Gripper and robot device including same

Abstract

This gripper comprises: a palm module to and from which different types of finger modules can be attached and detached; a plurality of finger modules detachably coupled to the palm module; a linear actuator configured to adjust the distance between the plurality of finger modules detachably coupled to the palm module; and a plurality of rotary actuators arranged between the linear actuator and the plurality of finger modules. The plurality of rotary actuators are configured to rotate the respective finger modules about respective first rotational axes extending in first directions which are the directions going from the module to the plurality of rotary actuators.

Description

Gripper and robotic device including the same

[0001] The present disclosure relates to a gripper and a robotic device including the same.

[0002] With technological advancements, robotics is being utilized to replace human labor in various fields. In particular, robotic devices are being developed in fields requiring delicate and precise tasks, such as factories, construction, medical settings, and aerospace.

[0003] The use of grippers is essential for robotic devices to perform delicate and sophisticated tasks.

[0004] However, conventional grippers have a problem in that they use a single, non-replaceable finger module, and can only perform one task or a limited number of tasks.

[0005] A gripper and a robotic device including the same are provided.

[0006] Additional aspects will be set forth in part in the following description, and in part will be obvious from the description or may be learned by practice of the embodiments presented.

[0007] A gripper according to at least one embodiment of the present disclosure includes a palm module having detachable finger modules of different shapes, a plurality of finger modules detachably coupled to the palm module, a linear actuator configured to adjust a distance between the plurality of finger modules detachably coupled to the palm module, and a plurality of rotary actuators arranged between the linear actuator and the plurality of finger modules. The plurality of rotary actuators are configured to rotate each of the plurality of finger modules about a first rotational axis extending from the palm module in a first direction toward the plurality of rotary actuators.

[0008] At least one of the plurality of finger modules may further include a roll module rotatable about a second rotation axis perpendicular to the first rotation axis and at least one finger extending from the roll module.

[0009] The roll module may include a first roller and a second roller, each independently rotatable, arranged in a second direction at opposite ends of the roll module. The first roller may be rotatable in an opposite direction to the second roller.

[0010] Each finger module of the plurality of finger modules may further include a finger that is connectable with each rotary actuator of the plurality of rotary actuators and a plurality of finger tips arranged at the ends of the fingers.

[0011] Each finger tip among the plurality of finger tips may include a plurality of different types of tips that intersect each other based on a point where the finger tip is coupled to the plurality of finger modules. Each finger module among the plurality of finger modules may further include a rotation tip module for rotating the finger tip so that a tip corresponding to a characteristic of the target among the plurality of tips faces the target.

[0012] The plurality of tips may include a first tip having a first contact surface capable of contacting the target and a second tip having a second contact surface capable of contacting the target. An area of ​​the second contact surface may be greater than an area of ​​the first contact surface.

[0013] The above finger tip may further include a suction tip for gripping the target.

[0014] The gripper may include a memory, a communication unit, and a processor. The processor may receive first module information of the at least one finger module through the communication unit and store it in the memory when at least one finger module among the plurality of finger modules is coupled to the palm module, and may control at least one of a rotary actuator and a linear actuator of the plurality of rotary actuators to which the at least one finger module is coupled to perform a task corresponding to the first module information.

[0015] The processor may receive second module information of the replaced second finger module through the communication unit and store it in the memory when the first finger module coupled to the palm module is replaced with a second finger module, and control the linear actuator and the at least one rotary actuator to perform a task corresponding to the second module information of the replaced finger module.

[0016] Each finger module of the plurality of finger modules may further include a dual pinch for gripping a target, coupled to each of the plurality of rotary actuators.

[0017] Each finger module of the plurality of finger modules may further include an elastic body on the outer surface of each finger module to prevent damage to the target during the process of gripping the target.

[0018] A robot device according to an embodiment of the present disclosure may include a main body and a gripper coupled to one end of the main body. The gripper may include a palm module having detachable finger modules of different shapes, a plurality of finger modules detachably coupled to the palm module, a linear actuator configured to adjust a distance between the plurality of finger modules detachably coupled to the palm module, and a plurality of rotary actuators arranged between the linear actuator and the plurality of finger modules. The plurality of rotary actuators may be configured to rotate each of the plurality of finger modules about a first rotational axis extending from the palm module in a first direction in the direction of the plurality of rotary actuators.

[0019] At least one of the plurality of finger modules may further include a roll module rotatable about a second rotation axis perpendicular to the first rotation axis and at least one finger extending from the roll module.

[0020] The above roll module may include a first roller and a second roller, each independently rotatable, arranged in a second direction at opposite ends of the roll module. The first roller may be rotatable in an opposite direction to the second roller.

[0021] Each finger module of the plurality of finger modules may further include a finger that is connectable with each rotary actuator of the plurality of rotary actuators and a plurality of finger tips arranged at the ends of the fingers.

[0022] Each finger tip among the plurality of finger tips may include a plurality of different types of tips that intersect each other based on a point where the finger tip is coupled to the plurality of finger modules. Each finger module among the plurality of finger modules may further include a rotation tip module for rotating the finger tip so that a tip corresponding to a characteristic of the target among the plurality of tips faces the target.

[0023] The plurality of tips may include a first tip having a first contact surface capable of contacting the target and a second tip having a second contact surface capable of contacting the target. An area of ​​the second contact surface may be greater than an area of ​​the first contact surface.

[0024] The above finger tip may further include a suction tip for gripping the target.

[0025] The gripper may include a memory, a communication unit, and a processor. The processor may receive first module information of the at least one finger module through the communication unit and store it in the memory when at least one finger module among the plurality of finger modules is coupled to the palm module, and may control at least one of a rotary actuator and a linear actuator of the plurality of rotary actuators to which the at least one finger module is coupled to perform a task corresponding to the first module information.

[0026] The processor may receive second module information of the replaced second finger module through the communication unit and store it in the memory when the first finger module coupled to the palm module is replaced with a second finger module, and control the linear actuator and the at least one rotary actuator to perform a task corresponding to the second module information of the replaced finger module.

[0027] Each finger module of the plurality of finger modules may further include a dual pinch for gripping a target, coupled to each of the plurality of rotary actuators.

[0028] A gripper according to at least one embodiment comprises a processor, a palm module having detachable finger modules of different shapes, a plurality of finger modules detachably coupled to the palm module, a linear actuator configured to adjust a distance between the plurality of finger modules detachably coupled to the palm module, and a plurality of rotary actuators disposed between the linear actuator and the plurality of finger modules. The plurality of rotary actuators are configured to rotate each of the plurality of finger modules about a first rotational axis extending from the palm module in a first direction in the direction of the plurality of rotary actuators. The processor may be configured to receive first module information of a first finger module based on a first finger module of a first shape being coupled to a palm module, and control one rotary actuator and the linear actuator among the plurality of rotary actuators to which the first finger module is coupled to perform an operation corresponding to the first module information, and receive second module information of a second finger module based on a second finger module of a second shape being coupled to the palm module, and control one rotary actuator and the linear actuator among the plurality of rotary actuators to which the second finger module is coupled to perform an operation corresponding to the second module information.

[0029] The above and other aspects, features and advantages of specific embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, which include:

[0030] FIG. 1 is a drawing illustrating a robotic device according to one or more embodiments of the present disclosure.

[0031] FIG. 2 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0032] FIG. 3 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0033] FIG. 4 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0034] FIG. 5 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0035] FIG. 6 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0036] FIG. 7 is a drawing illustrating a gripper according to one or more embodiments of the present disclosure.

[0037] FIG. 8 is a block diagram of a gripper according to one or more embodiments of the present disclosure.

[0038] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the attached drawings. The same reference numerals are used for the same components in the drawings, and their redundant description will be omitted. The embodiments described herein are exemplary embodiments, and thus, the present disclosure is not limited thereto and may be implemented in various other forms. It should be understood that the singular form "a" includes plural references unless otherwise specified in the context. Terms, including technical or scientific terms, used herein may have the same meaning as commonly understood by those skilled in the art.

[0039] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0040] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0041] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0042] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0043] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0044] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0045] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0046] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0047] A 'module' or a plurality of 'parts' can be integrated into at least one module and implemented by at least one processor, except for 'modules' or 'parts' that need to be implemented by specific hardware.

[0048] According to various embodiments, operations performed by a module, program or other component may be executed sequentially, in parallel, iteratively or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

[0049] The various elements and areas in the drawings are schematically drawn. Therefore, the technical concept of the present invention is not limited by the relative sizes or spacings drawn in the attached drawings.

[0050] A gripper and a robot device including a gripper according to various embodiments are specifically described with reference to the drawings.

[0051] FIG. 1 is a drawing for explaining a robot device (1) according to one or more embodiments of the present disclosure.

[0052] The robot device (1) may include a main body (10), a robot arm (100), and a gripper (1000).

[0053] The main body (10) is a configuration that includes devices for managing the overall operation of the robot device (1). The main body (10) is a device that forms the exterior of the robot device (1). In Fig. 1, the main body (10) is illustrated in a simple square shape, but the embodiments are not necessarily limited thereto. The robot device (1) can be implemented in various types such as a humanoid robot, a three-axis core robot, a quadruped walking robot, etc., and the main body (10) can be implemented in various shapes depending on the type of the robot device (1).

[0054] For example, a robotic device may be configured in various forms, such as a body for a humanoid robot, a core module for a three-axis core robot, or a central module for a quadruped walking robot. These various types of robotic devices (1) may be equipped with at least one robotic arm for performing various tasks. Alternatively, the robotic device (1) may be implemented as a robotic arm itself, which is installed within a usage environment and can perform various tasks.

[0055] For convenience of explanation, FIG. 1 illustrates a robot device (1) including one robot arm (100) and a gripper (1000), but the number and shape of the robot arms may be implemented in various ways depending on the type of the robot device (1) and the characteristics of the main body (10).

[0056] In addition, the main body (10) may be formed integrally with the robot arm (100) and the gripper (1000), or may be formed as a separable, independent component in which each independent component is assembled. The main body (10) may also be referred to by various terms such as a housing, a cabinet, a core module, a body part, etc.

[0057] The robot arm (100) may be placed on one side of the main body (10). The robot arm (100) may include a shoulder base (101), an upper arm (102), a lower arm (103), a first joint (104) connecting the shoulder base (101) and the upper arm (102), and a second joint (105) connecting the upper arm (102) and the lower arm (103). The robot arm (100) is configured to move the gripper (1000) to a specific position by moving each of the plurality of joints (104, 105). The robot arm (100) may be formed integrally with the main body (10) or may be formed as a module independent from the main body (10) and assembled to the main body (10).

[0058] The shoulder base (101), upper arm (102), and lower arm (103) can move in various ways around their respective axes. The shoulder base (101), upper arm (102), and lower arm (103) are all illustrated as I-shaped modules in FIG. 1, but the embodiment is not necessarily limited thereto, and the joints may be formed as modules of various shapes, such as L-shaped modules.

[0059] The robot arm (100) may include a gripper (1000). The gripper (1000) may be attachable to the end of the lower arm (103). Each joint is connected to each other through a hinge, and each hinge may include a motor, link, etc. for moving each joint.

[0060] When the robot arm (100) moves the gripper (1000) to a specific position to perform a task, the gripper (1000) can perform the task at the specific position. For example, the gripper (1000) may move to a specific position after gripping a target. In addition, the gripper (1000) can perform various tasks, such as cleaning, screw tightening, and welding, after gripping a target.

[0061] The gripper (1000) may include at least one sensor (200). The robotic device (1) may acquire target or surrounding shape information based on the sensing value of the at least one sensor (200). The robotic device (1) may identify the characteristics of the target based on the sensing value of the at least one sensor (200).

[0062] The robot device (1) can identify spatial characteristics of a space in which a target is located based on a sensing value of at least one sensor (200). The spatial characteristics include information about at least one of a position of the target within the space, a distance between the target and at least one object located around the target, and a contact relationship between the target and a surrounding object. In addition, the robot device (1) can identify characteristics of a gripping point of the target based on a sensing value of at least one sensor (200).

[0063] The characteristics of the gripping point may vary depending on the operation of the robotic device (1). For example, when the robotic device (1) attempts to lift a target, the characteristics of the gripping point may be a point where the target's torque is minimized or around the target's center of gravity. When the robotic device (1) attempts to rotate the target, the characteristics of the gripping point may be a point furthest from the target's center of rotation. However, the embodiment is not necessarily limited thereto, and the characteristics of the gripping point may be various points within the target depending on the user's operation.

[0064] The robot device (1) can identify various pieces of information based on the sensing values ​​of at least one sensor (200). The at least one sensor (200) may include a vision sensor, an infrared sensor, an ultrasonic sensor, etc. However, the embodiment is not necessarily limited thereto, and may include various sensors capable of detecting sensing values ​​for target characteristics, target spatial information, surrounding shape information, target grip point information, etc.

[0065] For example, in FIG. 1, at least one sensor (200) may include an image sensor. The at least one sensor (200) may be formed of various sensors, such as a camera, an RGB sensor, etc. The at least one sensor (200) may generate a captured image using the image sensor.

[0066] The robot device (1) can identify characteristics of a target, etc., through a photographed image generated by at least one sensor (200). Specifically, the robot device (1) divides all pixels in the photographed image generated by at least one sensor (200) into a plurality of pixel groups, and then extracts pixel representative values ​​of the pixels included in each pixel group.

[0067] The robot device (1) identifies the positions of pixel groups having pixel representative values ​​in a similar range, and when a plurality of similar pixel groups are positioned consecutively, identifies the similar pixel groups as forming an edge for one object.

[0068] The robot device (1) can estimate what kind of object an object is based on the shape of the edge, the pixel values ​​of pixels within the edge, etc., and can identify the distance to the object, etc. based on the size of the edge. Based on this, the robot device (1) can identify the characteristics of the target, etc.

[0069] For example, in FIG. 1, at least one sensor (200) may include an FT sensor (Force and Torque Sensor). The robot device (1) may measure at least one of a weight and a torque applied to the gripper (1000) based on the sensing value of the at least one sensor (200). The robot device (1) may identify the center of gravity of the target, characteristics of the target, etc. based on the sensing value of the at least one sensor (200).

[0070] FIG. 2 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0071] In FIG. 2, the gripper (1000) may include a palm module (1100) and a plurality of finger modules (1200). Different configurations of the finger modules (1200) may include the finger module (1200) of FIG. 2, the finger module (1250) of FIG. 3, the finger module (1500) of FIG. 4, the finger module (1700) of FIG. 5, the finger module (1800) of FIG. 6, and the finger module (1900) of FIG. 7. The finger modules (1200, 1300, 1500, 1700, 1800, and 1900) may be removably coupled to respective palm modules (e.g., palm module 1100), such that the finger modules may provide a modular arrangement with the palm modules. In one or more embodiments, the same finger module may be removably coupled to the palm module. In one or more embodiments, different finger modules of different shapes / types may be removably coupled to the palm module. For example, the palm module (1100) may include a finger module (1200) removably coupled to one rotary actuator and a finger module (1300) removably coupled to another rotary actuator. Various combinations of the present invention, as would be apparent to those skilled in the art, can be realized from the present disclosure.

[0072] The palm module (1100) is a module for supporting a plurality of finger modules (1200). A plurality of finger modules (1200) of different shapes may be fixedly connected to the palm module (1100) or may be connected in a detachable manner.

[0073] The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotation actuator (1140).

[0074] The coupling unit (1110) may be coupled to one end of the robot arm (100) of FIG. 1. Accordingly, the gripper (1000) may be driven integrally with the robot arm (100). Additionally, the coupling unit (1110) may include various electronic components for controlling the gripper (1000). For example, the coupling unit (1110) may include a communication unit for communicating with various external devices such as a plurality of finger modules (1200), the robot arm (100) and the main body (10), a memory for storing information on a plurality of finger modules (1200) of different shapes, a processor for controlling the gripper (1000) and the plurality of finger modules (1200), etc. These components do not necessarily have to be arranged in the coupling unit (1110) and may be arranged in at least one component within the robot device (1). A detailed description of each component will be described in detail in FIG. 8.

[0075] A linear actuator (1130) is a configuration for adjusting the distance between a plurality of finger modules (1200) coupled to a palm module (1100). The linear actuator (1130) may be disposed on the lower side of the coupling portion (1110). The linear actuator (1130) may include a linear motor (1120). The linear motor (1120) may be disposed at the center of the linear actuator (1130).

[0076] A linear actuator (1130) can drive a linear motor (1120) to adjust the distance between multiple finger modules (1200).

[0077] The linear actuator (1130) can adjust the distance between multiple finger modules (1200) through a different driving method than the driving method described above. The linear actuator (1130) can include an SR driver (Stable Release Driver), an Air Inlet, and an Air Outlet.

[0078] The SR driver is configured to control the operation of a linear motor (1120) and a gripper (1000). The air inlet can receive compressed air from the outside to push or pull a piston inside a linear actuator (1130), and the air outlet can discharge the compressed air inside to the outside to pull or push a piston inside a linear actuator (1130).

[0079] The linear actuator (1130) can adjust the distance between multiple finger modules (1200) by moving the piston through the operation of the Air Inlet (not shown) and the Air Outlet (not shown).

[0080] However, the embodiment is not necessarily limited to this driving method, and the linear actuator (1130) can adjust the distance between multiple finger modules (1200) through various driving methods.

[0081] A rotation actuator (1140) may be disposed between the linear actuator (1130) and the plurality of finger modules (1200). The rotation actuator (1140) may rotate each of the plurality of finger modules (1200) about a first rotation axis in a first direction from the palm module (1100) toward the rotation actuator (1140) (and / or toward the plurality of fingers (1210)). That is, the first direction may be a direction extending outward from the palm module (1100) toward the direction in which the fingers (1210) extend. For example, in the gripper (1000) of FIG. 2, the first direction may be a length direction of the fingers (1210) of the plurality of finger modules (1200).

[0082] Each of the plurality of finger modules (1200) can be placed at one end (1141) of the rotary actuator (1140).

[0083] In FIG. 2, the plurality of finger modules (1200) may further include fingers (1210) and finger tips (1220) positioned at the ends of the fingers (1210).

[0084] The finger (1210) may be coupled to the rotary actuator (1140) of the palm module (1100). The finger (1210) may be formed in the shape of an elongated rod. The longitudinal direction of the finger (1210) may be formed in a direction perpendicular to the longitudinal direction of the palm module (1100). However, the embodiment is not necessarily limited thereto, and the finger (1210) may be formed in various shapes and forms.

[0085] A finger tip (1220) may be placed at one end of a finger (1210). The finger tip (1220) is a member that can physically contact a target. When the linear actuator (1130) is driven to reduce the distance between a plurality of finger modules (1200), the finger tip (1220) can physically contact the target and grasp the target.

[0086] Finger modules can be implemented in various forms.

[0087] Hereinafter, various configurations for multiple finger modules (1200) will be described starting from FIG. 3.

[0088] FIG. 3 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0089] In FIG. 3, the gripper (1000) may include a palm module (1100). The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotary actuator (1140). A plurality of finger modules (1250) may be detachably coupled to the palm module (1100). The linear actuator (1130) may include a linear motor (1120). Since the description of each component of the palm module (1100) has been described in detail in FIG. 2, a description thereof may be omitted.

[0090] According to FIG. 3, at least one of the plurality of finger modules (1250) may be disposed on one end (1141) of the rotary actuator (1140) of the rotary actuator (1140). At least one of the plurality of finger modules (1250) may further include a roll module (1300) rotatable about a second axis perpendicular to the rotation axis of the rotary actuator (1140).

[0091] The roll module (1300) may include a first roll (1310) and a second roll (1320) that are positioned at an end (e.g., an end along a second direction such as the width direction in FIG. 3) and are each independently rotatable.

[0092] The first roller (1310) and the second roller (1320) can rotate around an axis in a second direction perpendicular to the rotational axis of the rotary actuator (1140). That is, the first roll (1310) and the second roll (1320) can rotate clockwise or counterclockwise around an axis in the second direction perpendicular to the first direction.

[0093] Additionally, the first roller (1310) and the second roller (1320) may rotate in the same direction or in opposite directions. The first roller (1310) and the second roller (1320) may freely rotate according to the operation process of the gripper (1000).

[0094] Referring to FIG. 3, the fingers (1410, 1420) may be coupled to the first roller (1310) and the second roller (1320). That is, the fingers (1410, 1420) may extend from the roll module (1300). The fingers (1410, 1420) may be formed in an elongated rod shape. The longitudinal direction of the fingers (1410, 1420) may be formed in a direction perpendicular to the longitudinal direction of the palm module (1100). However, the embodiment is not necessarily limited thereto, and the fingers (1410, 1420) may be formed in various shapes and forms.

[0095] Referring to FIG. 3, finger tips (1221, 1222) can be attached to each end of fingers (1410, 1420). Accordingly, the fingers (1410, 1420) and finger tips (1221, 1222) of FIG. 3 can be provided in multiple numbers. Accordingly, the gripper (1000) of FIG. 3 can simultaneously grip multiple targets. In addition, the gripper (1000) of FIG. 3 can simultaneously perform multiple tasks.

[0096] The gripper (1000) can increase the degree of freedom of movement through a rotary actuator (1140) and a roll module (1300). Accordingly, the gripper (1000) can perform various movements in various ways.

[0097] For example, if the gripper (1000) uses only a rotation actuator (1140), each of the plurality of finger modules (1200) can only rotate clockwise or counterclockwise in the first direction. However, if the gripper (1000) uses both a rotation actuator (1140) and a roll module (1300), each of the plurality of finger modules (1200) can rotate clockwise or counterclockwise in the second direction in addition to rotating clockwise or counterclockwise in the first direction. Through a combination of rotations in the first and second directions, the gripper (1000) can perform various operations.

[0098] FIG. 4 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0099] In FIG. 4, the gripper (1000) may include a palm module (1100). The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotary actuator (1140). A plurality of finger modules (1500) may be detachably coupled to the palm module (1100). The linear actuator (1130) may include a linear motor (1120). Since the description of each component of the palm module (1100) has been described, a description thereof will be omitted.

[0100] In FIG. 4, the gripper (1000) may include a finger module (1500) including a finger (1510) and a finger tip (1610).

[0101] The finger (1510) can be coupled to a rotary actuator (1140) of the palm module (1100). The finger (1510) can be coupled to an end (1141) of the rotary actuator (1140). The finger (1510) can rotate about a first rotational axis extending from the palm module (1100) via the rotary actuator (1140).

[0102] The finger tip (1610) may be positioned at the end of the finger (1510). The finger tip (1610) may include a plurality of different types of tips (1620, 1630) positioned at positions intersecting each other based on a point where the finger (1510) is joined. That is, in FIG. 4, the plurality of different types of tips (1620, 1630) may be positioned opposite each other across an axis extending horizontally through the center of the rotating tip module (1600).

[0103] A plurality of different types of tips (1620, 1630) may include a first tip (1620) that can contact a target and a second tip (1630) that can contact a target. For convenience of explanation, a portion of the first tip (1620) that can contact a target is referred to as a first contact surface, and a portion of the second tip (1630) that can contact a target is referred to as a second contact surface.

[0104] The area of ​​the first contact surface and the area of ​​the second contact surface may be implemented differently. In one or more examples, the area of ​​the second contact surface of the second tip (1630) may be greater than the area of ​​the first contact surface of the first tip (1620). For example, the length of the second tip (1630) may be greater than the length of the first tip (1620) in a cross-sectional view. The second tip (1620) may further include a member in the form of a protrusion at a portion that physically contacts the target.

[0105] In this case, one of the first tip and the second tip can be selectively used depending on the characteristics of the target. Specifically, the first tip (1620) can be used to grip a target with a narrow contact area, and the second tip (1630) can be used to grip a target with a wider contact area than the target that the first tip (1620) can grip.

[0106] The plurality of finger modules (1200) may include a rotating tip module (1600) for rotating the finger tips (1610) so that a tip corresponding to the characteristics of the target among the plurality of tips (1620, 1630) faces the target.

[0107] The plurality of finger modules (1200) can rotate the plurality of tips (1620, 1630) clockwise or counterclockwise relative to the rotating tip module (1600).

[0108] Accordingly, the gripper (1000) can stably grip targets of various shapes and sizes.

[0109] FIG. 5 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0110] In FIG. 5, the gripper (1000) may include a palm module (1100). The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotary actuator (1140). The finger module (1700) may be detachably coupled to the palm module (1100). The linear actuator (1130) may include a linear motor (1120). Since the description of each component of the palm module (1100) has been described, a description thereof may be omitted.

[0111] In FIG. 5, the gripper (1000) may include a finger module (1700) including a finger (1710) and a finger tip (1720, 1730).

[0112] The finger (1510) can be coupled to a rotary actuator (1140) of the palm module (1100). The finger (1510) can be coupled to one end (1141) of the rotary actuator (1140). The finger (1510) can rotate about a first rotation axis protruding from the palm module (1100) via the rotary actuator (1140).

[0113] Finger tips (1720, 1730) may be positioned at the ends of fingers (1710). Among the finger tips (1720, 1730), the first tip (1720) is configured to support a target. Among the finger tips (1720, 1730), the second tip (1730) is configured to grip a target using suction.

[0114] The second tip (1730) may include at least one suction tip (1740). The coupling portion (1110) may include a suction power port (2000). At least one suction tip (1740) of the second tip (1730) may suck a target using power and pressure supplied from the suction power port (2000). That is, at least one suction tip (1740) may grip a target through vacuum suction.

[0115] Through this, the finger tips (1720, 1730) can grasp the target and perform various tasks using the target.

[0116] FIG. 6 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0117] In FIG. 6, the gripper (1000) may include a palm module (1100). The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotary actuator (1140). The finger module (1800) may be detachably coupled to the palm module (1100). The linear actuator (1130) may include a linear motor (1120). Since the description of each component of the palm module (1100) has been described in detail in FIG. 2, a description thereof may be omitted.

[0118] In FIG. 6, each of the plurality of finger modules (1800) may include a dual pinch (1810).

[0119] The dual pinch (1810) can grasp a target using multiple finger tips. The dual pinch (1810) can include multiple finger segments (1812, 1813), multiple finger joints (1811, 1814, 1815), and multiple finger tips (1816).

[0120] The plurality of finger joints (1812, 1813) may include a first finger joint (1812) and a second finger joint (1813).

[0121] The plurality of finger joints (1811, 1814, 1815) may include a first finger joint (1811), a second finger joint (1814), and a third finger joint (1815). The plurality of finger joints (1811, 1814, 1815) may be positioned between the plurality of finger joints (1812, 1813) or the plurality of finger tips (1816). By positioning the plurality of finger joints (1811, 1814, 1815), the dual pinch (1810) can grasp targets having various shapes and sizes. For example, when the target size is large, the robot device (1) can control multiple finger joints (1811, 1814, 1815) to increase the distance between multiple finger joints (1812, 1813).

[0122] Conversely, when the target size is small, the robot device (1) can control the plurality of finger joints (1811, 1814, 1815) to narrow the distance between the plurality of finger joints (1812, 1813).

[0123] A plurality of finger tips (1816) may be positioned at the third finger joint (1815). The plurality of finger tips (1816) may be in physical contact with the target.

[0124] Additionally, the robot device (1) can lift the gripped target from the lower side to the upper side by controlling a plurality of finger joints (1811, 1814, 1815).

[0125] FIG. 7 is a drawing illustrating a gripper (1000) according to one or more embodiments of the present disclosure.

[0126] In FIG. 7, the gripper (1000) may include a palm module (1100). The palm module (1100) may include a coupling portion (1110), a linear actuator (1130), and a rotary actuator (1140). The finger module (1900) may be detachably coupled to the palm module (1100). The linear actuator (1130) may include a linear motor (1120). Since the description of each component of the palm module (1100) has been described, the description thereof may be omitted.

[0127] In FIG. 7, each of the plurality of finger modules (1200) may include a soft jaw (1910). The soft jaw (1910) may include a plurality of protrusions (1920) on one side. The soft jaw (1910) may include a plurality of bends (1930) on the opposite side of the plurality of protrusions (1920). The plurality of protrusions (1920) and the plurality of bends (1930) may each be capable of gripping targets of different sizes.

[0128] The soft jaw (1910) may include an elastic body (1915) on the outer surface to prevent damage to the target during the process of gripping the target. That is, each of the plurality of finger modules (1200) may include an elastic body (1915) on the outer surface.

[0129] Each of the plurality of finger modules (1200) can be formed of various materials such as rubber, silicone, polyurethane, EPDM (Ethylene Propylene Diene Monomer), etc.

[0130] FIG. 8 is a block diagram of a gripper (1000) according to one or more embodiments of the present disclosure.

[0131] In FIG. 8, the gripper (1000) may include a communication unit (4010), a memory (4020), and a processor (4030). However, although FIG. 8 shows that the communication unit (4010), the memory (4020), and the processor (4030) are included in the gripper (1000), the embodiment is not necessarily limited thereto, and may be included in the main body (10) of the robot device (1). In addition, the configurations for the communication unit (4010), the memory (4020), and the processor (4030) may be independently included in the robot device (1) and the gripper (1000). In addition, although FIG. 8 shows that the communication unit (4010), the memory (4020), and the processor (4030) are each illustrated one by one, each configuration does not necessarily have to be provided only once, and may be provided in multiple units. Additionally, the memory (4020) and processor (4030) may be integrated into a single chip.

[0132] The communication unit (4010) is configured to communicate with various devices. Specifically, the communication unit (4010) can communicate with various devices, such as a plurality of finger modules (1200), the main body (10) of the robot device (1), and the robot arm (100) of the robot device (1).

[0133] The communication unit (4010) may include at least one wireless communication module, at least one wired communication module, etc. Each communication module may be implemented in the form of at least one hardware chip. The wireless communication module may include at least one module selected from among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules. In addition, the communication unit (4010) may include at least one communication chip that performs communication according to various wireless communication standards, such as Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), and 5G (5th Generation). The wired communication module may include, for example, at least one of a LAN (Local Area Network) module, an Ethernet module, a pair cable, a coaxial cable, an optical fiber cable, or a UWB (Ultra Wide-Band) module.

[0134] In Fig. 8, the communication unit (4010) may include a CAN communication unit (Controller Area Network). The CAN communication unit of the gripper (1000) may communicate with various control devices (e.g., the main body (10), the robot arm (100), and a plurality of finger modules (1200)). Through this, the gripper (1000) may detect and correct data transmission errors during communication with various control devices.

[0135] The memory (4020) is configured to include various programs, commands, and data required for the operation of the gripper (1000). In FIG. 8, the memory (4020) is depicted as being separate from the processor (4030), but the embodiment is not necessarily limited thereto, and the memory (4020) may be implemented as an internal memory such as a ROM (e.g., an electrically erasable programmable read-only memory (EEPROM)) or RAM included in the processor (4030).

[0136] Alternatively, the memory (4020) may be implemented in the form of memory embedded in the gripper (1000) or may be implemented in the form of memory that can be detachably attached to the gripper (1000) depending on the purpose of data storage. Specifically, the gripper (1000) may be implemented in various forms, such as volatile memory, SRAM (static RAM), SDRAM (synchronous dynamic RAM), etc.), non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD), CF (compact flash), SD (secure digital), MicroSD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.).

[0137] The term memory may include storage, ROM (not shown) within the processor (4030), RAM (not shown), or a memory card (not shown) mounted on the electronic device (e.g., micro SD card, memory stick, etc.).

[0138] The memory (4020) is accessed by the processor (4030). In the memory (4020), data can be read / written / modified / deleted / updated by the processor (4030).

[0139] Specifically, the memory (4020) may store various pieces of information, such as information about a palm module (1100), information about a linear actuator (1130), information about a rotary actuator (1140), information about a plurality of finger modules (1200), information about a roll module (1300), operation information about the roll module (1300), information about a plurality of different types of tips (1620, 1630), information about a rotary tip module (1600), information about at least one suction tip (1740), information about a dual pinch (1810), information about a soft jaw (1910), information about at least one sensor (200), and programs, commands, etc. for controlling the operation of the gripper (1000) and other devices.

[0140] The processor (4030) is a component connected to each component of the gripper (1000) and controls the overall operation of the gripper (1000). The processor (4030) may be implemented as a digital signal processor (DSP), a microprocessor, a GPU (Graphics Processing Unit), etc. that processes a digital image signal. However, the embodiment is not limited thereto, and the processor (4030) may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), an ARM processor, or may be defined by the corresponding terminology. In addition, the processor (4030) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA).

[0141] The processor (4030) may perform at least one of the various operations described above based on an artificial intelligence model. The processor (4030) for executing the artificial intelligence model may be implemented through a combination of software and a general-purpose processor such as a CPU, an AP, a DSP (Digital Signal Processor), a graphics-only processor such as a GPU, a VPU (Vision Processing Unit), or an artificial intelligence-only processor such as an NPU.

[0142] If the processor (4030) is implemented as an artificial intelligence-dedicated processor, it may be designed as a hardware chip, such as an ASIC or FPGA, specialized for processing a specific artificial intelligence model.

[0143] When the processor (4030) is implemented as a dedicated processor, it may be implemented to include a memory (4020) for implementing an embodiment of the present disclosure, or may be implemented to include a memory processing function for utilizing external memory. The processor (4030) may be implemented as one or more. In addition, the processor (4030) may perform various operations based on programs, instructions, data, etc. stored in the memory (4020).

[0144] The configurations for the processor (4030) of the gripper (1000) described above can be included not only in the processor (4030) of the gripper (1000), but also in the processor of the robot device (1).

[0145] Various information received by the gripper (1000) and information generated by the gripper (1000), for example, information about a plurality of combined finger modules (1200), information about a combined robot arm (100), information about a palm module (1100), information about a linear actuator (1130), information about a rotary actuator (1140), information about a plurality of finger modules (1200), information about a roll module (1300), operation information about a roll module (1300), information about a plurality of different types of tips (1620, 1630), information about a rotary tip module (1600), information about at least one suction tip (1740), information about a dual pinch (1810), information about a soft jaw (1910), information about at least one sensor (200), etc., can be stored in the memory (4020).

[0146] The processor (4030) can control the linear actuator (1130) to adjust the distance between the plurality of finger modules (1200). Accordingly, the gripper (1000) can grip a target or the like using the plurality of finger modules (1200).

[0147] The processor (4030) can control the rotation actuator (1140) to rotate each of the plurality of finger modules (1200) about a rotation axis in a first direction protruding from the palm module (1100). By rotating each of the plurality of finger modules (1200) clockwise or counterclockwise about the first direction as an axis, various operations such as screw coupling and welding can be performed in addition to the gripping operation.

[0148] When at least one finger module among a plurality of finger modules (1200) is coupled to a palm module (1100), the processor (4030) may receive module information of at least one finger module through the communication unit (4010) and store it in the memory (4020). As described above, the communication unit (4010) may communicate with the finger module (1200) through various wired and wireless interfaces. The module information may include various information related to the corresponding finger module. For example, the module information may include the type of the finger module, product number, manufacturer information, product specifications, information on operations that the finger module can perform, etc. Based on the received module information, the processor (4030) may identify whether a certain finger module is coupled and information on operations that can be performed by the finger module.

[0149] The processor (4030) can control at least one of the rotary actuator (1140) and the linear actuator (1130) when at least one finger module is coupled to perform a task corresponding to the module information.

[0150] For example, when a roll module (1300) is combined among a plurality of finger modules (1200), the processor (4030) can receive information about the roll module (1300) through the communication unit (4010) and store it in the memory (4020). Thereafter, the processor (4030) can control at least one of the rotary actuator (1140) and the linear actuator (1130) to perform a task corresponding to the roll module (1300).

[0151] In addition, the processor (4030) may control the roll module (1300) based on information about the roll module (1300) stored in the memory (4020). For example, the processor (4030) may control the roll module (1300) to rotate the first roller (1310) and the second roller (1320) based on rotation information of the first roller (1310) and the second roller (1320) of the roll module (1300) stored in the memory (4020). Specifically, the processor (4030) may control the roll module (1300) to rotate the finger about an axis in a second direction perpendicular to the first direction. The processor (4030) may control the roll module (1300) to rotate the first roll (1310) and the second roll (1320) in the same or opposite direction about an axis in the second direction.

[0152] Accordingly, the gripper (1000) can increase the degree of freedom of movement through the rotary actuator (1140) and the roll module (1300). Accordingly, the gripper (1000) can perform various movements in various ways.

[0153] When a finger module coupled to a palm module (1100) is replaced, the processor (4030) can receive module information of the replaced finger module through the communication unit (4010) and store it in the memory (4010). The processor (4030) can control the linear actuator (1130) and the rotary actuator (1140) to perform a task corresponding to the module information of the replaced finger module.

[0154] For example, when the roll module (1300) is replaced with a finger module including different finger tips (1620, 1630), the processor (4030) can receive module information of the finger module including different finger tips (1620, 1630) through the communication unit (4010) and store it in the memory (4010). Thereafter, the processor (4030) can control the linear actuator (1130) and the rotary actuator (1140) to perform a task corresponding to the module information of the finger module including the replaced different finger tips (1620, 1630). That is, the first finger module can be detachably coupled to the gripper, the processor (4030) can receive first module information for controlling the first finger module, the first finger module can be separated from the gripper, and a second finger module of a different shape / type from the first finger module can be detachably coupled to the gripper. Accordingly, the processor (4030) can receive second module information for controlling the second finger module.

[0155] Additionally, the processor (4030) can control the rotation tip module (1600) to cause a type of finger tip corresponding to the identified characteristic among the plurality of finger tips (1620, 1630) to face the target.

[0156] Specifically, the processor (4030) can control the plurality of finger modules (1200) to grip the target using the first tip (1620) if the size of the target is less than a preset size range, and to grip the target using the second tip (1630) if the size of the target is greater than or equal to the preset size range.

[0157] Here, the preset size range is the maximum target size that the first tip (1620) can grasp.

[0158] When a finger module including a suction tip (1740) is coupled to a palm module (1100), the processor (4030) can control the suction tip (1740) to grip a target through an adsorbing action.

[0159] When the dual pinch (1810) is coupled to the palm module (1100), the processor (4030) can control the multiple finger joints (1811, 1814, 1815) to grip the target via the multiple finger tips (1816).

[0160] As described above, the processor (4030) can perform various operations by controlling the movement of the gripper according to various finger modules coupled to the gripper (1000).

[0161] Each of the components described in this document may be composed of one or more parts (components), and the names of the components may vary depending on the type of the gripper (1000) and the robot device (1) including the gripper (1000).

[0162] Each embodiment provided in the above description is not excluded from being associated with one or more features of other embodiments provided herein or other embodiments not provided herein but consistent with the present invention, and although various embodiments of the present invention have been individually described above, each embodiment is not necessarily implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

Claims

1. In the gripper, Palm Module with detachable finger modules of different shapes; A plurality of finger modules detachably coupled to the palm module; A linear actuator configured to adjust the distance between the plurality of finger modules detachably coupled to the palm module; and A plurality of rotary actuators disposed between the linear actuator and the plurality of finger modules; A gripper wherein the plurality of rotary actuators are configured to rotate each of the plurality of finger modules about a first rotary axis extending in a first direction from the palm module toward the plurality of rotary actuators.

2. In paragraph 1, At least one of the plurality of finger modules, A roll module rotatable about a second rotation axis perpendicular to the first rotation axis; and A gripper further comprising at least one finger extending from the roll module.

3. In paragraph 2, The above roll module, A first roller and a second roller are disposed in a second direction at opposite ends of the above roll module and are each independently rotatable; A gripper wherein the first roller is rotatable in opposite directions to the second roller.

4. In paragraph 1, Each finger module of the above plurality of finger modules, A finger capable of being coupled with each of the plurality of rotary actuators; and A gripper further comprising a plurality of finger tips arranged at the ends of the fingers.

5. In paragraph 4, Each finger tip among the above multiple finger tips, Containing a plurality of different types of tips that intersect each other based on the point where they are combined with the plurality of finger modules, Each finger module of the above plurality of finger modules, A gripper further comprising a rotating tip module for rotating the finger tips so that a tip corresponding to the characteristics of the target among the plurality of tips faces the target.

6. In paragraph 5, The above multiple tips are, a first tip having a first contact surface capable of contacting the target; and a second tip having a second contact surface capable of contacting the target; A gripper wherein the area of ​​the second contact surface is greater than the area of ​​the first contact surface.

7. In paragraph 4, The above finger tips are, A gripper further comprising a suction tip for gripping a target.

8. In paragraph 1, memory; Department of Communications; and Processor; including; The above processor, When at least one finger module among the plurality of finger modules is coupled to the palm module, the first module information of the at least one finger module is received through the communication unit and stored in the memory, A gripper that controls at least one of the rotary actuators of the plurality of rotary actuators and the linear actuator to perform a task corresponding to the first module information.

9. In paragraph 8, The above processor, When the first finger module coupled to the above palm module is replaced with a second finger module, the second module information of the replaced second finger module is received through the communication unit and stored in the memory. A gripper that controls the linear actuator and the at least one rotary actuator to perform a task corresponding to the second module information of the replaced finger module.

10. In paragraph 1, Each finger module of the above plurality of finger modules, A gripper further comprising a dual pinch for gripping a target, the dual pinch being coupled to each of the plurality of rotary actuators.

11. In paragraph 1, Each finger module of the above plurality of finger modules, A gripper further comprising an elastic body on the outer surface of each finger module to prevent damage to the target during the process of gripping the target.

12. In robotic devices, body; and A gripper coupled to one end of the above body; The above gripper, Palm Module with detachable finger modules of different shapes; A plurality of finger modules detachably coupled to the palm module; A linear actuator configured to adjust the distance between the plurality of finger modules detachably coupled to the palm module; and A plurality of rotary actuators disposed between the linear actuator and the plurality of finger modules; A robotic device, wherein the plurality of rotary actuators are configured to rotate each of the plurality of finger modules about a first rotary axis extending in a first direction from the palm module toward the plurality of rotary actuators.

13. In paragraph 12, At least one of the plurality of finger modules, A roll module rotatable about a second rotation axis perpendicular to the first rotation axis; and A robotic device further comprising at least one finger extending from the roll module.

14. In paragraph 13, The above roll module, A first roller and a second roller are disposed in a second direction at opposite ends of the above roll module and are each independently rotatable; A robot device wherein the first roller is capable of rotating in opposite directions to the second roller.

15. In paragraph 12, Each finger module of the above plurality of finger modules, A finger capable of being coupled with each of the plurality of rotary actuators; and A robotic device further comprising a plurality of finger tips arranged at the ends of the fingers.

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