530) is positioned on the first opening groove (1521), and the first fixing bar (1531) extending from the first holder (1530) passes through the first gripping portion (1350) and is fixed thereto. Through this, the first holder (1530) and the first gripping portion (1350) are fixed to each other, and thus one side of the central frame (1520) is fixed to the first gripping portion (1350).

[0217] Likewise, the second holder (1540) is positioned on the second opening groove (1522), and the second fixing bar (1541) extending from the second holder (1540) penetrates the second grip portion (1360) and is fixed thereto. Through this, the second holder (1540) and the second grip portion (1360) are fixed to each other, and thus the other side of the central frame (1520) is fixed to the second grip portion (1360).

[0218] Thus, the central frame (1520) is fixed on both sides to the rear of the first and second gripping parts (1350, 1360), respectively.

[0219] At this time, as illustrated, the first opening (1521) may be formed such that the width in the second direction (Y) is larger than the size of the first holder (1530).

[0220] Likewise, as illustrated, the second opening (1522) may be formed so that its width in the second direction (Y) is larger than the size of the second holder (1540).

[0221] At this time, the first and second opening grooves (1521, 1522) are formed to have the same size as the first and second holders (1530, 1540) in the third direction (Z), so that when the first and second holders (1530, 1540) vibrate in the third direction (Z), the first and second gripping parts (1350, 1360) can vibrate with the same vibration size.

[0222] As described above, since the sizes of the first and second opening grooves (1521, 1522) in the second direction (Y) are formed to be larger than the sizes of the first and second holders (1530, 1540), the positions of the first and second holders (1530, 1540) can be changed in the second direction (Y) on the first and second opening grooves (1521, 1522).

[0223] That is, the positions of the first and second holders (1530, 1540) in the second direction (Y) on the first and second opening grooves (1521, 1522) can be varied, and through this, the positions of the first and second gripping parts (1350, 1360) can be varied relatively along the second direction (Y) to grip the assembly object (21) having various widths.

[0224] Figures 12a and 12b are schematic images illustrating a state in which a connector is connected to a joint using the gripper of Figure 9.

[0225] Figures 12a and 12b are schematic diagrams illustrating that alignment can be omitted when joining an assembly object to a joint by vibration, and are schematically illustrated using the gripper of Figure 9.

[0226] As shown in Fig. 12a, in order to assemble the assembly object (21) to the coupling portion (22) while the assembly object (21) is gripped by the gripping unit (1300), the assembly object (21) and the coupling portion (22) must be aligned so that their respective center lines (C-C') coincide with each other.

[0227] That is, while the above-mentioned connecting portion (22) is fixed to the jig (23), the assembly target (21) must be moved in the third direction (Z) so that the assembly target (21) is positioned along the same center line as the center line of the connecting portion (22).

[0228] Of course, in Fig. 12a, only the alignment state in the third direction (Z) is exemplified, and in reality, alignment in the second direction (Y) is also required. Therefore, in a state where alignment is performed in the third direction (Z) as in Fig. 12a, after moving in the second direction (Y) and also performing alignment in the second direction (Y), the assembly target (21) must be moved in the first direction (X) to the joint part (22), so that the assembly target (21) and the joint part (22) are finally assembled to each other.

[0229] In particular, if the above assembly target (21) is a connector and the above-mentioned connecting portion is a connector holder, the alignment in the second direction (Y) as well as the third direction (Z) must be performed more precisely.

[0230] However, referring to FIG. 12b, if the gripping unit (1300) vibrates in the third direction (Z) and the assembly target (21) also vibrates in the third direction (Z), assembly is possible even if the center line of the assembly target (21) and the center line of the connecting portion (22) do not necessarily coincide with C-C'.

[0231] That is, if the assembly target (21) vibrates in a range (C) greater than the target section (A) to which the joint (22) should be fastened, alignment in the third direction (Z) is naturally performed by the vibration, even if the assembly target (21) and the joint (22) are not aligned in the third direction (Z).

[0232] At this time, if the vibration range (C) of the above assembly target (21) is within a range approximately twice that of the above target section (A), the above alignment can be omitted.

[0233] Accordingly, if only the alignment in the second direction (Y) between the assembly object (21) and the coupling portion (22) is performed while the gripping unit (1300) is moved in the second direction (Y), the assembly object (21) can be fastened to the coupling portion (22) by moving the assembly object (21) in the first direction (X) while vibrating it in the third direction (Z), thereby omitting the alignment in the third direction (Z).

[0234] Finally, in this embodiment, by vibrating the assembly object (21) in the third direction (Z), the assembly object (21) can be fastened to the joint (22) while omitting alignment in the third direction (Z).

[0235] Fig. 13 is a flowchart illustrating an assembly method using the gripper of Fig. 9. Figs. 14a to 14d are schematic diagrams for explaining the assembly method of Fig. 13.

[0236] First, referring to FIGS. 13 and 14a, in the assembly method using the gripper (20), first, the assembly target (25) is gripped as in FIG. 14a, and the gripped assembly target (25) is transferred to a target fastening position (step S10). At this time, the target fastening position is sufficient if it is a position adjacent to the joint (26) to which the assembly target (25) is fastened, and alignment with the joint (26) does not need to be performed.

[0237] However, it is necessary to be positioned within a range where alignment can be automatically performed by vibration, and the range where alignment can be performed is as described with reference to the preceding Figure 12b.

[0238] Thereafter, referring to FIGS. 13 and 14b, while vibrating the assembly target (25), the assembly target (25) is moved in the target fastening direction (transport direction) and brought into contact with the connecting portion (26) (step S20). At this time, the target fastening direction may be the first direction (X), and it is sufficient for the assembly target (25) and the connecting portion (26) to physically contact each other, and separate alignment may be omitted.

[0239] Meanwhile, the vibration of the above assembly target (25) is performed through the above-described excitation unit (1400).

[0240] Thereafter, referring to FIGS. 13 and 14c, the first and second gripping parts (1350, 1360) are moved in the second direction (Y) (horizontal direction), and the position of the coupling part (26) in the second direction is scanned (step S40). That is, through this scanning in the second direction, alignment between the coupling part (26) and the assembly target (25) in the second direction can be performed.

[0241] Thereafter, referring to FIGS. 13 and 14d, when the assembly target (25) is aligned with the coupling portion (26) only in the second direction, the third direction (Z) is naturally aligned by vibration, so that the assembly target (25) is fastened to the coupling portion (26). In particular, when the assembly target (25) is fastened to the coupling portion (26) as described above, the external force due to the fastening is transmitted to the vibration portion (1410), and thus the displacement of the vibration of the vibration portion (1410) is reduced by the external force. That is, the displacement of the vibration of the vibration portion (1410) in the third direction (Z) is reduced by the external force, and in this case, the vibration portion (1410) feeds this back to naturally reduce the amplitude (displacement) of the generated vibration (step S40).

[0242] Thus, the connection between the assembly target (25) and the connecting portion (26) is finally completed, and the grip of the assembly target (25) is released (step S50).

[0243] Fig. 15 is a front perspective view illustrating a gripper according to another embodiment of the present invention. Fig. 16 is a rear perspective view illustrating the gripper of Fig. 15. Figs. 17 and 18 are perspective views illustrating in detail the transfer unit and the gripping unit in the gripper of Fig. 15.

[0244] The gripper (30) according to the present embodiment is substantially the same as the gripper (20) described with reference to FIG. 9, except that the holding unit (2400) is provided as a pair and the transmission unit (1500) rotates accordingly. Therefore, the same reference numbers are used for the same components and redundant descriptions are omitted.

[0245] Referring to FIGS. 15 to 18, in the gripper (30) according to the present embodiment, the vibration unit (2400) includes a pair of vibration parts (2410, 2420) as shown, and the transmission unit (1500) transmits vibration transmitted through the pair of vibration parts (2410, 2420).

[0246] Specifically, the above-mentioned excitation unit (2400) includes a pair of first and second excitation parts (2410, 2420) and a connecting part (2430), and the assembly target (31) is excited by vibration generated from the above-mentioned excitation unit (2400).

[0247] The first and second excitation units (2410, 2420) may be excitation elements that independently generate vibrations. In this case, the excitation element may be, for example, an excitation device utilizing electromagnetic force, and generates vibrations through electromagnetic force. However, when an external force is applied from the outside, the vibration is offset by the external force, and only the residual vibration after the offset can be induced. In other words, when the displacement of the vibration that has already been generated is offset by the external force, the displacement of the vibration can be reduced.

[0248] As shown, the first and second excitation units (2410, 2420) extend a predetermined length parallel to each other along the third direction (Z) and are stored in the storage space (1101) formed by the frame unit (1100).

[0249] Furthermore, as described above, considering the extension length of the first and second excitation units (2410, 2420), the extension length of the fixed unit (1200) and ultimately the positions of the tip portions (1351, 1361) of the first and second gripping units (1350, 1360) can be designed.

[0250] In addition, although the first and second excitation parts (2410, 2420) are depicted as having a cylindrical shape in the drawing, they are not limited thereto.

[0251] The vibration generated in the first and second excitation units (2410, 2420) is transmitted to the first and second excitation axes (2411, 2421) extending downward through the center of each of the first and second excitation units (2410, 2420).

[0252] At this time, the ends of the first and second axes (2411, 2421) are fixed to the connecting portion (2430).

[0253] That is, the connecting portion (2430) includes a connecting frame (2431) extending a predetermined length in the second direction (Y), and first and second joints (2432, 2433) provided at each end of the connecting frame (2431).

[0254] The above connecting frame (2431) is a bar-shaped frame structure extending a predetermined length, and the end of the first shaft (2411) is connected to the first joint (2432), and the end of the second shaft (2421) is connected to the second joint (2433).

[0255] Accordingly, the vibration generated through the first excitation part (2410) is transmitted to one end of the connection part (2430) through the first excitation shaft (2411), and the vibration generated through the second excitation part (2420) is transmitted to the other end of the connection part (2430) through the second excitation shaft (2421).

[0256] Meanwhile, in the present embodiment, the first and second excitation units (2410, 2420) may generate vibrations having the same phase, but may also generate vibrations having different phases.

[0257] Accordingly, when the first and second excitation units (2410, 2420) generate vibrations having the same phase, the connecting unit (2430) vibrates with the same phase at both ends, so that the connecting unit (2430) as a whole vibrates in the third direction (Z) while maintaining a horizontal state.

[0258] In contrast, when the first and second excitation units (2410, 2420) generate vibrations having different phases, the connecting portion (2430) vibrates at one end and the other end at different phases. Furthermore, when the two ends of the connecting portion (2430) vibrate at different phases, the connecting portion (2430) cannot maintain a horizontal state, and the two ends vibrate differently up and down with respect to the center depending on the difference in phase.

[0259] That is, in the above-described vibrating state, the first joint (2432) in the connecting portion (2430) may be positioned lower than the second joint (2433), and in another state, the first joint (2432) may be positioned higher than the second joint (2433). In this way, the connecting portion (2430) does not maintain a horizontal state, but vibrates while having various postures, including an inclined state.

[0260] Meanwhile, in order for the connecting portion (2430) to vibrate in various positions other than the horizontal state as described above, the first and second joints (2432, 2433) must be configured as flexible joints capable of rotation. Thus, the connection between the first and second joints (2432, 2433) and the first and second axes (2411, 2421) can be stably maintained.

[0261] The above transmission unit (1500) transmits the vibration state of the connecting portion (2430) to the gripping unit (1300), and transmits the vibration state in which the connecting portion (2430) maintains a horizontal state and vibrates as well as the vibration state in which the connecting portion (2430) vibrates while being tilted to the gripping unit (1300).

[0262] Specifically, the transmission unit (1500) includes an inclined frame (1510), a central frame (1520), first and second holders (1530, 1540), and a coupling frame (1550).

[0263] First, the above-mentioned connecting frame (1550) is connected to the center of the connecting portion (2430), and can be connected to the lower surface of the connecting portion (2430) as illustrated. At this time, the connecting frame (1550) can be connected in a form in which its position is changed to reflect the position of the connecting portion (2430) as it is, and the connecting frame (1550) can be connected in a form in which it is fixed to the center of the connecting portion (2430).

[0264] The above-mentioned inclined frame (1510) is a frame structure in which one end is connected to the above-mentioned connecting frame (1550) and the other end is connected to the above-mentioned central frame (1520), and a pair of first and second inclined portions (1511, 1512) extend symmetrically.

[0265] At this time, the central frame (1520) has a frame structure that extends along the second direction (Y) with a width or length greater than the width of the coupling frame (1550). Accordingly, the first and second inclined portions (1511, 1512) have a frame structure that extends while being inclined outward while extending from the coupling frame (1550) to the central frame (1520).

[0266] Thus, as shown, the overall transmission unit (1500) has an isosceles triangle shape, and a predetermined internal space (1501) is formed inside.

[0267] The central frame (1520) is in contact with the rear surfaces of a pair of first and second gripping parts (1350, 1360) and is connected to the first and second gripping parts (1350, 1360) through the first and second holders (1530, 1540).

[0268] That is, in the central frame (1520), first and second openings (1521, 1522) are formed at positions that contact the rear surfaces of the first and second gripping parts (1350, 1360), and the first and second holders (1530, 1540) are fastened onto the first and second openings (1521, 1522).

[0269] The first holder (1530) is positioned so as to penetrate the first opening (1521), and the first fixing bar (1531) extending from the first holder (1530) is fixed by penetrating the first grip portion (1350). Through this, the first holder (1530) and the first grip portion (1350) are fixed to each other, and thus one side of the central frame (1520) is fixed to the first grip portion (1350).

[0270] Likewise, the second holder (1540) is positioned so as to penetrate the second opening (1522), and the second fixing bar (1541) extending from the second holder (1540) is fixed by penetrating the second grip portion (1360). Through this, the second holder (1540) and the second grip portion (1360) are fixed to each other, and thus the other side of the central frame (1520) is fixed to the second grip portion (1360).

[0271] Thus, the central frame (1520) is fixed on both sides to the rear of the first and second gripping parts (1350, 1360), respectively.

[0272] At this time, the first opening (1521) is formed to be larger than the size of the first holder (1530), as shown, and the width of the first opening (1521) in the second direction (Y) can be formed to be larger than the size of the first holder (1530).

[0273] Likewise, the second opening (1522) is formed to be larger than the size of the second holder (1540), as shown, and the second opening (1522) may be formed to have a width in the second direction (Y) larger than the size of the second holder (1540).

[0274] In addition, since the sizes of the first and second openings (1521, 1522) are formed to be larger than the sizes of the first and second holders (1530, 1540), the positions of the first and second holders (1530, 1540) can be changed on the first and second openings (1521, 1522).

[0275] Thus, as described below, even when the first and second holders (1530, 1540) are positioned at different positions along the third direction (Z), the positions of the first and second holders (1530, 1540) on the first and second openings (1521, 1522) can be changed, and thereby the first and second gripping portions (1350, 1360) can be positioned at different positions in the third direction (Z).

[0276] Figures 19a and 19b are front and back views showing the gripper of Figure 15 in a rotating state.

[0277] If the above assembly target (31) and the connecting portion (here, the connecting portion is an object to which the above assembly target (31) is connected) are, for example, a connector and a connector holder, the connecting portion may not necessarily be fixed to the jig (240) in a direction horizontal to the XY plane.

[0278] That is, the above-mentioned joint can be fixed to the jig (240) in a state where the first direction (X) is rotated by a predetermined angle with respect to the rotational center axis, and in this case, it is difficult to naturally induce alignment in the third direction (Z) by vibrating the assembly target (31) in the third direction (Z) with respect to the joint.

[0279] Accordingly, in the case of the present embodiment, even if there is a posture error in the so-called roll direction, the assembly target (31) can be naturally aligned within a certain range without a separate alignment, and the assembly target (31) can be fastened to the joint.

[0280] That is, referring to FIGS. 19a and 19b, as described above, the first and second excitation units (2410, 2420) independently perform vibrations, and may vibrate with the same phase, but may also vibrate with different phases.

[0281] If the first and second excitation units (2410, 2420) vibrate with the same phase, the assembly target (31) vibrates with a constant phase in the third direction (Z) while maintaining a horizontal state.

[0282] However, if the first and second excitation units (2410, 2420) vibrate with different phases, the assembly target (31) does not maintain a horizontal state, but rotates and vibrates as in FIGS. 19a and 19b.

[0283] For example, the following will describe an arbitrary point in time during which the first and second excitation units (2410, 2420) vibrate in different phases. That is, the position of the assembly target (31) will be described by taking as an example a case in which the first excitation unit (2410) is positioned at the maximum displacement during vibration and the second excitation unit (2420) is positioned at the minimum displacement during vibration.

[0284] At any point during the vibration as described above, the connecting portion (2430) may be positioned so that the first joint (2432) side is lower than the second joint (2433) side, as shown, and accordingly, the transmission unit (1500) is also positioned in an inclined direction.

[0285] In addition, as the transmission unit (1500) is positioned in an inclined direction, the first roller (1530) is positioned relatively lower than the second roller (1540), and as a result, the second gripping part (1360) is positioned lower than the first gripping part (1350). That is, the assembly target (31) rotates clockwise with the first direction (X) as the rotation axis.

[0286] In contrast, when the first excitation part (2410) is positioned at the minimum displacement during vibration and the second excitation part (2420) is positioned at the maximum displacement during vibration, the assembly target (31) rotates counterclockwise with the first direction (X) as the rotation axis.

[0287] Ultimately, by controlling the phases of the vibrations generated from the first and second excitation units (2410, 2420) differently, the assembly target (31) is brought into a state of repeatedly rotating clockwise or counterclockwise with the first direction (X) as the rotation axis within a predetermined range.

[0288] Accordingly, just as the alignment in the third direction (Z) can be omitted when vibrating in the third direction (Z), the alignment in the so-called roll direction can be omitted when the assembly object (31) rotates about the first direction (X) as the rotation axis.

[0289] At this time, since the first and second excitation parts (2410, 2420) are in a state where vibration is performed in the third direction (Z) as a whole, when the assembly object (31) is eventually assembled to the joint, alignment in the third direction (Z) as well as alignment in the roll direction is omitted, thereby enabling natural alignment.

[0290] Of course, at this time, alignment in the second direction (Y) must be performed while moving the assembly target (31) in the second direction (Y).

[0291] Ultimately, when applying vibrations of different phases to the first and second excitation units (2410, 2420), if only the alignment of the assembly object (31) and the joint in the second direction (Y) is performed through scanning in the second direction (Y), alignment in the third direction (Z) as well as alignment in the roll direction can be naturally performed during the vibration process.

[0292] Fig. 20 is an enlarged front view showing the gripper of Fig. 15 moving up and down.

[0293] Referring to FIG. 20, in addition to the alignment by vibration described with reference to the preceding FIG. 19b, the gripping unit (1300) is positionally controlled in the third direction (Z).

[0294] That is, the first and second slides (1330, 1340) can be driven by a separate driving control unit and moved in the third direction (Z) on the first and second guide rails (1313, 1323).

[0295] Accordingly, the positions of the first and second gripping parts (1350, 1360) are also changed in the third direction (Z), and thus the position of the assembly target (31) can be changed in the third direction (Z).

[0296] Fig. 21 is a rear perspective view illustrating a gripper according to another embodiment of the present invention. Fig. 22 is a front perspective view illustrating the gripper of Fig. 21.

[0297] The gripper (40) according to the present embodiment is substantially the same as the gripper (20) described with reference to FIG. 9 except that it includes a driving unit (3400) and a suspension unit (600), so the same reference numbers are used for the same components and redundant descriptions are omitted.

[0298] Referring to FIGS. 21 and 22, in the gripper (40) according to the present embodiment, the driving unit (3400) generates driving force, and the suspension unit (600) converts the driving force into vibration and transmits it to the transmission unit (1500).

[0299] The above driving unit (3400) is located in the storage space (1101) and generates a rotational driving force. At this time, the storage space (1101) is a space formed by the horizontal frame (1110) and the side frame (1120), and the driving unit (3400) is stored under the horizontal frame (1110). The driving unit (3400) may be a driving motor that generates a rotational driving force. At this time, the driving unit (3400) includes a crank part (3410) connected to the end of a rotational driving shaft (not shown), and the crank part (3410) is connected to the suspension unit (600) described below, so that the rotational driving motion generated in the driving unit (3400) is converted into a reciprocating linear motion.

[0300] The above suspension unit (600) is connected between the drive unit (3400) and the transmission unit (1500) described below, and converts the rotational driving motion generated in the drive unit (3400) to induce a reciprocating linear motion, i.e., vibration, of the transmission unit (1500).

[0301] Specifically, the suspension unit (600) includes an adaptive suspension part (610) and a driving guide part (620).

[0302] The above adaptive suspension (610) converts the rotational driving force generated from the driving unit (3400) into linear motion, and at the same time appropriately absorbs external force provided from the outside.

[0303] That is, the adaptive suspension part (610) includes a first connecting part (611) connected to the crank part (3410), a second connecting part (613) connected to the vertical frame (1560) of the transmission unit (1500), and an absorption part (612) extending between the first and second connecting parts (611, 613).

[0304] The first connecting portion (611) is connected to the crank portion (3410) and converts the rotational drive of the driving unit (3400) into a reciprocating linear motion through the crank portion (3410) and provides it to the absorbing portion (612). Accordingly, the absorbing portion (612) performs reciprocating linear motion and simultaneously transmits the driving force of the reciprocating linear motion to the second connecting portion (613). Thus, the transmission unit (1500) also receives the reciprocating linear motion through the second connecting portion (613).

[0305] At this time, the adaptive suspension part (610) is extended along the third direction (Z) as a whole, and since the first connecting part (611) rotates and the driving direction is changed to linear driving, the second connecting part (613) must also be connected to the vertical frame (1560) so that a predetermined rotation is possible. Thus, it is possible to minimize breakage or damage between the second connecting part (613) and the vertical frame (1560) due to an external force provided in a direction different from the third direction (Z) during the process of changing the rotational driving into linear driving.

[0306] Meanwhile, the vertical frame (1560) connected to the second connecting portion (613), i.e., the transmission unit (1500), may be partially driven in a rotational manner. Accordingly, to minimize the rotational driving of the transmission unit (1500), the driving direction of the transmission unit (1500) is guided or limited by the driving guide portion (620) so that the transmission unit (1500) can only perform a reciprocating linear driving.

[0307] That is, the driving guide portion (620) extends in the third direction (Z) and restricts the driving direction of the transmission unit (1500) to the third direction (Z). Specifically, the driving guide portion (620) includes a driving guide frame (621), a driving guide rail (622), and a driving slide (623).

[0308] The above driving guide frame (621) has a frame structure in which one end is fixed to the lower part of the driving unit (3400) and extends a predetermined length along the third direction (Z).

[0309] The above driving guide rail (622) is a sliding guide structure formed on the driving guide frame (621), and corresponds to a guide structure extending along the third direction (Z).

[0310] The above driving slide (623) slides on the driving guide rail (622), and the upper end of the vertical frame (1560) is fixed to the driving slide (623).

[0311] Thus, the vertical frame (1560), i.e., the transmission unit (1500), is driven in a direction that is restricted to reciprocate only along the third direction (Z), since the driving slide (623) moves only along the driving guide rail (622) while the upper end is fixed to the driving slide (623).

[0312] Ultimately, the rotational driving force provided from the driving unit (3400) is converted into a linear reciprocating driving force and provided to the transmission unit (1500), and the transmission unit (1500) is restricted in the transport direction by the driving guide part (620) and moves only in the third direction (Z).

[0313] Accordingly, by the rotational driving force provided through the driving unit (3400), the transmission unit (1500) moves back and forth within a predetermined stroke along the third direction (Z), and as the rotational speed of the driving unit (3400) increases, the transmission unit (1500) vibrates along the third direction (Z) at a faster speed.

[0314] Meanwhile, the transmission unit (1500) transmits the vibration state in the third direction (Z) to the gripping unit (1300).

[0315] At this time, the detailed structure of the transmission unit (1500) is the same as that already described in detail with reference to the gripper (20) above, except that it further includes the vertical frame (1560) and the suspension unit (600) is connected through the vertical frame (1560), so a duplicate description is omitted. Here, the transmission unit (1500) and the vertical frame (1560) may be formed in a structure in which they are fixed to each other, but may also be formed in a structure in which they are formed integrally.

[0316] That is, as described above, the transmission unit (1500) has a frame structure in the shape of a triangle as a whole and is fixed to the rear of the first and second gripping parts (1350, 1360). The reciprocating linear driving of the transmission unit (1500) in the third direction (Z), i.e., vibration, is directly transferred to the first and second gripping parts (1350, 1360), and as a result, the assembly target (41) fixed by the first and second gripping parts (1350, 1360) vibrates in the same manner.

[0317] Thus, the rotational driving force of the driving unit (3400) induces vibration of the assembly target (41) in the third direction (Z).

[0318] Figures 23a to 23c are perspective views sequentially illustrating the state in which the gripper of Figure 21 operates.

[0319] Referring to Fig. 23a, the gripper (40) begins to operate when the gripping unit (1300) grips the assembly target (41). Of course, as described above, if the gripping unit (1300) is omitted, the assembly target (41) can be gripped on the transfer unit (1500), and the gripper (40) begins to operate in the same manner.

[0320] That is, as in FIG. 23b, in the gripper (40), the driving unit (3400) begins to rotate clockwise as shown by the arrow with respect to the first direction (X), and accordingly, the rotational drive is converted into linear drive through the crank portion (3410), so that the suspension unit (600) moves downward along a linear motion, i.e., the third direction (Z).

[0321] At this time, according to the linear driving of the suspension unit (600), the transmission unit (1500) moves linearly downward along the third direction (Z) as a whole. In this case, since the movement direction of the transmission unit (1500) is guided by the driving guide part (620), it drives linearly in the same direction as the third direction (Z).

[0322] In addition, as the transmission unit (1500) performs the linear driving as described above, the gripping unit (1300) to which the transmission unit (1500) is fixed, and the assembly target (41) that the gripping unit (1300) grips, also move downward along the third direction (Z) in the same direction and with the same stroke as the transmission unit (1500).

[0323] Furthermore, referring to FIG. 23c, when the driving unit (3400) is additionally rotated so that the suspension unit (600) moves downward along the third direction (Z) until it has the maximum stroke, the assembly target (41) also moves in the same direction until it has the maximum stroke.

[0324] After this, although not shown, if the driving unit (3400) further rotates in the same direction, the suspension unit (600) changes direction and moves in an upward direction along the third direction (Z), and accordingly, the assembly target (41) also changes direction in an upward direction along the third direction (Z) and drives in a straight line.

[0325] Ultimately, as described above, by the drive unit (3400) performing rotational driving, the assembly target (41) performs linear reciprocating driving along the third direction (Z), which in turn induces vibration along the third direction (Z) for the assembly target (41).

[0326] Thus, the assembly target (41) is caused to vibrate within a predetermined stroke range by the rotational drive of the driving unit (3400), and can be aligned and coupled to the joint.

[0327] Meanwhile, in the present embodiment, the absorption portion (612) extends between the first and second connecting portions (611, 613) as described above, and absorbs external force applied from the outside. That is, the driving unit (3400) performs rotational driving and the transmission unit (1500) performs linear driving, and the external force generated in the process of converting the rotational driving into linear motion can be absorbed by the absorption portion (612).

[0328] Furthermore, in the case of the above-described transmission unit (1500), since it is fixed to the gripping unit (1300) and the assembly target (41) is gripped by the gripping unit (1300), the external force transmitted to the transmission unit (1500) can also vary depending on the weight of the assembly target (41). That is, depending on the weight of the assembly target (41), an initial external force that varies depending on the weight of the assembly target (41) can be provided to the absorption part (612), and accordingly, the extension length of the absorption part (612) can vary in the initial state depending on the weight of the assembly target (41). Consequently, the absorption part (612) absorbs the weight of the assembly target (41) and the initial extension length can vary.

[0329] In addition, when the assembly target (41) is coupled to the coupling portion, when the assembly target (41) vibrates and contact and coupling with the coupling portion begin, the vibration range of the assembly target (41) is rapidly reduced and a large external force is applied to the assembly target (41). In addition, this external force is transmitted to the absorption portion (612). Accordingly, the absorption portion (612) must absorb the external force generated at the moment when the contact or assembly begins, and through this, the external force can be transmitted to the driving unit (3400), thereby minimizing damage or destruction of the driving unit (3400).

[0330] Furthermore, the absorbing portion (612) must effectively absorb external forces that vary widely until the assembly target (41) is finally coupled to the coupling portion. In particular, the driving unit (3400) is driven to rotate while maintaining the initial rotation speed (rpm) until the coupling is completed. Therefore, the absorbing portion (612) must be able to effectively absorb external forces generated during the assembly process while maintaining the rotational state of the driving unit (3400).

[0331] To this end, the absorbing portion (612) may include an elastic portion such as a spring, or a damper capable of absorbing external force. At this time, the elastic coefficient of the elastic portion, the damping coefficient of the damper, etc. may be preset in consideration of the external force generated during the coupling process, the rotational speed of the driving unit (3400), etc.

[0332] Fig. 24 is a perspective view illustrating a gripper according to another embodiment of the present invention. Fig. 25 is a perspective view illustrating the gripper of Fig. 24 from another direction. Figs. 26 and 27 are perspective views illustrating the gripper of Fig. 24 from another direction.

[0333] Referring to FIGS. 24 to 27, the gripper (50) according to the present embodiment includes a body portion (2100), first and second support units (2200, 2300), a holding unit (3400), a transmission unit (2500), and first and second link units (2600, 2700).

[0334] The above body part (2100) forms the body of the gripper (50) and may have an overall square block shape as shown. Accordingly, the body part (2100) may include four side surfaces (2110, 2120, 2130, 2140), and a predetermined connecting portion may be formed on the upper surface (2150).

[0335] At this time, by the joint formed on the upper surface (2150), the gripper (50) may be mounted on a separate robot arm or manipulator, although not shown, to implement a predetermined operation.

[0336] Of course, the overall shape of the body part (2100) can be varied in various ways, but considering the structural characteristics of the gripper (50) according to the present embodiment, it is necessary that a pair of first and second support units (2200, 2300) are connected along the first direction (X), the holding unit (3400) is positioned along the second direction (Y) perpendicular to the first direction (X), and the upper surface (2150) is formed along the third direction (Z) perpendicular to the first and second directions (X, Y). Therefore, as long as it has these structural characteristics, the shape of the body part (2100) is not particularly limited. However, below, for the convenience of explanation, it is described that the body part (2100) includes the first to fourth side surfaces (2110, 2120, 2130, 2140).

[0337] The first support unit (2200) is connected to the first coupling surface (2111) of the first side surface (2110) of the body portion (2100) and extends in the positive first direction (+X), and includes a first grip driving unit (2210), a first grip portion (2220), and a second sliding portion (2230).

[0338] At this time, the first support unit (2200) is connected to the first coupling axis (2112) of the first coupling surface (2111) and rotates with respect to the body part (2100) with the second direction (Y) as the rotation center axis. Thus, when the first support unit (2200) as a whole rotates inwardly of the body part (2100), it grips an object together with the second support unit (2300), and when the first support unit (2200) as a whole rotates outwardly of the body part (2100), the gripped object is released from the gripping state.

[0339] Specifically, the first phage drive unit (2210) is connected to the first coupling shaft (2112) and rotates the rotation axis in the second direction (Y) with respect to the first coupling shaft (2112). At this time, although not shown, the first coupling shaft (2112) may be rotationally driven by a separate drive unit.

[0340] That is, the first phage drive unit (2210) includes a first rotational axis (2211) that is rotatably connected to the first coupling axis (2112), a first extension axis (2212) that extends a predetermined length from the first rotational axis (2211) to the outside of the body portion (2100), and a first connection plate (2213) formed at the end of the first extension axis (2212).

[0341] At this time, the length of the first extension axis (2212) can be designed to be variable, and as shown, in order to more easily perform gripping of an object, the end can be extended while being bent at a predetermined angle in a direction toward the inside of the body portion (2100).

[0342] The first connecting plate (2213) is connected to the end of the first extension shaft (2212) and has a plate shape with a predetermined area. Since the first gripping portion (2220) must be formed with a predetermined area for gripping an object, the first connecting plate (2213) can be formed to have a predetermined area by taking into account the area of ​​the first gripping portion (2220).

[0343] Meanwhile, the first grip driving unit (2210) does not perform any separate sliding or vibration operation other than the overall operation of rotating the rotational center axis in the second direction (Y). In addition, the rotation range in the second direction (Y) may also be limited to an appropriate range in consideration of the structure of the body portion (2100) and the position of the second grip driving unit (2310).

[0344] The above first gripping portion (2220) is connected to the first connecting plate (2213) via the first sliding portion (2230) described later, and grips an object together with the second support unit (2300).

[0345] Specifically, the first gripping portion (2220) includes a first support block (2221) and a first gripping surface (2222). The first support block (2221) is connected to the lower surface of the first connecting plate (2213) via the first sliding portion (2230) and has an overall block shape. At this time, since the first support block (2221) corresponds to a block that actually grips an object, it must be capable of being deformed to a certain extent depending on the shape or structure of the object. To this end, the first support block (2221) may be configured as a predetermined flexible block.

[0346] Alternatively, the first support block (2221) may be configured as a variable control block with variable rigidity. Thus, by considering the structure or shape of the object to be gripped by the first gripping portion (2220), the rigidity of the first support block (2221) can be varied to achieve stable gripping.

[0347] The first grip surface (2222) is formed on the lower surface of the first support block (2221) and corresponds to a surface that directly contacts the object. Therefore, the first grip surface (2222) may include a flexible material like the first support block (2221), and may be composed of a material having relatively high adhesiveness to ensure stable gripping of the object.

[0348] At this time, the second support block (2321) may be configured as a variable control block with variable rigidity. Thus, by considering the structure or shape of the object to be gripped by the second gripping unit (2320), the rigidity of the second support block (2321) can be varied to perform stable gripping.

[0349] Meanwhile, the first grip part (2220) is moved in a sliding manner and vibrates relative to the first grip driving part (2210). That is, the first sliding part (2230) is interposed between the lower surface of the first connecting plate (2213) and the upper surface of the first support block (2221), thereby inducing the sliding movement.

[0350] At this time, the specific shape of the first sliding part (2230) is substantially the same as that of the second sliding part (2330) described later, so the description will be made later based on the second sliding part (2330) illustrated in FIG. 25.

[0351] As described above, the first support unit (2200) extends to one side of the body part (2100) and grips an object together with the second support unit (2300), and the first grip part (2220) receives an external force from the driving unit (3400) described below to perform a reciprocating sliding operation, i.e., vibration, in the second direction (Y) with respect to the first grip driving part (2210).

[0352] The above second support unit (2300) has the same structure as the above first support unit (2200), and is different only in that they are arranged symmetrically with respect to the second direction (Y), that is, with respect to the center of the body portion (2100).

[0353] More specifically, the second support unit (2300) is connected to the second coupling surface (2121) of the second side (2120) of the body portion (2100) and extends in the negative second direction (-X), and includes a second grip driving unit (2310), a second grip portion (2320), and a second sliding portion (2330).

[0354] At this time, the second support unit (2300) is connected to the second coupling axis (2122) of the second coupling surface (2121) and rotates with respect to the body part (2100) with the second direction (Y) as the rotation center axis. Thus, when the second support unit (2300) rotates as a whole toward the inside of the body part (2100), it grips an object together with the first support unit (2200), and when the second support unit (2300) rotates as a whole toward the outside of the body part (2100), the gripped object is released from the gripping state.

[0355] Specifically, the second phage drive unit (2310) is connected to the second coupling shaft (2122) and rotates the rotation axis in the second direction (Y) with respect to the second coupling shaft (2122). At this time, although not shown, the second coupling shaft (2122) may be rotationally driven by a separate drive unit.

[0356] That is, the second phage drive unit (2310) includes a second rotational axis (2311) that is rotatably connected to the second coupling axis (2122), a second extension axis (2312) that extends a predetermined length from the second rotational axis (2311) to the outside of the body portion (2100), and a second connection plate (2313) formed at the end of the second extension axis (2312).

[0357] At this time, the length of the second extension axis (2312) can be designed to be variable, and as shown, the end can be extended while being bent at a predetermined angle in a direction toward the inside of the body portion (2100).

[0358] The second connecting plate (2313) is connected to the end of the second extension shaft (2312), has a plate shape with a predetermined area, and can be formed with substantially the same area as the first connecting plate (2213).

[0359] Meanwhile, the second grip driving unit (2310) does not perform any separate sliding or vibration operation other than the overall operation of rotating the rotational center axis in the second direction (Y). In addition, the rotation range in the second direction (Y) may also be limited to an appropriate range in consideration of the structure of the body portion (2100) and the position of the second grip driving unit (2310).

[0360] The second gripping portion (2320) is connected to the second connecting plate (2313) via the second sliding portion (2330) and grips an object together with the second support unit (2300).

[0361] Specifically, the second gripping portion (2320) includes a second support block (2321) and a second gripping surface (2322). The second support block (2321) is connected to the lower surface of the second connecting plate (2313) via the second sliding portion (2330) and has an overall block shape. At this time, the second support block (2321) may be configured as a predetermined flexible block, like the first support block (2221) described above.

[0362] The second grip surface (2322) is formed on the lower surface of the second support block (2321), and corresponds to a surface that directly contacts the object. Similarly, it may include a flexible material, and may be composed of a material having relatively high adhesiveness for stable gripping of the object.

[0363] Meanwhile, the second grip part (2320) is moved in a sliding manner and vibrates relative to the second grip driving part (2310). That is, the second sliding part (2330) is interposed between the lower surface of the second connecting plate (2313) and the upper surface of the second support block (2321), thereby inducing the sliding movement.

[0364] The second sliding part (2330) includes a second fixed plate (2331), a second slider (2332), and a second sliding guide (2333).

[0365] The second fixed plate (2331) is formed on the upper surface of the second support block (2221), has a plate structure, and is formed with a predetermined area. At this time, unlike the second support block (2221), the second fixed plate (2331) does not include a flexible material and maintains its shape as a plate structure with high rigidity.

[0366] The second slider (2332) is fixed on the second fixed plate (2331) and is slidably driven along the second sliding guide (2333). At this time, the second sliding guide (2333) is fixed to the lower surface of the second connecting plate (2313), and the second sliding guide (2333) extends from the lower surface of the second connecting plate (2313) along the second direction (Y), thereby guiding the sliding direction of the second slider (2332) in the second direction (Y).

[0367] That is, the second slider (2332) slides along the second sliding guide (2333) in the second direction (Y), the second slider (2332) is fixed to the second fixing plate (2331), and the second fixing plate (2331) is fixed to the second grip part (2320). As the second slider (2332) slides along the second direction (Y), the second grip part (2320) also slides along the second direction (Y) simultaneously.

[0368] Ultimately, the second grip portion (2320), the second fixed plate (2331), and the second slider (2332) are integrally slidably moved along the second direction (Y) with respect to the first connecting plate (2313). At this time, the sliding movement is reciprocated, and ultimately, the second grip portion (2320) vibrates along the second direction (Y) with respect to the second grip driving portion (2310).

[0369] This is the same as the first sliding part (2230) described above, and as the first sliding part (2230) is interposed between the first grip driving part (2210) and the first grip part (2220), the first grip part (2220) vibrates along the second direction (Y) with respect to the first grip driving part (2210).

[0370] As described above, the second support unit (2300) extends to the other side of the body part (2100) and grips an object together with the first support unit (2200), and the second grip part (2320) receives an external force from the excitation unit (3400) described below to perform a reciprocating sliding operation, i.e., vibration, in the second direction (Y) with respect to the second grip driving part (2310). In this vibration, the first grip part (2220) and the second grip part (2320) vibrate together in the same manner, and for this purpose, the first and second grip parts (2220, 2320) are connected to each other so as to be restrained by the transmission unit (2500) and the link units (2600, 2700) described below.

[0371] The above-mentioned driving unit (3400) is provided inside the body part (2100), and at this time, it is illustrated as being positioned penetrating the inside of the body part (2100). That is, through the drawing, the driving unit (3400) is illustrated as being positioned inside an opening (2131) formed on the third side (2130) of the body part (2100). However, it is not limited thereto, and it is sufficient to generate vibration along the second direction (Y) on the body part (2100).

[0372] The above-mentioned driving unit (3400) includes a driving axis (3410) extending in the second direction (Y) along the center of the above-mentioned driving unit (3400), and generates a driving force so that the driving axis (3410) vibrates along the second direction (Y).

[0373] The above-mentioned propeller shaft (3410) extends along the second direction (Y), protrudes from the third side (2130) of the body part (2100), and the transmission unit (2500) is fixed on the above-mentioned propeller shaft (3410).

[0374] The above-described transmission unit (2500) is located at the front end of the third side (2130) of the body portion (2100), as illustrated, and includes a front frame (2510), a rear frame (2520), a connecting frame (2530), a central sliding portion (2540), and a link guide portion (2550). The above-described transmission unit (2500) integrally transmits the vibration of the excitation unit (3400) to the first and second gripping units (2200, 2300). To this end, the excitation unit (3400) and the first and second gripping units (2200, 2300) are integrally connected to the transmission unit (2500).

[0375] The front frame (2510) is positioned at the front end of the third side (2130) of the body portion (2100) and has a predetermined plate structure extending along the XZ plane. At this time, the front frame (2510) may have an overall diamond shape as illustrated, through which the holding unit (3400) and the first and second gripping units (2200, 2300) may be connected through each corner. Of course, the shape of the front frame (2510) is not necessarily limited to a diamond shape, and any structure in which the holding unit (3400) and the first and second gripping units (2200, 2300) can be connected integrally is sufficient.

[0376] Accordingly, the end (3411) of the excitation shaft (3410) is fixed to the upper center of the front frame (2510), and as the excitation shaft (3410) vibrates along the second direction (Y), the front frame (2510) also vibrates along the second direction (Y).

[0377] Additionally, the first link unit (2600) and the second link unit (2700) are connected to one side (2511) and the other side (2512) of the front frame (2510), respectively.

[0378] At this time, the first and second link units (2600, 2700) are stably fixed, and the rear frame (2520) and the link guide part (2500) are provided to guide the first and second link units (2600, 2700) to slide, i.e. vibrate, in the second direction (Y).

[0379] The rear frame (2520) may have a predetermined length along the first direction (X), wherein the length of the rear frame (2520) extending in the first direction (X) may be similar to the length between the two side edges of the front frame (2510) along the first direction (X).

[0380] Accordingly, the first link guide (2551) of the link guide portion (2550) is coupled along the second direction (Y) to one side of the rear frame (2520) and one side (2511) of the front frame (2510), and the first link portion (2610) of the first link unit (2600) is connected between the front frame (2510) and the rear frame (2520) through the first link guide (2551).

[0381] In addition, the front end of the first link guide (2551) may be partially exposed to the outside of the front frame (2510), and the rear end of the first link guide (2551) is fixed to one lower edge of the third side (2130) of the body part (2100). Thus, the first link guide (2551) functions as a predetermined sliding guide extending along the second direction (Y), and the front frame (2510), the rear frame (2520), and the first link unit (2600) slide, i.e., vibrate, along the first link guide (2551) in the second direction (Y).

[0382] Meanwhile, the second link guide (2552) of the link guide portion (2550) is coupled along the second direction (Y) to the other side of the rear frame (2520) and the other side (2512) of the front frame (2510), and the second link portion (2710) of the second link unit (2700) is connected between the front frame (2510) and the rear frame (2520) through the second link guide (2552).

[0383] In addition, the front end of the second link guide (2552) may be partially exposed to the outside of the front frame (2510), and the rear end of the second link guide (2552) is fixed to the other lower corner of the third side (2130) of the body part (2100). Thus, the second link guide (2552) functions as a predetermined sliding guide extending along the second direction (Y), and the front frame (2510), the rear frame (2520), and the second link unit (2700) slide, i.e., vibrate, along the second link guide (2552) in the second direction (Y).

[0384] In this way, as the link guide portion (2550) is fixed and extended to each of the two sides of the transmission unit (2500), the transmission unit (2500), which is fixed to the excitation shaft (3410) according to the excitation of the excitation unit (3400) and slides, i.e. vibrates, in the second direction (Y), is stably guided by the link guide portion (2550) as one body with the first and second link units (2600, 2700) and vibrates in the second direction (Y).

[0385] Meanwhile, the connecting frame (2530) guides sliding at the bottom of the transmission unit (2500). That is, one end of the connecting frame (2530) is connected to the bottom of the front frame (2510) and extends toward the bottom surface (2160) of the body portion (2100) along the second direction (Y).

[0386] At this time, the lower surface of the body portion (2100) is provided with the central sliding portion (2540). The central sliding portion (2540) includes a central sliding guide (2541) and a central slider (2542).

[0387] The central sliding guide (2541) is fixed to the bottom surface (2160) of the body portion (2100) and guides the sliding movement of the central slider (2542) along the second direction (Y). The bottom surface of the central slider (2542) is fixed to the other end of the connecting frame (2530), and the upper surface is movably coupled to the central sliding guide (2541). Thus, the central slider (2542) and the connecting frame (2530) slide along the central sliding guide (2541) in the second direction (Y).

[0388] Finally, in the transmission unit (2500), when the front frame (2510) has a diamond shape and vibration is applied along the second direction (Y) by the excitation shaft (3410) connected to the upper portion, the two side surfaces (2511, 2512) are guided to move in the second direction (Y) by the link guide portion (2550), and the lower portion is guided by the central sliding portion (2540). Thus, the transmission unit (2500) vibrates in the second direction (Y) according to the vibration of the excitation unit (3400) while all four corners are stably supported.

[0389] At this time, the first and second link units (2600, 2700) are respectively connected to both sides (2511, 2512) of the transmission unit (2500), so that the first and second link units (2600, 2700) along with the transmission unit (2500) perform stable vibration in the second direction (Y).

[0390] Furthermore, the first and second link units (2600, 2700) are ultimately connected to the first and second gripping units (2220, 2320), so that the vibration of the transmission unit (2500) is ultimately transmitted to the first and second gripping units (2220, 2320), causing the first and second gripping units (2220, 2320) to also vibrate in the second direction (Y).

[0391] Below, the detailed connection status of the first and second link units (2600, 2700) is described.

[0392] The first link unit (2600) includes a first link portion (2610) and a first extension portion (2620). The first link portion (2610) is a link extending between the transmission unit (2500) and the first extension portion (2620), and the first extension portion (2620) is a link extending between the first link portion (2610) and the first grip portion (2220).

[0393] The first link portion (2610) includes a first link (2611), a first end portion (2612), and a first branch portion (2613). The first end portion (2612) is connected to the first link guide (2551) and is connected to be rotatable with respect to the first link guide (2551) about the second direction (Y) as the rotation axis. Accordingly, the first link portion (2610) can be rotated relatively to one side (2511) of the transmission unit (2500) about the second direction (Y) as the rotation center axis.

[0394] The first link (2611) is a frame that extends a predetermined length from the first end (2612), and the first branch portion (2613) is formed at the other end of the first link (2611). As illustrated, the first branch portion (2613) extends from the first link (2611) in pairs, and is structured to eventually connect to the first extension portion (2620). Therefore, in the case of the first link (2611), even if the other end is not formed in the form of the first branch portion (2613), it is sufficient if it has a structure that connects to the first extension portion (2620).

[0395] The first extension portion (2620) includes a first extension connecting portion (2621) and a first extension frame (2622), and extends overall along the second direction (Y). That is, the first extension connecting portion (2621) is connected to the first branch portion (2613) so as to be rotatable about the second direction (Y) as a rotational center axis. In addition, the first extension frame (2622) extends in a direction perpendicular to the first extension connecting portion (2621), and has a frame structure extending along the second direction (Y). Thus, the first extension frame (2622) is fixed on the first upper surface (2223) of the first grip block (2221) along the second direction (Y).

[0396] That is, the first extension portion (2620) has an overall 'L' shape, extends in a direction perpendicular to the extension direction of the first link portion (2610), and is fixed on the first grip block (2221). At this time, the first extension portion (2620) is integrally fixed on the first upper surface (2223) of the first grip block (2221), so that the driving state of the first extension portion (2620) is directly transferred to the first grip portion (2220).

[0397] As a result, when the transmission unit (2500) vibrates along the second direction (Y), the first gripping part (2220) also vibrates in the second direction (Y) together with the first link unit (2600). However, in the case of the first gripping part (2220), in order to grip an object, it rotates around the second direction (Y) as a rotational center axis and approaches the second gripping part (2320). In order to enable the posture change of the first gripping part (2220), the first link unit (2600) has a structure in which the first link part (2610) and the first extension part (2620) are coupled to be relatively rotatable around the second direction (Y) as a rotational center axis.

[0398] That is, through the above-described connection structure, when the first gripping part (2220) changes its posture to grip an object, interference is minimized by the first link unit (2600), and the vibration state of the first link unit (2600) along the second direction (Y) is transmitted as is to the first gripping part (2220).

[0399] The connection structure between one side (2511) of the transmission unit (2500) and the first grip portion (2220) through the first link unit (2600) is the same in the second link unit (2700).

[0400] That is, the second link unit (2700) also includes a second link portion (2710) and a second extension portion (2720). The second link portion (2710) is a link extending between the transmission unit (2500) and the second extension portion (2720), and the second extension portion (2720) is a link extending between the second link portion (2710) and the second grip portion (2220).

[0401] The second link portion (2710) includes a second link (2711), a second end portion (2712), and a second branch portion (2713). The second end portion (2712) is connected to the second link guide (2552) and is connected to be rotatable with respect to the second link guide (2552) about the second direction (Y) as the rotation axis. Accordingly, the second link portion (2710) can be rotated relatively with respect to the other side surface (2512) of the transmission unit (2500) about the second direction (Y) as the rotation center axis.

[0402] The second link (2711) is a frame that extends a predetermined length from the second end (2712), and the second branch (2713) is formed at the other end of the second link (2711). The structure and connection relationship of the second branch (2713) are the same as those of the first branch (2613).

[0403] The second extension portion (2720) includes a second extension connecting portion (2721) and a second extension frame (2722), and extends overall along the second direction (Y). That is, the second extension connecting portion (2721) is connected to the second branch portion (2713) so as to be rotatable about the second direction (Y) as a rotational center axis. In addition, the second extension frame (2722) extends in a direction perpendicular to the second extension connecting portion (2721), and has a frame structure extending along the second direction (Y). Thus, the second extension frame (2722) is fixed on the second upper surface (2323) of the second grip block (2321) along the second direction (Y).

[0404] That is, the second extension portion (2720) has an overall 'L' shape, extends in a direction perpendicular to the extension direction of the second link portion (2710), and is fixed on the second grip block (2321). At this time, the second extension portion (2720) is integrally fixed on the second upper surface (2323) of the second grip block (2321), so that the driving state of the second extension portion (2720) is directly transferred to the second grip portion (2320).

[0405] As a result, when the transmission unit (2500) vibrates along the second direction (Y), the second gripping part (2320) also vibrates in the second direction (Y) together with the second link unit (2700). However, in the case of the second gripping part (2320), in order to grip an object, it rotates around the second direction (Y) as a rotational center axis and approaches the first gripping part (2220). In order to enable the posture change of the second gripping part (2320), the second link unit (2700) has a structure in which the second link part (2710) and the second extension part (2720) are coupled to be relatively rotatable around the second direction (Y) as a rotational center axis.

[0406] That is, through the above-described connection structure, when the second gripping unit (2320) changes its posture to grip an object, interference is minimized by the second link unit (2700), and the vibration state of the second link unit (2700) along the second direction (Y) is transmitted as is to the second gripping unit (2320).

[0407] Thus, when the first and second gripping parts (2220, 2320) grip an object and the holding unit (3400) vibrates, the first and second gripping parts (2220, 2320) and the object fixed thereby vibrate in the second direction (Y), which is the vibration direction of the holding unit (3400). This vibration state will be described with reference to the drawings below.

[0408] Figures 28a and 28b are perspective views and side views showing a state in which an object is gripped using the gripper of Figure 24, vibration is applied, and the object is fastened to a fastening part.

[0409] Referring to FIGS. 28a and 28b, the first and second gripping units (2220, 2320) approach the object (51) and grip the object (51) as the first and second gripping driving units (2210, 2310) rotate about the second direction (Y) as their center of rotation. At this time, as described above, the first and second link units (2600, 2700) to which the first and second gripping units (2220, 2320) are connected do not cause interference or limitation in the gripping operation of the object (51) according to the rotation of the first and second gripping units (2220, 2320).

[0410] After this, in order to insert the object (51) into the opening hole (53) of the connecting portion (52) located at the bottom, in the prior art, the gripper (50) holding the object (51) must be positioned finely to ensure that the object (51) is accurately inserted into the opening hole (53).

[0411] However, in the case of the present embodiment, since the first and second gripping parts (2220, 2320) that grip the object (51) are controlled to vibrate along the second direction (Y), when inserting the object (51) into the opening hole (53), alignment in at least the second direction (Y) can be omitted. That is, when the object (51) vibrates at a predetermined frequency in the second direction (Y) according to the vibration of the first and second gripping parts (2220, 2320), the object is automatically aligned and inserted along the second direction (Y) without separate alignment during the process of being inserted into the opening hole (53).

[0412] Ultimately, in the case of the gripper (50) according to the present embodiment, when not only gripping a specific object but also inserting or fixing the gripped object onto the fastening portion, alignment can be omitted in at least the same direction as the direction in which the object vibrates, thereby inducing precise fastening while omitting precise control of the gripper (50).

[0413] At this time, the vibration of the first and second gripping units (2220, 2320) is because, as described above, the vibration of the holding unit (3400) is transmitted to the first and second gripping units (2220, 2320) through the transmission unit (2500) and the first and second link units (2600, 2700), respectively.

[0414] Meanwhile, as previously described, the first and second support blocks (2221, 2321) may have a variable stiffness structure. Accordingly, when the first and second gripping parts (2220, 2320) grip the object (51), the stiffness may be controlled to be relatively low so that the support blocks are deformed to conform to the shape or structure of the object (51), thereby inducing stable gripping.

[0415] After this, after the object (51) is gripped, the rigidity of the first and second support blocks (2221, 2321) can be increased to induce more effective vibration transmission to the object (51). That is, in order for the vibration of the first and second gripping parts (2220, 2320) to be integrally transmitted to the object (51), the rigidity of the support blocks must be controlled to be high, and through this, the object (51) can be more easily induced to be fastened to the fastening part (52).

[0416] Fig. 29 is a perspective view showing a state in which another object is gripped using the gripper of Fig. 24.

[0417] Referring to Fig. 29, in the case of the gripper (50) according to the present embodiment, if no separate vibration is applied through the holding unit (3400), gripping of a relatively large object (54) is also possible.

[0418] That is, although not specifically illustrated, an opening is formed on the first grip surface (2222) of the first grip portion (2220) and the second grip surface (2322) of the second grip portion (2320), and the opening can be connected to a separate negative pressure forming unit. Thus, the first and second grip surfaces (2222, 2322) provide suction force to the surface of the object (54), and thus the object (54) can be gripped by the first and second grip portions (2220, 2320) by the suction force.

[0419] Ultimately, in the case where the object (54) is a relatively very large object, the first and second support units (2200, 2300) can grip the object (54) through suction force while being positioned relatively widely by rotating around the second direction (Y) as shown, and in this case, the holding unit (3400) as well as the first and second link units (2600, 2700) do not interfere or hinder the change in posture of the first and second gripping parts (2220, 2320) to a gripping state for the object (54).

[0420] Rather, since the first and second gripping parts (2220, 2320) are capable of changing their posture while being more stably fixed on the body part (2100) through the first and second link units (2600, 2700) and the transmission unit (2500), even when fixing an object (54) of relatively large volume or weight, the posture of the first and second gripping parts (2220, 2320) can be stably maintained.

[0421] According to the embodiments of the present invention as described above, by generating vibration in the assembly object, in the process of joining the assembly object to the joining portion, the assembly object can naturally find its own position and induce joining without performing alignment between the assembly object and the joining portion.

[0422] Through this, easy joining can be performed while skipping precise alignment through vibration in a direction in which alignment is difficult, especially for assembled structures that require very precise alignment in a specific direction, such as an assembly target and a joint.

[0423] At this time, by applying vibration in the second direction in addition to the third direction, which is the vertical direction, it is possible to perform accurate and easy joining without precisely performing alignment along both the third and second directions when joining the assembly object and the joining part.

[0424] Thus, for an assembly object having a rectangular joint surface as well as an assembly object having a rectangular or square joint surface, immediate jointing is possible very easily without separate alignment with the joint, and a system that automatically finds the position and joins when assembling the joint using a gripper is possible.

[0425] Meanwhile, while vibration is performed in the vertical direction to omit separate alignment, the alignment can be carried out in a scanning form in the horizontal direction (second direction), so that alignment can be effectively performed at the joint surface of the joint and the assembly target.

[0426] In particular, the excitation unit is an electromagnetic force-based excitation unit, and when an external force is applied, a displacement equal to the force offset by the electromagnetic force is induced. Therefore, even if an external force is generated when the assembly object is coupled to the coupling portion, the external force is offset and the vibration displacement is naturally reduced. Accordingly, damage or breakage of the excitation unit as well as the gripper can be minimized.

[0427] In addition, a transmission unit is interposed between the gripping unit and the holding unit, so that the vibration of the holding unit is transmitted to the gripping unit, and the gripping unit is provided with a slide and a guide frame so that the gripping portion for holding the assembly object vibrates in the vertical direction (third direction), so that the vibration of the gripper can be effectively implemented.

[0428] In addition, the excitation unit includes first and second excitation units that generate vibrations with different phases, so that when alignment in the vertical direction (third direction) is required, the excitation unit generates vibrations with the same phase, and when alignment in the so-called roll direction other than the vertical direction is required, the excitation unit generates vibrations with different phases, thereby inducing natural alignment through rotation. Thus, even when the assembly object and the coupling unit are positioned in different postures, effective alignment and coupling can be induced.

[0429] At this time, the vibrations of different phases can be effectively transmitted to the gripping unit through the transmission unit, and since the transmission unit has a triangular shape and is connected to a pair of gripping parts of the gripping unit, vibrations of different phases can be induced in the gripping parts. Thus, rotation of the assembly object in the roll direction can be induced, and alignment through rotation can be induced.

[0430] Furthermore, since a pair of gripping units extend from both sides of the body to grip a central object, various objects can be effectively gripped regardless of their size or shape. In addition, when the object is gripped, the gripping units vibrate due to the vibration of the excitation unit, and through this vibration, the object can be effectively connected to the fastening member without requiring precise alignment.

[0431] In addition, the above-mentioned holding unit is provided at the center of the body part and is simultaneously transmitted to the link units on both sides through the transmission unit, so that vibration by one holding unit can be transmitted at the same frequency to the gripping units on both sides, so that vibration can be induced to the object while maintaining the stability of the overall gripping while the gripping unit is gripping the object.

[0432] As described above, by means of a gripping unit that rotates about a second direction as a center axis of rotation and a gripping unit that vibrates along the second direction, effective gripping of objects having various shapes and sizes is possible, and the object can be accurately fastened to a predetermined fastening portion while omitting a certain portion of precise alignment through vibration of the object.

[0433] Although the present invention has been described above with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

Claims

1. A vibration generating unit; and Includes a gripping unit that grips the assembly target, A gripper characterized in that the assembly object is aligned and coupled to the coupling portion by itself when the assembly object and the gripping unit vibrate due to the vibration of the above-mentioned holding unit.

2. In the first paragraph, the assembly target is, A gripper characterized in that it is transported in a first direction toward the above-mentioned joint, is coupled to the above-mentioned joint, and vibrates in a third direction.

3. In the second paragraph, the assembly target is, A gripper characterized in that, while vibrating in the third direction, it is transferred in the second direction and alignment with the joint in the horizontal direction is performed.

4. In paragraph 1, The above-mentioned unit generates vibrations simultaneously in the second and third directions which are perpendicular to each other, A gripper characterized in that the assembly target is moved in the first direction while vibrating simultaneously in the second and third directions and is coupled to the coupling portion.

5. In the first paragraph, the unit having A gripper based on electromagnetic force, characterized in that when an external force is applied, a displacement is induced equal to the force offset by the electromagnetic force.

6. In paragraph 1, A gripper further comprising a transmission unit connected between the above-mentioned holding unit and the above-mentioned gripping unit, the transmission unit transmitting vibration generated in the above-mentioned holding unit to the above-mentioned gripping unit.

7. In paragraph 6, the transmission unit, A coupling frame connected to the above-mentioned unit; a central frame connected to the above gripping unit; and A gripper characterized by including an inclined frame connecting the above-mentioned joining frame and the above-mentioned central frame.

8. In paragraph 7, A gripper characterized in that the above inclined frames are composed of a pair that are symmetrical to each other, and the transmission unit has an overall triangular frame shape.

9. In the 7th paragraph, the gripping unit, A guide frame extending in a third direction; a slide that slides along the above guide frame; and A gripper characterized by comprising a gripping part that grips the assembly target, is fixed to the slide, vibrates in the third direction, and is fixed to the central frame.

10. In paragraph 6, the holding unit, A gripper characterized by comprising a pair of first and second vibration members that independently generate vibrations.

11. In paragraph 10, When the first and second excitation units generate vibrations in the same phase, the assembly object vibrates only in the vertical direction and is coupled to the coupling unit, A gripper characterized in that when the first and second vibration parts generate vibrations with different phases, the assembly target rotates about the rotation axis toward the coupling part and is coupled to the coupling part.

12. In the 10th paragraph, the unit having A connecting frame is further included, in which a first axis extending from the first excitation part is connected to one end, and a second axis extending from the second excitation part is connected to the other end, A gripper characterized in that one end and the other end of the above connecting frame each include a rotatable flexible joint.

13. In the 12th paragraph, the transmission unit, A joining frame connected to the above connecting frame; A central frame connected to the above gripping unit and having a pair of first and second openings formed therein; and A gripper characterized by comprising first and second rollers coupled to each of the first and second openings and having variable positions within each of the first and second openings.

14. In paragraph 1, A link unit that transmits the vibration of the above-mentioned holding unit to the above-mentioned gripping unit; and Further comprising a transmission unit connecting the above-mentioned unit and the above-mentioned link unit, The above-mentioned unit is provided in the body, A gripper characterized in that the above gripping unit is connected in pairs to each of the two sides of the body portion.

15. In paragraph 14, each of the gripping units, A grip driving part extending from the above body part; a gripping portion for gripping the object; and A gripper characterized by including a sliding part between the grip driving part and the grip part that guides vibration of the grip part.

16. In paragraph 14, the transmission unit, A front frame to which the above-mentioned unit and the above-mentioned link unit are connected; A connecting frame extending to the rear end of the above front frame; A central sliding part provided between the connecting frame and the body part to guide vibration of the connecting frame; and A gripper characterized by including a link guide portion that connects both sides of the link unit and the front frame and is fixed to the body portion to guide vibration of the front frame and the link unit.

17. In paragraph 14, the link unit, A link portion rotatably connected to the above transmission unit; and A gripper characterized by including an extension portion connected between the link portion and the gripping unit.

18. A driving unit that generates driving force; A suspension unit connected to the above driving unit and converting the driving force into vibration and transmitting it; and It includes a transmission unit that is connected to the above suspension unit and transmits the vibration to the assembly target, A gripper characterized in that the assembly target is aligned and joined to the joint while vibrating in a predetermined direction by the vibration.

19. In paragraph 18, The above driving unit generates a rotational driving force, A gripper characterized in that the above suspension unit converts the rotational driving force into linear motion and induces the transmission unit to vibrate.

20. In paragraph 19, the suspension unit, An adaptive suspension unit connected between the driving unit and the transmission unit; and A gripper characterized by including a driving guide portion extending from the driving unit and guiding the movement direction of the transmission unit.

21. In the 20th paragraph, the adaptive suspension part, A first connecting portion connected to the crank portion of the above driving unit; a second connecting portion connected to the above transmission unit; and A gripper characterized by including an absorption portion extending between the first and second connecting portions and absorbing an external force transmitted from the transmission unit.

22. In paragraph 1, It further includes a fixing module that fixes the assembly target to the vibration unit that receives the vibration from the above-mentioned vibration unit. The above fixed module is, A gripper characterized by including a flexible fixing part that brings the assembly target into close contact with the lower surface of the supporting part.

23. In paragraph 22, the flexible fixing part, Extending from one side of the above-mentioned part and fixed to an insert formed on the other side of the above-mentioned part, A gripper characterized by absorbing vibration of the assembly target and fixing the assembly target.

24. A step of moving the assembly target to the target fastening position by gripping it; A step of bringing the assembly object into contact with the joint in a first direction while vibrating the assembly object; A step of scanning while moving the phage section in the second direction; A step in which the vibration displacement in the third direction naturally decreases according to the fastening of the assembly target and the joint; and An assembly method comprising the steps of completing a fastening and releasing the grip of the assembly object.

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