Gripper unit with replaceable slave tip

Abstract

Provided in the present invention is a gripper unit (100) comprising: a gripper master (110); a gripper slave (120) detachably coupled to the gripper master (110) and having a slave tip disposed thereon; and a gripper holder unit (130) having one portion disposed on the gripper master (110) and the other portion disposed on the gripper slave (120) so as to correspond to the one portion, thereby enabling detachable coupling between the gripper slave (120) and the gripper master (110).

Description

Slave tip replaceable gripper unit

[0001] The present invention relates to a finger tip replacement mechanism that allows the finger tip of a gripper mounted on the end of a robot to be easily replaced automatically or manually. The proposed finger tip replacement mechanism is a device that enables automatic replacement solely by the movement of the robot without a separate power source by utilizing a non-powered fastening method based on magnets or a replacement device.

[0002] The present invention proposes a new mechanism for fingertip replacement to expand the functionality of a gripper. As the use of robots increases rapidly, their use is also growing in service environments, such as cooking and housework, in addition to existing industrial sectors. Unlike industrial robots that only need to perform a single repetitive task, a single robot in service environments must be able to perform various tasks due to practical reasons such as spatial constraints and costs. To achieve this, a device capable of grasping various objects or performing various tasks must be mounted on the end of the robot.

[0003] Efforts to perform this task using robotic hands that mimic human hands have continued for decades, but they have not been used in the field due to high costs and durability issues. As a solution, grippers with simple structures suitable for specific objects, such as two-finger and three-finger grippers, are being used. Additionally, an automatic tool changer (ATC) attached to the robot's end is utilized to switch between these grippers. While it is common practice to use an ATC to replace the gripper or the tool itself depending on the target object, there are many cases where simply changing the size or shape of the fingers within the same gripper makes gripping the object easier. For example, if there is a rectangular object and a cylindrical object, both can be gripped by a two-finger gripper; however, if the finger surfaces for the rectangular object are flat and the finger surfaces for the cylindrical object are circular to fit the object, much more stable gripping is possible. At this time, two grippers with two different finger shapes can be used interchangeably, but if only the fingers can be replaced, only one gripper is used, making it much more cost-effective.

[0004] Accordingly, the present invention was invented to solve the problems of the prior art, and the present invention proposes a fingertip replacement mechanism similar to an automatic tool replacement device for a gripper.

[0005] The present invention provides a gripper unit (100) characterized by comprising: a gripper master (110); a gripper slave (120) detachably connected to the gripper master (110) and having a slave tip disposed therein; and a gripper holder portion (130) which is partially connected to the gripper master (110) and partially connected to the gripper slave (120), and which enables detachment between the gripper slave (120) and the gripper master (110) in correspondence with the partially connected portion.

[0006] In the above gripper unit, the gripper holder part (130) may utilize electromagnetic force.

[0007] In the above gripper unit, the gripper holder portion (130) may include a holder movable portion (140) which is movably disposed on the side of the gripper master (110) and a holder fixed portion (150) which allows the holder movable portion (140) to be movably disposed on at least a part of the side of the holder movable portion (140) through electromagnetic interaction, and a holder corresponding portion (160) which is formed on the side of the gripper slave (120) and on which at least a part of the holder movable portion (140) can be inserted or removed.

[0008] In the above gripper unit, the gripper master (110) is provided with a body slave receiving portion (113), and the gripper slave (120) may include a slave body insert portion (1213) that can be inserted into and removed from the body slave receiving portion (113).

[0009] In the above gripper unit, the holder corresponding part (160) may be formed in the slave body insert part (1213).

[0010] In the above gripper unit, the holder movable part (140) comprises: a holder movable body (141) which is movably received in a body holder receiving part (111) formed in the gripper master (110), and the holder movable body (141) may comprise: a movable body base (1411) which is movably disposed in the body holder receiving part (111), and a movable body fastening part (1413) which is formed at the end of the movable body base (1411) and is capable of engaging with the holder corresponding part (160).

[0011] In the above gripper unit, the holder movable part (140) includes a movable body magnet (1415) that is received and disposed on the movable body base (1411) and corresponds to the holder fixed part (150) side, and the holder fixed part (150) may include a holder fixed magnet (1520) in which at least a portion is capable of interacting with the movable body magnet (1415).

[0012] In the above gripper unit, the holder fixing magnet (1520) may include a fixed release magnet (1521) capable of interacting with the movable body magnet (1415).

[0013] In the above gripper unit, the mutually opposing surfaces of the movable body magnet (1415) and the fixed release magnet (1521) may have different polarities.

[0014] In the above gripper unit, the holder movable part (140) may include a holder movable guide (143) disposed in the body holder receiving part (111) and guiding relative movement of the holder movable body (141).

[0015] In the above gripper unit, the holder movable part (140) may include a holder movable return stopper (145) which is fixedly positioned on the gripper master (110), restricts the movement of the movable body base (1411), and allows penetration of at least a portion of the movable body fastening part (1413).

[0016] In the above gripper unit, the holder movable return stopper (145) may include a ferromagnetic material.

[0017] In the above gripper unit, the holder movable part (140) may include: a holder movable guide (143) which is fixed in position on the gripper master (110) and guides the relative movement of the holder movable body (141) with respect to the gripper master (110).

[0018] In the above gripper unit, the holder fixing magnet (1520) may include a fixed engaging magnet (1523) that can interact with the movable body magnet (1415) and performs an action opposite to that of the fixed release magnet (1521).

[0019] The above gripper unit may include a gripper slave changing base (170) in which the holder fixing part (150) is disposed and the gripper slave (120) can be mounted and detached.

[0020] In the above gripper unit, the gripper slave changing base (170) may include: a changing base plate (171) in which the holder fixing part (150) is positioned and fixed; a changing base plate slave receiving part (173) formed on the outer circumference of the changing base plate (171) and capable of receiving the gripper slave (120); and a changing base plate slave mounting part (175) formed on the outer circumference of the changing base plate (171) and capable of engaging and mounting a slave body mounting part (1217) formed on the gripper slave (120).

[0021] The gripper unit may include a gripper detachment stopper (180) which is positioned on the gripper master (110) side and on the gripper slave (120) side, and which prevents separation between the gripper master (110) and the gripper slave (120) after coupling and mounting between the gripper master (110) and the gripper slave (120) through electromagnetic force when they are in close proximity to each other.

[0022] In the above gripper unit, a body slave receiving portion (113) for receiving the gripper slave (120) is provided on the side of the gripper master (110), and the gripper release stopper (180) may include: a release stopper master magnet (181) disposed on the end side of the gripper master (110) facing the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120), and a release stopper slave magnet (183) disposed on the entry side of the body slave receiving portion (113) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120).

[0023] In the gripper unit, a body slave receiving portion (113) for receiving the gripper slave (120) is provided on the gripper master (110) side, and a gripper compliance stopper (190) may be included, which is positioned with a portion on the gripper master (110) side and another portion on the gripper slave (120), and limits the overlapping area along the body slave receiving portion (113) between the gripper master (110) and the gripper slave (120) after coupling and mounting between the gripper master (110) and the gripper slave (120) through electromagnetic force when in close proximity.

[0024] In the gripper unit, the gripper compliance stopper (190) may include: a compliance stopper master magnet (191) disposed on the end side of the gripper master (110) toward the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120); and a compliance stopper slave magnet (193) disposed on the inner side of the body slave receiving portion (113) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120) to restrict the entry of the gripper master (110) into a preset area along the body slave receiving portion (113).

[0025] A gripper unit according to one embodiment of the present invention has the following effects.

[0026] First, the gripper unit according to one embodiment of the present invention enables operation by replacing various fingertips with a single gripper in the fingertip replacement mechanism, thereby significantly reducing the overall system cost.

[0027] Second, the gripper unit according to one embodiment of the present invention can significantly increase work efficiency by using fingertips of a size and shape specialized for each target object and task.

[0028] Third, the gripper unit according to one embodiment of the present invention can automatically replace the fingertip using only the motion of the robot without a separate power source.

[0029] Figure 1 is a schematic diagram of the operating state of a conventional gripper.

[0030] FIGS. 2a to 2c are schematic partial front view, perspective view, and exploded perspective view of a detachable structure of a gripper unit according to an embodiment of the present invention.

[0031] FIGS. 3a to 3c are a partial front view, a front cross-sectional view, and a partial cross-sectional view of the operation process of a gripper unit according to an embodiment of the present invention.

[0032] FIGS. 4a to 4c are perspective views of a part of a gripper unit according to an embodiment of the present invention and cross-sectional views illustrating the state of the operation process.

[0033] FIGS. 5a to 5c are partial perspective views illustrating a schematic process of replacing a gripper unit according to an embodiment of the present invention.

[0034] [Correction pursuant to Rule 91 13.11.2025] FIGS. 6a and 6b are perspective views of the process of replacing a gripper unit according to another embodiment of the present invention.

[0035] [Correction pursuant to Rule 91 13.11.2025] FIGS. 7a to 7d, FIGS. 8a and FIG. 8b are state diagrams illustrating the compliance or stopping function of a gripper unit according to another embodiment of the present invention.

[0036] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the present invention, if it is determined that a detailed description of related known components or functions could obscure the essence of the invention, such detailed description is omitted.

[0037] A gripper unit (100) according to one embodiment of the present invention includes a gripper master (110), a gripper slave (120), and a gripper holder part (130).

[0038] The gripper unit (100) is implemented as an entry effector of a robot device (not shown). The gripper unit (100) operates as a gripper finger to grasp an object (not shown), and the gripper unit (100) includes a gripper master (110).

[0039] The gripper master (110) can correspond to a metacarpal bone or a proximal phalange when compared to the human body, and the gripper master (110) is connected to the gripper link (20) on the end effector side of a robot device (not shown). A body slave receiving portion (113) is formed in the gripper master (110), and a gripper slave (120) is detachably disposed in the body slave receiving portion (113). In this embodiment, the body slave receiving portion (113) is implemented as a groove type, but it may be a protruding structure depending on the design specifications.

[0040] Additionally, the gripper master (110) is provided with a body holder receiving portion (111), and at least a portion of the holder movable portion (140) of the gripper holder portion (130), which will be described later, is movably arranged in the body holder receiving portion (111).

[0041] The gripper slave (120) is detachable from the gripper master (110). The gripper slave (120) includes a slave body (121) and a slave tip (123).

[0042] In this embodiment, the slave body (121) is configured as a bar type having a predetermined length, and the slave body (121) is received and placed in the body slave receiving portion (113) so that positional movement and subsequent gripping operation through the gripper link (20) can be implemented.

[0043] The slave body (121) includes a slave body base (1211), a slave body insert part (1213), and a slave body tip connection part (1215).

[0044] The slave body base (1211) forms a predetermined structure, and a slave body insert portion (1213) is disposed at one end of the slave body base (1211). In this embodiment, the slave body insert portion (1213) is formed as a rod structure having a predetermined length, and the slave body insert portion (1213) is inserted and disposed in the body slave receiving portion (113) of the gripper master (110). In this embodiment, the slave body insert portion (1213) is formed as a protrusion structure and the body slave receiving portion (113) is formed as a groove structure, but depending on the case, they may have opposite configurations.

[0045] The slave body tip connection portion (1215) is positioned at the bottom of the slave body base (1211). A slave tip (123) is positioned at the slave body tip connection portion (1215).

[0046] The slave tip (123) is positioned on the slave body (121). The slave tip (123) functions as a gripper finger for performing a predetermined gripping action, and can perform a direct gripping action with an object (not shown). The slave tip (123; 123a) may be a simple straight tip (123a) having a straight contact surface (12331a), or a curved tip having a tip curved groove (12331) having a curved surface on at least a part thereof, and various configurations are possible depending on the design specifications.

[0047] Depending on the case, the slave tip (123) may be made of metal, but depending on the case, it may be made of a polymer composite material having a certain ductility or elasticity within a certain range of rigidity, and various modifications are possible.

[0048] The gripper holding portion (130) is placed in the body holder receiving portion (111) of the gripper master (110). The body holder receiving portion (111) of the gripper master (110) forms an internal space that accommodates the gripper holding portion (130), and the body holder receiving portion (111) may be closed through the body holder cover (115).

[0049] A portion of the gripper holding portion (130) is positioned on the gripper master (110) side and another portion is positioned on the gripper slave (120), so that attachment and detachment between the gripper slave (120) and the gripper master (110) can be enabled in correspondence with the portion.

[0050] As previously described, the gripper holding part (130) can be configured in various ways to enable attachment and detachment between the gripper slave (120) and the gripper master (110). In this embodiment, the gripper holding part (130) is implemented by utilizing electromagnetic force, particularly magnetic force.

[0051] More specifically, the gripper holder portion (130) includes a holder movable portion (140) and a holder fixed portion (150). At least a portion of the holder movable portion (140) is movably positioned on the gripper master (110) side. The holder fixed portion (150) enables the holder movable portion (140) to move relative to at least a portion of the holder movable portion (140) side through electromagnetic interaction, in the case of this embodiment, magnetic interaction.

[0052] As shown in the drawing, the gripper holder part (130) includes a holder corresponding part (160), the holder corresponding part (160) is formed on the gripper slave (120) side and has a structure in which at least a part of the holder movable part (140) can be inserted and removed.

[0053] As described above, the gripper master (110) is provided with a body slave receiving portion (113), and the gripper slave (120) includes a slave body insert portion (1213) that can be inserted into and removed from the body slave receiving portion (113). At least a portion of the holder movable portion (140) has a structure that can be engaged with a holder corresponding portion (160), and the holder corresponding portion (160) is formed in the slave body insert portion (1213).

[0054] The holder movable part (140) is provided with a holder movable body (141), and the holder movable body (141) is movably received and disposed in a body holder receiving part (111) formed in the gripper master (110). The holder movable body (141) is provided with a movable body base (1411) and a movable body connecting part (1413). The movable body base (1411) is movably disposed in the body holder receiving part (111), and the movable body connecting part (1413) is formed at the end of the movable body base (1411) and can be engaged with the holder corresponding part (160).

[0055] A predetermined operation is performed by the holder movable part (140) through interaction with the holder fixed part (150). The holder movable part (140) includes a movable body magnet (1415), and the movable body magnet (1415) is received and arranged in a movable body base (1411) and corresponds to the side of the holder fixed part (150).

[0056] The holder fixing part (150) includes a holder fixing body (1510) and a holder fixing magnet (1520). In this embodiment, the holder fixing body of the holder fixing part (150) is configured to be fixed in position on the gripper tip changing base (170) described later, but in some cases, the holder fixing part may be configured to be movable in position without being fixed in position.

[0057] The holder fixing part (150) includes a holder fixing body (1510) and a holder fixing body magnet receiving part (1511, 1513). A fixing release magnet (1521) and a fixing engaging magnet (1523) of a holder fixing magnet (1520), which will be described later, can be respectively placed in the holder fixing body magnet receiving part (1511, 1513).

[0058] In this embodiment, the tip of the holder fixing body (1510) of the holder fixing part (150) may have a structure for guiding the movement of the gripper slave (120). In this embodiment, the tip of the holder fixing body (1510) of the holder fixing part (150) may have an inclined portion and may achieve stable entry and seating or stable exit toward the gripper tip changing base (170) described later.

[0059] A holder fixing magnet (1520) is disposed in the holder fixing part (150), and the holder fixing magnet (1520) includes a fixed release magnet (1521) that can interact with the movable body magnet (1415).

[0060] At this time, the mutually opposing surfaces of the movable body magnet (1415) and the fixed release magnet (1521) in this embodiment may be configured to have different polarities. That is, the opposing surfaces of the movable body magnet (1415) and the fixed release magnet (1521) may have the same polarity, for example, when the movable body magnet (1415) is the N pole, the fixed release magnet (1521) may have the S pole, and when the movable body magnet (1415) is the S pole, the fixed release magnet (1521) may have the N pole, thereby allowing the movable body base (1411) of the holder movable body (141) to move in a direction that reduces the distance between the two by inducing an attractive force due to the different polarities of the opposing surfaces of the movable body magnet (1415) and the fixed release magnet (1521).

[0061] At this time, additional components may be provided to allow for smooth operation of the movable body base (1411). The holder movable part (140) includes a holder movable guide (143), which is positioned in the body holder receiving part (111) and performs the function of a sleeve or bushing to facilitate the smooth operation of the movable body base (1411) by guiding the relative movement of the holder movable body (141) with respect to the gripper master (110). That is, the holder movable guide (143) may be implemented in the form of a sleeve or bushing component to guide the linear movement of the movable body base (1411). At this time, the holder movable guide (143) may be implemented as a hollow sleeve type and positioned in the body holder receiving part (111), and may guide the movable body base (1411) of the holder movable body (141) to enable relative movement in the center. It is preferable that the holder movable guide (143) be composed of a material that excludes the influence of magnetic fields as much as possible.

[0062] In some cases, the holder movable part (140) may include a holder movable return stopper (145). The holder movable return stopper (145) is positioned and fixed on the gripper master (110), restricts the movement of the movable body base (1411), and allows penetration of at least a portion of the movable body fastening part (1413). That is, the holder movable return stopper (145) has a return stopper penetration hole (1451) formed in the center, and the return stopper penetration hole (1451) is configured to allow the movable body fastening part (1413) to pass through and move. The movable body fastening part (1413) is formed at the end of the movable body base (1411) and can be engaged with the holder corresponding part (160) by passing through the return stopper penetration hole (1451).

[0063] The holder operation return stopper (145) may be equipped with a function to limit excessive operation of the movable body base (1411). In some cases, the holder operation return stopper (145) may be configured to perform a predetermined return function. That is, the holder operation return stopper (145) may include a ferromagnetic material. When the holder operation return stopper (145) is relatively separated from the fixed release magnet (1521) of the holder fixed magnet (1520) and is freed from the influence of magnetic force, the holder operation return stopper (145) may be composed of a ferromagnetic material to enable the implementation of a return operation of the movable body base (1411) through interaction with the movable body magnet (1415) to perform a function of returning to the original position to prevent unnecessary malfunction caused by the release position placement of the movable body base (1411).

[0064]

[0065]

[0066] Additionally, the holder fixing magnet (1520) placed in the holder fixing part (150) includes a fixed engaging magnet (1523).

[0067] In this embodiment, the fixed engaging magnet (1523) of the holder fixed magnet (1520) can interact with the movable body magnet (1415) and performs an operation opposite to that of the fixed release magnet (1521).

[0068] As described above, in this embodiment, the holder fixing body of the holder fixing part (150) is configured to be fixed in position on the gripper tip changing base (170) described later; however, depending on the case, the holder fixing part may be configured to be movable in position without being fixed in position, and the fixed engaging magnet (1523) is placed in the holder fixing body magnet receiving part (1513), and the fixed engaging magnet (1523) is placed on the front end side of the holder fixing part (151).

[0069] After a predetermined tip replacement or tip separation is performed from the gripper tip changing base (170) through the interaction between the movable body magnet (1415) and the fixed release magnet (1521), the position of the holder movable body (141) is moved by performing an operation that executes or strengthens the finishing function of the movable body base (1411) of the holder movable body (141) through the interaction between the movable body magnet (1415) and the fixed engaging magnet (1521).

[0070] In this embodiment, the mutually opposing surfaces of the movable body magnet (1415) and the fixed engaging magnet (1521) may have the same polarity. That is, if the surfaces facing the movable body magnet (1415) and the fixed release magnet (1521) have different polarities, for example, if the movable body magnet (1415) has the N pole, the fixed release magnet (1521) has the S pole, and if the movable body magnet (1415) has the S pole, the fixed release magnet (1521) has the N pole, and thus the movable body magnet (1415) and the fixed release magnet (1521) have different polarities on their opposing surfaces to induce an attractive force and allow the movable body base (1411) of the holder movable body (141) to move in a direction that reduces the distance between the two, then the surfaces facing the movable body magnet (1415) and the fixed engaging magnet (1521) have the same polarity, for example, if the movable body magnet (1415) has the N pole, the fixed engaging magnet (1521) When the movable body magnet (1415) is the N pole and the fixed engaging magnet (1521) is the S pole, the movable body magnet (1415) and the fixed engaging magnet (1521) are equipped with the S pole, thereby inducing a repulsive force with the same polarity on the opposing surfaces of the movable body magnet (1415) and the fixed engaging magnet (1521), allowing the movable body base (1411) of the holder movable body (141) to move in a direction that increases the distance between the two.

[0071] Meanwhile, as described above, the gripper unit (100) may include a gripper slave changing base (170), wherein a holder fixing part (150) is disposed on the gripper slave changing base (170) and the gripper slave (120) can be mounted and detached.

[0072] More specifically, the gripper slave changing base (170) includes a changing base plate (171), a changing base plate slave receiving portion (173), and a changing base plate slave mounting portion (175).

[0073] The changing base plate (171) is positioned such that the holder fixing part (150) is fixed in place. The changing base plate (171) has a predetermined plate structure, and the changing base plate (171) includes a changing base plate slave receiving part (173) and a changing base plate slave mounting part (175).

[0074] The changing base plate slave receiving portion (173) is formed on the outer circumference of the changing base plate (171). In this embodiment, the changing base plate slave receiving portion (173) is partitioned into a receiving space with a groove structure that enables the receiving of a gripper slave (120), and thus can have a structure in which at least a part of the gripper unit (100), more specifically at least a part of the gripper slave (120), is received.

[0075] In addition, the changing base plate (171) may further include a changing base plate slave mounting portion (175), the changing base plate slave mounting portion (175) being formed on the outer circumference of the changing base plate (171). In this embodiment, the changing base plate slave mounting portion (175) has a structure capable of engaging and mounting with at least a portion of the gripper slave (120) when a portion of the gripper slave (120) is received in the slave body mounting portion (1217) formed on the gripper slave (120).

[0076] In this embodiment, the changing base plate slave mounting portion (175) is formed with a protruding structure and has a structure that is inserted and positioned in the slave body mounting portion (1217) formed on the gripper slave (120) to form a stable mounting state, and the changing tool operation may proceed through this mounting state.

[0077]

[0078] As described above, the gripper holder portion (130) of the gripper unit (100) has a configuration that enables replacement between the gripper slave and the gripper master. The gripper unit (100) may include a gripper detachment stopper (180) that prevents unwanted separation between the gripper slave and the gripper master, prevents at least a part of the gripper holder portion from moving unintentionally, and facilitates the formation of a ready state to ensure smooth subsequent coupling between the gripper master and the gripper slave. A portion of the gripper detachment stopper (180) is positioned on the gripper master (110) side and another portion is positioned on the gripper slave (120).

[0079] When a part of the gripper release stopper (180) and another part are in close proximity to each other, separation between the two can be prevented through the electromagnetic force between them, thereby preventing unnecessary malfunctions. Here, when a part of the gripper release stopper (180) and another part are in close proximity to each other after the gripper master (110) and the gripper slave (120) are coupled and mounted, separation between the gripper master (110) and the gripper slave (120) can be prevented.

[0080] More specifically, a body slave receiving portion (113) for receiving the gripper slave (120) may be provided on the gripper master (110) side. At this time, the gripper release stopper (180) includes a release stopper master magnet (181) and a release stopper slave magnet (183).

[0081] The detachment stopper master magnet (181) is positioned on the end side of the gripper master (110) toward the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120).

[0082] The detachment stopper slave magnet (183) is positioned on the entry side of the body slave receiving portion (113) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120).

[0083]

[0084] That is, through this electromagnetic repulsion structure, when the distance between the detachment stopper master magnet (181) and the detachment stopper slave magnet (183) is narrowed to an area where the coupling state between the gripper master (110) and the gripper slave (120) is to be released, unwanted or unintended separation can be prevented by pushing them away through the repulsive relationship between the two. When gripping an object on the gripper slave (120) side through such a repulsive relationship, the gravity of the object acts, and it can be prevented that the gripper slave (120) is unintendedly separated from the gripper master (110) due to the sudden gravitational action.

[0085] In addition, when you want to execute a tool changing function by withdrawing a gripper slave (120) from a gripper master (110),

[0086] By enabling separation when a force stronger than the repulsive force between the separation stopper master magnet (181) and the separation stopper slave magnet (183) is applied, unintended separation between the two is prevented, while enabling the realization of a rapid and smooth tool changing function under desired conditions.

[0087] In this replacement process, coupling resistance may occur due to the repulsive force between the gripper slave (120) and the gripper master (110) during the insertion mounting process caused by the repulsive force between the detachment stopper master magnet (181) and the detachment stopper slave magnet (183), but mounting can be performed by applying a force stronger than this repulsive force, and conversely, separation and replacement are possible.

[0088]

[0089] In the preceding embodiment, a configuration was adopted that enables attachment and detachment between a gripper master and a gripper slave through a gripper holder portion. The gripper unit of the present invention may also be equipped with a component that performs a buffering function during the attachment and detachment process between a gripper master and a gripper slave. That is, a body slave receiving portion (113) for receiving a gripper slave (120) is provided on the gripper master (110) side, and the gripper unit (100) may include a gripper compliance stopper (190).

[0090] In this embodiment, a master guide (117) is provided on the side of the gripper master (110), and a slave guide (127) is provided on the side of the gripper slave (120). The master guide (117) and the slave guide (127) are engaged to move relative to each other, thereby forming a smooth movement guidance structure between the two.

[0091]

[0092] A part of the gripper compliance stopper (190) is placed on the gripper master (110) side and another part of the gripper compliance stopper (190) is placed on the gripper slave (120).

[0093]

[0094] When the gripper master (110) and the gripper slave (120) are in close proximity to each other, the gripper compliance stopper (190) limits the overlapping area along the body slave receiving portion (113) between the gripper master (110) and the gripper slave (120) after the gripper master (110) and the gripper slave (120) are coupled and mounted, through electromagnetic force.

[0095] More specifically, the gripper compliance stopper (190) includes a compliance stopper master magnet (191) and a compliance stopper slave magnet (193). The compliance stopper master magnet (191) is positioned on the end side of the gripper master (110) toward the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120).

[0096] The compliance stopper slave magnet (193) is positioned inside the body slave receiving portion (113) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120), thereby restricting the entry of the gripper master (110) into the pre-set area along the body slave receiving portion (113).

[0097] That is, through this electromagnetic repulsion structure, when the distance between the compliance stopper master magnet (191) and the compliance stopper slave magnet (193) is narrowed to an area where the coupling state between the gripper master (110) and the gripper slave (120) forms an ultra-close state, the end of the gripper master (110) may collide with the inner end surface of the gripper slave (120) unintentionally or unwantedly by pushing each other away through the repulsive relationship between the two, thereby preventing damage to the target object caused by impact. Additionally, when gripping the target object in the coupling state between the gripper master (110) and the gripper slave (120), the compliance distance (dc) between the compliance stopper master magnet (191) and the compliance stopper slave magnet (193) is maintained.

[0098] It may also prevent damage to objects such as flexible or surface-sensitive materials due to rigidity caused by the non-equipping of the compliance stopper master magnet (191) and the compliance stopper slave magnet (193).

[0099] That is, through such an electromagnetic repulsion structure, the compatibility between the gripper master (110) and the gripper slave (120) can be increased to prevent damage to the mechanism or the object, thereby enabling stable gripping operation.

[0100] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention.

[0101] Although the slave tip replaceable gripper unit according to the finger tip replacement mechanism similar to the automatic tool changer for the gripper of the present invention has been described with a focus on the replacement structure of the end effector of a robot used in various industrial fields, a gripper unit of this structure can be applied to various industrial fields and households, such as medical robots, household robots, and various cooking robots, in addition to conventional industrial fields such as automobile factories, shipyards, and heavy industry sites.

Claims

1. Gripper Master (110) and, The above gripper master (110) and the detachable gripper slave (120), A gripper unit (100) characterized by including a gripper holder portion (130) which is positioned on the gripper master (110) side and on the gripper slave (120) side, and which enables attachment and detachment between the gripper slave (120) and the gripper master (110) in correspondence with the portion.

2. In Paragraph 1, The gripper unit (100) is characterized by the gripper holder portion (130) utilizing electromagnetic force.

3. In Paragraph 2, The above gripper holder part (130) is: A holder movable part (140) having at least a portion movably disposed on the side of the gripper master (110), and A holder fixing part (150) that enables the holder movable part (140) to move relatively through electromagnetic interaction on at least a part of the holder movable part (140) side, and The above gripper holder part (130) is formed on the gripper slave (120) side. A gripper unit (100) characterized in that at least a portion of the holder movable part (140) includes a holder corresponding part (160) that is removable.

4. In Paragraph 3, The above gripper master (110) is equipped with a body slave receiving portion (113), and The gripper unit (100) is characterized in that the gripper slave (120) includes a slave body insert portion (1213) that can be inserted into and removed from the body slave receiving portion (113).

5. In Paragraph 4, The gripper unit (100) is characterized in that the holder corresponding part (160) is formed in the slave body insert part (1213).

6. In Paragraph 5, The above holder movable part (140) is: A holder movable body (141) is movably received in a body holder receiving portion (111) formed in the above gripper master (110), and The above holder movable body (141) is: A movable body base (1411) movably disposed in the body holder receiving portion (111), and A gripper unit (100) characterized by having a movable body fastening part (1413) formed at the end of the movable body base (1411) and capable of engaging with the holder corresponding part (160).

7. In Paragraph 5, The above holder movable part (140) includes a movable body magnet (1415) that is received and disposed on the movable body base (1411) and corresponds to the side of the holder fixed part (150). The gripper unit (100) is characterized in that the holder fixing part (150) includes a holder fixing magnet (1520) in which at least a portion is capable of interacting with the movable body magnet (1415).

8. In Paragraph 7, The gripper unit (100) is characterized in that the holder fixing magnet (1520) includes a fixed release magnet (1521) capable of interacting with the movable body magnet (1415).

9. In Paragraph 8, A gripper unit (100) characterized in that the mutually opposing surfaces of the above-mentioned movable body magnet (1415) and the above-mentioned fixed release magnet (1521) have different polarities.

10. In Paragraph 8, The above holder movable part (140) is: A gripper unit (100) characterized by including a holder operating guide (143) (sleeve, bushing) disposed in the body holder receiving portion (111) and guiding relative movement of the holder operating body (141).

11. In Paragraph 8, The above holder movable part (140) is: A gripper unit (100) characterized by including a holder movable return stopper (145) that is fixedly positioned on the gripper master (110), restricts the movement of the movable body base (1411), and allows penetration of at least a portion of the movable body fastening part (1413).

12. In Paragraph 11, The above holder operation return stopper (145) is characterized by including a ferromagnetic material in the gripper unit (100).

13. In Paragraph 8, The above holder movable part (140) is: A gripper unit (100) characterized by including a holder movable guide (143) (sleeve, bushing) that is fixed in position on the gripper master (110) and guides the relative movement of the holder movable body (141) with respect to the gripper master (110).

14. In Paragraph 8, A gripper unit (100) characterized in that the holder fixing magnet (1520) includes a fixed engaging magnet (1523) that can interact with the movable body magnet (1415) and performs an action opposite to that of the fixed release magnet (1521).

15. In Paragraph 14, A gripper unit (100) characterized by including a gripper slave changing base (170) in which the holder fixing part (150) is positioned and the gripper slave (120) can be mounted and detached.

16. In Paragraph 15, The above gripper slave changing base (170) is: A changing base plate (171) in which the above-mentioned holder fixing part (150) is positioned and fixed, and A changing base plate slave receiving portion (173) formed on the outer circumference of the changing base plate (171) and capable of receiving the gripper slave (120), and A gripper unit (100) characterized by including a changing base plate slave mounting portion (175) formed on the outer circumference of the changing base plate (171) and capable of engaging and mounting a slave body mounting portion (1217) formed on the gripper slave (120).

17. In Paragraph 1, A gripper unit (100) characterized by including a gripper detachment stopper (180) which is positioned on the gripper master (110) side and on the gripper slave (120) side and, when in close proximity to each other, prevents separation between the gripper master (110) and the gripper slave (120) after coupling and mounting between the gripper master (110) and the gripper slave (120) through electromagnetic force.

18. In Paragraph 17, On the side of the gripper master (110), a body slave receiving portion (113) for receiving the gripper slave (120) is provided. The above gripper release stopper (180) is: A detachment stopper master magnet (181) positioned on the end side of the gripper master (110) toward the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120), and A gripper unit (100) characterized by including a detachment stopper slave magnet (183) positioned at the entrance side of the body slave receiving portion (113) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120).

19. In Paragraph 1, On the side of the gripper master (110), a body slave receiving portion (113) for receiving the gripper slave (120) is provided. A gripper unit (100) characterized by including a gripper compliance stopper (190) which is positioned on the gripper master (110) side and on the gripper slave (120) side, and which limits the overlapping area along the body slave receiving portion (113) between the gripper master (110) and the gripper slave (120) after coupling and mounting between the gripper master (110) and the gripper slave (120) through electromagnetic force when in close proximity.

20. In Paragraph 19, The above gripper compliance stopper (190) is: A compliance stopper master magnet (191) positioned on the end side of the gripper master (110) toward the gripper slave (120) along the coupling mounting length direction between the gripper master (110) and the gripper slave (120), and Along the coupling mounting length direction between the gripper master (110) and the gripper slave (120), it is positioned inside the body slave receiving portion (113). A gripper unit (100) characterized by including a compliance stopper slave magnet (193) that restricts the entry of the gripper master (110) into the pre-set area along the body slave receiving portion (113).

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