Robot device

Abstract

The present disclosure relates to a robot device. The robot device comprises: a gripper; a plurality of gripper tips coupled to one side of the gripper; and a motor for adjusting a gap between the plurality of gripper tips. Each of the plurality of gripper tips comprises: a finger unit; and a fixing unit which fixes one end of the finger unit and returns the finger unit to an original position by using magnetic force when displacement of the finger unit occurs.

Description

Robot device

[0001] The present disclosure relates to a robot device, and more specifically, to a robot device comprising a plurality of gripper tips.

[0002] With the advancement of robotic technology, research and development of various robotic devices designed to replace humans in diverse settings such as stores, cafes, and restaurants are actively underway. These robotic devices include humanoid forms capable of autonomous driving and operation without separate user intervention, and technology is progressively developing to enhance autonomy and functionality. In particular, robotic devices are developing various multiple gripper tips equipped with both rotational and restoring forces to easily grasp objects.

[0003] However, conventional robot devices included springs in multiple gripper tips, which had the problem of reduced durability when performing high-repetition movements.

[0004] Embodiments of the present disclosure may solve at least one of the previously described problems and / or disadvantages and provide the advantages described below. Accordingly, various embodiments of the present disclosure provide a robot device comprising a plurality of gripper tips.

[0005] Additional embodiments will be presented in the detailed description below, some of which are obvious from the detailed description, and other embodiments can also be presented through learning from the presented embodiments.

[0006] A robot device according to at least one embodiment of the present disclosure comprises a gripper, a plurality of gripper tips coupled to one side of the gripper, and a motor for adjusting the distance between the plurality of gripper tips. Each of the plurality of gripper tips includes a finger portion and a fixing portion that fixes one end of the finger portion and returns the finger portion to its original position using magnetic force when displacement of the finger portion occurs.

[0007] The above description of embodiments of the present disclosure, as well as other aspects, features, and benefits, will become more apparent from the following description with reference to the accompanying drawings. In the accompanying drawings:

[0008] FIG. 1 is a drawing showing a robot device according to at least one embodiment of the present disclosure.

[0009] FIG. 2 is a drawing showing a gripper according to at least one embodiment of the present disclosure.

[0010] FIG. 3 is a drawing showing a plurality of gripper tips according to at least one embodiment of the present disclosure.

[0011] FIG. 4 is a drawing showing a finger portion according to at least one embodiment of the present disclosure.

[0012] FIG. 5 is a drawing showing a fixing part according to at least one embodiment of the present disclosure.

[0013] FIG. 6 is a drawing for explaining a finger portion combining a plurality of bearings according to at least one embodiment of the present disclosure.

[0014] FIG. 7 is a drawing for explaining a fixed part with a plurality of bearings removed according to at least one embodiment of the present disclosure.

[0015] FIG. 8 is a drawing for explaining a fixed part with a plurality of bearings removed according to at least one embodiment of the present disclosure.

[0016] FIG. 9 is a drawing for explaining a plurality of magnets according to at least one embodiment of the present disclosure.

[0017] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0018] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0019] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0020] In this document, each of the phrases such as "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 the corresponding phrase, or all possible combinations thereof.

[0021] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0022] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0023] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0024] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0025] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0026] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0027] In the embodiment, the 'module' or multiple 'parts' may be integrated into at least one module and implemented by at least one processor, except for the 'module' or 'part' that needs to be implemented in specific hardware.

[0028] Operations performed by a module, program, or other component according to various embodiments 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.

[0029] Meanwhile, the various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0030] Below, a robot device (1) according to various embodiments will be described in detail with reference to the drawings.

[0031] FIG. 1 is a drawing showing a robot device (1) according to at least one embodiment of the present disclosure.

[0032] The robot device (1) is a device designed to perform various tasks.

[0033] The robot device (1) may include various types, such as industrial robots used in industrial processes, service robots designed to support or replace human activities, exploration robots used to explore difficult environments or hard-to-access places, household robots that assist in daily life, and drone robots that fly in the air. Additionally, the robot device (1) may include humanoid robots designed to mimic the form and function of a human.

[0034] Referring to FIG. 1, the robot device (1) may include a main body (10), a plurality of robot arms (2000), an image sensor (3000) and a driving device (4000), and a gripper (5000).

[0035] The main body (10) is configured to include devices for overall management of the operation of the robot device (1). The main body (10) is a device that forms the outer shape of the robot device (1). In FIG. 1, the main body (10) may include a robot head (1000), a robot body (1100), and a driving device (4000).

[0036] The robot head (1000) is a component corresponding to the head portion of the robot device (1) and includes functions essential for interaction with humans, such as sensors, a camera, a voice recognition microphone, and a display that expresses facial expressions of the robot device (1). The robot head (1000) may be positioned on the upper side of the robot body (1100). The robot head (1000) may include an image sensor (3000). The robot head (1000) can detect the surrounding environment based on the sensing values ​​of the image sensor (3000). The image sensor (3000) may be formed integrally with the robot head (1000) or may be formed in a form positioned inside the robot head (1000). The robot head (1000) may be detachably attached to the main body (10).

[0037] The robot body (1100) may be positioned on the lower side of the robot head (1000). The robot body (1100) may be positioned in the center of the robot device (1). The robot body (1100) is a device that protects various key components of the robot device (1) on the inner side. Multiple robot arms (2000) may be positioned on both sides of the robot body (1100). The robot body (1100) may include robot legs (1200).

[0038] In FIG. 1, the robot leg (1200) and the driving device (4000) are structures that enable the robot device (1) to walk or move. The robot leg (1200) is a component that connects the driving device (4000) and the robot body (1100). However, it is not necessarily limited to this, and the robot leg (1200) can be formed in various shapes according to the user's intention.

[0039] For example, if the manufacturer of the robot device (1) manufactures the robot device (1) as a humanoid robot, the robot leg (1200) may be formed in a shape including two legs. If the manufacturer manufactures the robot device (1) as a quadrupedal robot, the robot leg (1200) may be formed in a shape including four legs.

[0040] The driving device (4000) may be positioned on the lower side of the robot body (1100). The driving device (4000) can move the robot device (1) to a specific position by the power of a built-in motor. In FIG. 1, the driving device (4000) is formed as a wheel, but is not necessarily limited thereto.

[0041] For example, if the robot device (1) is a humanoid robot, the driving device (4000) may be omitted, and driving may be performed in a walking form by sequential driving of two separated robot legs (1200). Even if the robot device (1) is a quadruped robot, the driving device (4000), such as a wheel, may be omitted, and the robot legs (1200) may take over the role of the driving device.

[0042] An image sensor (3000) can be positioned in front of the robot head (1000). The image sensor (3000) can be formed of various sensors, such as a camera or an RGB sensor. The image sensor (3000) can generate a captured image.

[0043] The robot device (1) can identify the characteristics of an object, etc., through a captured image generated by an image sensor (3000). Specifically, the robot device (1) divides all pixels within the captured image generated by the image sensor (3000) into multiple pixel groups, and then extracts a representative pixel value of the pixels included in each pixel group.

[0044] Afterwards, the robot device (1) identifies the location of a group of pixels having pixel representative values ​​that are in a similar range to each other, and if a plurality of similar pixel groups are located consecutively, it identifies that the similar pixel groups form an edge for one object.

[0045] Subsequently, the robot device (1) can estimate what kind of object it is based on the shape of the edge, the pixel values ​​of pixels belonging within the edge, etc., and identify the distance to the object based on the size of the edge, etc. Based on this, the robot device (1) can identify the characteristics of the object, etc.

[0046] The image sensor (3000) may be disposed in a detachable form on the main body (10) or the robot head (1000). In FIG. 1, two image sensors (3000) are disposed in front of the robot head (1000), but are not necessarily limited thereto and may be formed as a single sensor or as a plurality of three or more sensors.

[0047] A plurality of robot arms (2000) may be disposed on the main body (10). Specifically, a plurality of robot arms (2000) may be attached to both sides of the robot body (1100). The plurality of robot arms (2000) are configured to move each joint of a plurality of joints to move an end effector to a specific position.

[0048] A plurality of robot arms (2000) may be formed integrally with the main body (10), or may exist as modules independent of the main body (10) and be formed in a manner that is assembled to the main body (10). A plurality of robot arms (2000) may include a plurality of joints and end effectors. Additionally, the end effectors may include a gripper (5000).

[0049] Multiple joints can move in various ways around each axis. Although the multiple joints are all illustrated as I-shaped modules in FIG. 1, they are not necessarily limited to this and can be formed into various types of modules, such as L-shaped modules. The multiple robot arms (2000) are not limited to two robot arms and may include three or more different robot arms.

[0050] FIG. 2 is a drawing showing a gripper (5000) according to at least one embodiment of the present disclosure.

[0051] The gripper (5000) is a module for gripping an object or target, etc. That is, the gripper (5000) is a module that allows the robot device (1) to directly interact with an object or environment to perform a specific task.

[0052] Depending on the type or form of the gripper (5000), the robot device (1) can perform various tasks such as gripping an object, tapping, or drilling a hole. Various embodiments of the present disclosure are illustrated and described based on the case where the task of gripping an object is performed.

[0053] In FIG. 2, the gripper (5000) may include a first coupling part (5100), a motor (5200, 5300), and a plurality of gripper tips (6000).

[0054] The first coupling part (5100) can be coupled to one side of the main body (10) or a plurality of robot arms (2000). The gripper (5000) can be assembled to one side of a plurality of joints of the plurality of robot arms (2000) through the first coupling part (5100). The coupling method using the first coupling part (5100) of the gripper (5000) can be coupled in various ways, such as rotational coupling, screw coupling, or welding coupling.

[0055] The motor (5200, 5300) can adjust the spacing between multiple gripper tips (6000). The motor (5200, 5300) may include a linear motor (5200) and a rotary motor (5300).

[0056] The linear motor (5200) is configured to adjust the distance between multiple gripper tips (6000). The rotary motor (5300) is configured to rotate each of the multiple gripper tips (6000).

[0057] The linear motor (5200) may be positioned on the lower side of the first coupling part (5100). As shown in FIG. 2, the linear motor (5200) may be positioned in the center of the bar (5500).

[0058] The linear motor (5200) can adjust the distance between a plurality of gripper tips (6000) through a rail (5400) formed on a bar (5500). Through this, the robot device (1) can grasp an object, etc.

[0059] Here, the object can be of various types. For example, it could be various foodstuffs or food items, or various objects of a size that can be grasped simultaneously by a single gripper. The object could also be a powder-sized substance, such as cement or flour.

[0060] The FT sensor (Force and Torque Sensor) (3100) can measure at least one of the weight and torque applied to the gripper (5000). The robot device (1) can determine the center of gravity of an object, characteristics of an object, etc. based on the sensing value of the FT sensor (3100).

[0061] The FT sensor (3100) may be placed on the lower side of the linear motor (5200). However, it is not necessarily limited to this and may be attached at various locations on the gripper (5000).

[0062] A plurality of gripper tips (6000) are members that physically interact with an object to grasp an object, etc. A plurality of gripper tips (6000) may be placed on both sides of the gripper (5000).

[0063] A plurality of gripper tips (6000) can be attached to one side of the bar (5500). A plurality of gripper tips (6000) can be moved along the longitudinal direction of the bar (5500). Accordingly, the robot device (1) can adjust the distance between the plurality of gripper tips (6000) according to the driving of the linear motor (5200).

[0064] A rotary motor (5300) can be placed at the point where a plurality of gripper tips (6000) and a bar (5500) meet. A rotary motor (5300) can be placed at both ends of the bar (5500).

[0065] The rotary motor (5300) can rotate each of the plurality of gripper tips (6000). Additionally, the rotary motor (5300) can rotate each of the plurality of gripper tips (6000) at the same angle.

[0066] A plurality of gripper tips (6000) may be coupled to one side of the gripper (5000). Each of the plurality of gripper tips (6000) may include a fixed part (7000) and a finger part (8000).

[0067] The fixed part (7000) can be connected to both sides of the bar (5500) of the gripper (5000) through the second connecting part (5310).

[0068] The fixed part (7000) can fix one end of the finger part (8000). In addition, the fixed part (7000) can use magnetic force to return the finger part (8000) to its original position when displacement of the finger part (8000) occurs.

[0069] Here, the occurrence of displacement of the finger portion (8000) means that the finger portion (8000) rotates around a plurality of bearings disposed within the fixed portion (7000). Additionally, returning the finger portion (8000) to its original position means returning the finger portion (8000) to the state before displacement occurred.

[0070] Magnetic force can be generated through a plurality of magnets placed inside the fixed part (7000), and a detailed explanation thereof will be provided later.

[0071] The fixed part (7000) may include a housing (7100) and a plurality of bearings. The plurality of bearings is configured to support the finger part (8000) in a rotatable state.

[0072] The housing (7100) may be formed in a rectangular or cube shape. However, it is not necessarily limited thereto, and the housing (7100) may be formed in various shapes such as a sphere, a cylinder, or a polygon.

[0073] A plurality of bearings may be disposed inside the housing (7100). The plurality of bearings may include a first bearing (7200) and a second bearing (reference numeral 7310 of FIG. 5).

[0074] The first bearing (7200) is positioned in a first direction relative to the finger shaft (reference numeral 8400 in FIG. 4) within the fixed part (7000) and can support the finger shaft (reference numeral 8400 in FIG. 4) so ​​that the finger shaft (reference numeral 8400 in FIG. 4) rotates in a second direction perpendicular to the first direction.

[0075] The second bearing (reference numeral 7310 of FIG. 3) is positioned in a second direction relative to the finger shaft (reference numeral 8400 of FIG. 4) within the fixed part (7000) and can support the finger shaft (reference numeral 8400 of FIG. 4) so ​​that the finger shaft (reference numeral 8400 of FIG. 4) rotates in a first direction.

[0076] Here, the first bearing (7200) and the second bearing (reference numeral 7310 of FIG. 3) may support the finger shaft (reference numeral 8400 of FIG. 4) by inserting the bearing shaft within the fixed part (7000), or may support it using the connecting part (7300 of FIG. 3).

[0077] The finger portion (8000) may include a finger (8100), a finger shaft (reference numeral 8400 in FIG. 4), a third coupling portion (8200), and a gripping portion (8300).

[0078] The finger (8100) may be formed protruding from the fixed part (7000). The finger (8100) may have a shape formed by combining multiple cylinders of different widths. The finger (8100) may be formed in various shapes. For example, the finger (8100) may be formed with a flat surface that contacts the object in order to easily grip the object.

[0079] The finger shaft (reference numeral 8400 in FIG. 4) is connected to the finger (8100) and can be inserted into the fixed part (7000). The finger shaft (reference numeral 8400 in FIG. 4) can be coupled with a plurality of bearings within the fixed part (7000).

[0080] A detailed description of the structure in which the finger shaft (reference numeral 8400 in FIG. 4) and a plurality of bearings are combined will be provided later, so the description thereof is omitted.

[0081] The third connecting part (8200) may be positioned at one end on the opposite side of the finger shaft (reference numeral 8400 in FIG. 4) relative to the finger (8100). The third connecting part (8200) may connect various gripping parts (8300). The gripping part (8300) is a member that comes into direct contact with an object. The gripping part (8300) may grip the object using frictional force.

[0082] The gripping part (8300) may include various shapes, forms, materials, etc., depending on the characteristics of the object, the characteristics of the gripping point, the user's settings, the user's preferences, etc.

[0083] For example, when gripping an object with a large contact area, the gripping portion (8300) may include a member having a large contact area and having irregularities formed thereon. When gripping an object with a small contact area, the gripping portion (8300) may include a thin and long member, such as chopsticks.

[0084] FIG. 3 is a drawing showing a plurality of gripper tips (6000) according to at least one embodiment of the present disclosure.

[0085] In FIG. 3, a plurality of gripper tips (6000) may include a fixed part (7000) and a finger part (8000).

[0086] The fixed part (7000) may include a plurality of bearings. The plurality of bearings may support the finger part (8000) in a rotatable state.

[0087] A plurality of bearings may include a first bearing (7200), a connecting part (7300), and a second bearing (7310).

[0088] The connecting portion (7300) is a member that connects the first bearing (7200), the second bearing (7310), and the finger portion (8000) to each other using the first bearing shaft (reference numeral 7210 in FIG. 5) and the second bearing shaft (reference numeral 7320 in FIG. 5). Since a detailed description of the connecting portion (7300) will be covered in detail in FIG. 5, the description thereof is omitted.

[0089] The first bearing (7200) may be formed in a hole formed in the housing (7100) of the fixed part (7000). Specifically, through holes may be formed on both sides of the housing (7100). The first bearing (7200) is formed in the through holes formed on both sides of the housing (7100) and may be connected to a connecting part (7300) disposed inside the housing (7100) using a first bearing shaft (reference numeral 7210 of FIG. 5).

[0090] Accordingly, the connecting part (7300) can rotate clockwise or counterclockwise around the first bearing (7200) as an axis. For example, if the direction in which the first bearing shaft (reference numeral 7210 in FIG. 5) is inserted into the housing (7100) is the first direction, the connecting part (7300) can rotate in a second direction perpendicular to the first direction.

[0091] The housing (7100) may include a cube shape with one side open. A part of the finger portion (8000) may protrude toward the open side of the housing (7100). The finger (8100) may be formed to protrude from the fixed portion (7000).

[0092] In FIG. 3, the finger portion (8000) may include a finger (8100), a third coupling portion (8200), a gripping portion (8300), and a finger shaft (8400).

[0093] The finger portion (8000) can be placed in the center of one open side of the housing (7100).

[0094] The third coupling part (8200) may be positioned on the opposite side of the finger shaft (8400) relative to the finger (8100). The third coupling part (8200) may be formed in a protruding shape on one side of the finger (8100). The third coupling part (8200) can be coupled with various gripping parts (8300).

[0095] That is, depending on the characteristics of the object, the user's preference, the user's settings, etc., the gripping part (8300) placed in the third coupling part (8200) can be replaced in various ways.

[0096] In FIG. 3, the gripping portion (8300) may include various uneven shapes. The gripping portion (8300) may include a first gripping portion (not shown) used when gripping an object with a small contact surface. For example, the first gripping portion (not shown) may be selected when gripping an object such as thread, string, earphones, cotton, rice, etc.

[0097] The gripping portion (8300) may include a second gripping portion (not shown) used when gripping an object with a larger contact surface than the object gripped by the first gripping portion (not shown). For example, the second gripping portion (not shown) may be selected when gripping an object such as a shoe, an apple, a thermos bottle, etc.

[0098] However, the gripping part (8300) is not necessarily limited to the first gripping part (not shown) and the second gripping part (not shown), and may include various shapes, forms, materials, etc., depending on the characteristics of the object, the characteristics of the gripping point, the user's settings, the user's preferences, etc.

[0099] The finger shaft (8400) may be placed inside the housing (7100). The finger shaft (8400) may be connected through a second bearing (reference numeral 7310 in FIG. 3) at the center of the connecting portion (7300). The finger shaft (8400) may be connected by inserting a second bearing shaft (reference numeral 7320 in FIG. 5) into the second bearing (7310) formed on the finger shaft (8400) of the connecting portion (7300).

[0100] FIG. 4 is a drawing showing a finger portion (8000) according to at least one embodiment of the present disclosure.

[0101] In FIG. 4, the finger portion (8000) may include a finger (8100), a third coupling portion (8200), a finger shaft (8400), a plurality of first magnets (8500), and a locking portion (8600).

[0102] The finger (8100) may include an elongated cylindrical shape. In FIG. 4, a chamfer may be formed at the point where the finger (8100) meets the finger shaft (8400).

[0103] In FIG. 4, the finger shaft (8400) may include a bearing coupling hole (8410) and a plurality of first magnets (8500).

[0104] The bearing coupling hole (8410) may include a hole penetrating the finger shaft (8400). The bearing coupling hole (8410) may insert one of a plurality of bearings disposed in the fixed part (7000). The bearing coupling hole (8410) may be coupled through the second bearing (7310) disposed in the connecting part (7300) disposed inside the fixed part (7000) and the second bearing shaft (reference numeral 7320 of FIG. 5).

[0105] A plurality of first magnets (8500) may be disposed on the outer surface of the finger shaft (8400). A plurality of first magnets (8500) may be disposed in a manner that surrounds the outer surface of the finger shaft (8400) at a position further from the bearing coupling hole (8410) relative to the finger (8100). A plurality of first magnets (8500) may be disposed in a manner that surrounds the outer surface of the finger shaft (8400) at a position further from the finger (8100) relative to the bearing.

[0106] A plurality of first magnets (8500) are configured to generate magnetic force with a plurality of second magnets (reference numeral 7400 of FIG. 7) placed in a fixed part (7000).

[0107] For example, if a plurality of first magnets (8500) and a plurality of second magnets (reference numeral 7400 in FIG. 7) have the same polarity, a repulsive force may be generated. Conversely, if a plurality of first magnets (8500) and a plurality of second magnets (reference numeral 7400 in FIG. 7) have different polarities, an attractive force may be generated.

[0108] The locking portion (8600) may be positioned on the opposite side of the finger (8100) relative to the finger shaft (8400). The locking portion (8600) may be positioned on one side of the finger shaft (8400).

[0109] The size of the cross-section of the catch portion (8600) cut in a direction perpendicular to the length direction of the finger portion (8000) is smaller than the size of the cross-section of the finger shaft (8400) cut in a direction perpendicular to the length direction of the finger portion (8000).

[0110] When the finger portion (8000) rotates beyond a preset angle range relative to the bearing coupling hole (8410), the catch portion (8600) may come into contact with a stopper (7500) placed on the fixed portion (7000).

[0111] Accordingly, the locking part (8600) can limit the displacement of the finger shaft (8400) to a preset range. The locking part (8600) can limit the displacement of the finger part (8000) to a preset range.

[0112] FIG. 5 is a drawing showing a fixed part (7000) according to at least one embodiment of the present disclosure.

[0113] In FIG. 5, the fixed part (7000) may include a housing (7100), a first bearing (7200), a connecting part (7300), and a second bearing (7310).

[0114] The housing (7100) may include a cube shape with one side open. Each side edge of the housing (7100) may be filleted.

[0115] The housing (7100) may include a first bearing (7200) on both sides. The first bearing (7200) may have a first bearing shaft (7210) inserted into it.

[0116] The inserted first bearing shaft (7210) can be coupled to holes formed on both sides of the connecting part (7300) on the inner side of the fixed part (7000). Accordingly, the first bearing shaft (7210) can connect the housing (7100) and the connecting part (7300). The first bearing (7200) can rotate the connecting part (7300) clockwise or counterclockwise relative to the housing (7100) using the first bearing shaft (7210).

[0117] The connecting portion (7300) may have a slot formed in the center. The connecting portion (7300) may include holes on each side. Some of the holes on each side may be coupled with the first bearing shaft (7210), and the remaining holes may be coupled with the second bearing shaft (7320).

[0118] For example, when the first bearing shaft (7210) is coupled to a portion of the hole of the connecting portion (7300) in the first direction, the second bearing shaft (7320) can be coupled to the remaining hole of the connecting portion (7300) in the second direction, which is perpendicular to the first direction.

[0119] The second bearing shaft (7320) can connect the finger shaft (8400) between the second bearings (7310). The second bearing shaft (7320) can be connected to the bearing connection hole (8410) of the second bearing (7310) and the finger shaft (8400).

[0120] Accordingly, the second bearing (7310) can rotate the finger shaft (8400) clockwise or counterclockwise using the second bearing shaft (7320).

[0121] The finger portion (8000) can rotate in various directions and angles according to the rotation of each of the plurality of bearings (7200, 7310). Accordingly, when the finger portion (8000) comes into contact with an object, it can rotate to match the shape of the object.

[0122] FIG. 6 is a drawing for explaining a finger portion (8000) combining a plurality of bearings (7200, 7310) according to at least one embodiment of the present disclosure.

[0123] In FIG. 6, a plurality of bearings (7200, 7310) may be arranged in directions orthogonal to each other. For example, if the first bearing (7200) is arranged in the first direction, the second bearing (7310) may be arranged in the second direction, which is perpendicular to the first direction.

[0124] The first bearing (7200) can be coupled to one side of the connecting part (7300) using the first bearing shaft (7210). The second bearing (7310) can be coupled to the connecting part (7300) and the finger shaft (8400) using the second bearing shaft (7320).

[0125] The finger portion (8000) can rotate clockwise or counterclockwise around the first bearing (7200) as an axis. The finger portion (8000) can rotate clockwise or counterclockwise around the second bearing (7310) as an axis.

[0126] A plurality of first magnets (8500) may be arranged in a manner that surrounds the outer surface of the finger shaft (8400). A plurality of first magnets (8500) may be arranged one by one in the east, west, north, and south directions on the outer surface of the finger shaft (8400). However, this is not necessarily limited thereto, and a plurality of first magnets (8500) may be arranged in various shapes and angles on the outer surface of the finger shaft (8400).

[0127] FIG. 7 is a drawing for explaining a fixed part (7000) with a plurality of bearings (7200, 7310) removed according to at least one embodiment of the present disclosure.

[0128] In FIG. 7, the fixed part (7000) may include a plurality of second magnets (7400), stoppers (7500), a first layer (7600), a second layer (7700), and a third layer (7800).

[0129] The fixed portion (7000) may include a plurality of layers. The stopper (7500) is a layer positioned closest to the bottom surface of the housing (7100) in the fixed portion (7000). The first layer (7600) is a layer positioned further from the bottom surface of the housing (7100) than the stopper (7500). The first layer (7600) may be formed in the shape of a regular octagon. The second layer (7700) is a layer positioned further from the bottom surface of the housing (7100) than the first layer (7600). The second layer (7700) may be formed in an area excluding the first layer (7600) in a cross-section viewed from the upper side of the housing (7100).

[0130] The third layer (7800) is a layer positioned furthest from the other layers on the bottom surface of the housing (7100). The third layer (7800) may be positioned at the edge of the upper side surface of the housing (7100).

[0131] A plurality of second magnets (7400) may be placed on a wall surface positioned between the first layer (7600) and the second layer (7700). A plurality of second magnets (7400) may each be placed in a position facing a plurality of first magnets (8500) within the fixed part (7000).

[0132] For example, if a plurality of first magnets (8500) are each arranged in the east, west, north, and south directions on the outer surface of the finger shaft (8400), a plurality of second magnets (7400) can be each arranged in the east, west, north, and south directions within the fixed part (7000).

[0133] A plurality of second magnets (7400) may be arranged in the east, west, north, and south directions on the wall surface positioned between the first layer (7600) and the second layer (7700). However, this is not necessarily limited thereto, and a plurality of second magnets (7400) may be arranged in various positions and in various forms on the wall surface positioned between the first layer (7600) and the second layer (7700).

[0134] A plurality of second magnets (7400) can interact with a plurality of first magnets (8500). A plurality of second magnets (7400) can generate magnetic force through a plurality of first magnets (8500). For example, if a plurality of second magnets (7400) and a plurality of first magnets (8500) have the same polarity, the magnetic force formed between a plurality of second magnets (7400) and a plurality of first magnets (8500) may be repulsive. Conversely, if a plurality of second magnets (7400) and a plurality of first magnets (8500) have different polarities, the magnetic force formed between a plurality of second magnets (7400) and a plurality of first magnets (8500) may be attractive.

[0135] Accordingly, the finger portion (8000) can rotate or move by the magnetic force formed by a plurality of second magnets (7400) and a plurality of first magnets (8500). 1

[0136] For example, when a plurality of second magnets (7400) and a plurality of first magnets (8500) have the same polarity, the finger portion (8000) can move in a direction away from the plurality of second magnets (7400) that are close to the plurality of first magnets (8500) due to repulsion. Here, when a plurality of second magnets (7400) and a plurality of first magnets (8500) are arranged in the east, west, north, and south directions, respectively, the finger portion (8000) can move to the center of the plurality of second magnets (7400) due to repulsion.

[0137] The finger portion (8000) can return the finger portion (8000) to its original position by magnetic force formed by a plurality of first magnets (8500) and a plurality of second magnets (7400).

[0138] Accordingly, the finger portion (8000) can easily grasp the object by means of a restoring force that attempts to return it to its original position by means of magnetic force formed by a plurality of first magnets (8500) and a plurality of second magnets (7400) after displacement occurs in accordance with the shape of the object.

[0139] In addition, the plurality of gripper tips (6000) can prevent collisions caused by instantaneous impacts by magnetic force formed by the plurality of first magnets (8500) and the plurality of second magnets (7400), thereby increasing the durability of the finger portion (8000).

[0140] Additionally, the plurality of gripper tips (6000) can perform a damping function without using a spring by means of the magnetic force formed by the plurality of first magnets (8500) and the plurality of second magnets (7400).

[0141] When the plurality of second magnets (7400) and the plurality of first magnets (8500) have different polarities, the finger portion (8000) can move by means of attraction in a direction closer to the plurality of second magnets (7400) that are farther away from the plurality of first magnets (8500).

[0142] In FIG. 7, a plurality of second magnets (7400) may include electromagnets. A plurality of second magnets (7400) may be converted to have the same polarity as or a different polarity from a plurality of first magnets (8500).

[0143] The fixed part (7000) may include at least one sensor (not shown) and a controller (not shown).

[0144] At least one sensor (not shown) placed within the fixed part (7000) can sense the displacement direction of the finger part (8000).

[0145] A controller (not shown) can control the polarity of a plurality of second magnets (7400) based on the displacement direction sensed based on the sensing value of at least one sensor (not shown).

[0146] If the controller (not shown) identifies that the finger (8100) is rotating in the first side direction based on the sensing value of at least one sensor (not shown), it can control the polarity of each of the plurality of second magnets (7400) so that a repulsive force is generated between the first magnet (8500) and the second magnet (7400) located on the first side.

[0147] If the controller (not shown) identifies that the finger (8100) is rotating in the direction of the first side based on the sensing value of at least one sensor (not shown), it can control the polarity of each of the plurality of second magnets (7400) so that an attractive force is generated between the first magnet (8500) and the second magnet (7400) located on the second side opposite to the first side.

[0148] If the controller (not shown) identifies that the finger (8100) is rotating in the second side direction based on the sensing value of at least one sensor (not shown), it can control the polarity of each of the plurality of second magnets (7400) so that a repulsive force is generated between the first magnet (8500) and the second magnet (7400) located on the second side.

[0149] If the controller (not shown) identifies that the finger (8100) is rotating in the second side direction based on the sensing value of at least one sensor (not shown), it can control the polarity of each of the plurality of second magnets (7400) so that an attractive force is generated between the first magnet (8500) and the second magnet (7400) located on the first side opposite to the first side.

[0150] The stopper (7500) may be spaced apart from the outer circumference of the finger shaft (8400) of the finger portion (8000). The stopper (7500) may be spaced apart from the outer circumference of the catch portion (8600) of the finger portion (8000).

[0151] The stopper (7500) can limit the displacement of the finger shaft (8400) of the finger portion (8000) to a preset range.

[0152] The stopper (7500) may be formed in a circular shape carved out of the bottom surface of the housing (7100). When an object contacts the contact portion (8300), the finger portion (8000) may rotate around the bearing coupling hole (8410) as an axis. When the finger shaft (8400) rotates to a preset angle range, the finger shaft (8400) may physically come into contact with the stopper (7500). When the finger shaft (8400) rotates to a preset angle range, the catch portion (8600) of the finger shaft (8400) may physically come into contact with the stopper (7500).

[0153] When the finger shaft (8400) rotates to a preset angle range, the locking portion (8600) of the finger shaft (8400) can physically come into contact with the wall surface between the first layer (7600) and the first layer (7500) of the stopper (7500).

[0154] Accordingly, the rotation angle of rotation around the bearing coupling hole (8410) of the finger shaft (8400) can be limited to a preset range. That is, the displacement of the finger shaft (8400) can be limited to a preset range.

[0155] FIG. 8 is a drawing for explaining a fixed part (7000) with a plurality of bearings (7200, 7310) removed according to at least one embodiment of the present disclosure.

[0156] In FIG. 8, a plurality of second magnets (7400) may be placed on the wall surface between the first layer (7600) and the second layer (7700).

[0157] The wall surface between the first layer (7600) and the second layer (7700) may be positioned at a certain angle. For example, the wall surface between the first layer (7600) and the second layer (7700) may be formed such that the distance between the wall surfaces narrows as one moves from the first layer (7600) to the second layer (7700).

[0158] The first bearing (7200) may be placed on the wall surface between the second layer (7700) and the third layer (7800). The first bearing (7200) may be coupled to a hole formed on the wall surface between the second layer (7700) and the third layer (7800).

[0159] FIG. 9 is a drawing for explaining a plurality of second magnets (7400) according to at least one embodiment of the present disclosure.

[0160] In FIG. 9, a plurality of second magnets (7400) may be positioned at a certain distance from the finger shaft (8400).

[0161] A plurality of second magnets (7400) may be arranged in the fixed part (7000) in a shape tilted at a certain angle. Each of the plurality of second magnets (7400) may be arranged in a tilted state within the fixed part (7000) such that the distance between the finger shafts (8400) becomes narrower as it moves toward the finger (8100).

[0162] The distance between the part located in the direction close to the finger (8100) direction in the plurality of second magnets (7400) and the finger shaft (8400) is d1. The distance between the part located in the direction far from the finger (8100) direction in the plurality of second magnets (7400) and the finger shaft (8400) is d2. The length of d2 is longer than the length of d1.

[0163] Here, when the finger shaft (8400) rotates to a preset angle range where it comes into contact with the stopper (7500), the finger shaft (8400) and the second magnets among the finger shaft (8400) and the plurality of second magnets (7400) can be parallel to each other.

[0164] When the finger shaft (8400) rotates to a preset angle range where it comes into contact with the stopper (7500), the distances d1 and d2 between the finger shaft (8400) and the second magnet closest to the finger shaft (8400) among the plurality of second magnets (7400) may be equal to each other.

[0165] However, it is not necessarily limited to this, and the angles of the multiple second magnets (7400) can be arranged at various angles to improve durability.

[0166] Each of the components described in this document may consist of one or more components, and the names of such components may vary depending on the type of robot device.

[0167] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0168] Although preferred embodiments have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. In a robot device, Gripper; A plurality of gripper tips coupled to one side of the above gripper; and A motor for adjusting the spacing between the plurality of gripper tips; is included, Each of the above plurality of gripper tips is, Finger part; and A robot device comprising: a fixing part that fixes one end of the finger part and returns the finger part to its original position using magnetic force when displacement of the finger part occurs.

2. In Paragraph 1, The above finger portion is, A finger formed protruding from the above-mentioned fixed part; A finger shaft connected to the finger and inserted into the fixed part; and It includes a plurality of first magnets disposed on the finger shaft, and The above fixed part is, It includes a plurality of second magnets positioned at a location corresponding to the plurality of first magnets, and A robot device in which the plurality of first magnets and the plurality of second magnets have the same polarity.

3. In Paragraph 2, The above fixed part is, A robot device comprising a plurality of bearings that support the finger portion in a rotatable state.

4. In Paragraph 3, The above plurality of first magnets are, It is arranged in a manner that surrounds the outer surface of the finger shaft at a position further from the plurality of bearings relative to the finger, and The above plurality of second magnets are, A robot device each positioned facing the plurality of first magnets within the fixed part.

5. In Paragraph 4, The above fixed part is, A robot device comprising a stopper spaced apart from the outer circumference of the finger shaft of the finger portion and limiting the displacement of the finger shaft to a preset range.

6. In Paragraph 3, The above plurality of bearings are, A first bearing positioned in a first direction relative to the finger shaft within the fixed portion to support the finger shaft so that the finger shaft rotates in a second direction perpendicular to the first direction; and A robot device comprising: a second bearing disposed in the second direction relative to the finger shaft within the fixed portion, supporting the finger shaft so as to rotate the finger shaft in the first direction.

7. In Paragraph 2, Each of the above plurality of second magnets is, A robot device arranged in an inclined state within the fixed part such that the distance between the plurality of first magnets becomes narrower as it moves toward the finger direction.

8. In Paragraph 1, The above finger portion is, A finger formed protruding from the above-mentioned fixed part; A finger shaft connected to the finger and inserted into the fixed part; and It includes a plurality of first magnets disposed on the finger shaft, and The above fixed part is, It includes a plurality of second magnets positioned at a location corresponding to the plurality of first magnets, and The above plurality of second magnets are, A robot device including an electromagnet.

9. In Paragraph 8, At least one sensor; and It further includes a controller; The above controller is, If it is identified that the finger rotates in a first side direction based on the sensing value of at least one of the above sensors, The polarity of each of the plurality of second magnets is controlled such that a repulsive force is generated between the first magnet and the second magnet located on the first side, and an attractive force is generated between the first magnet and the second magnet located on the second side opposite to the first side. If it is identified that the finger rotates in the second side direction based on the sensing value of the at least one sensor, A robot device that controls the polarity of each of the plurality of second magnets such that a repulsive force is generated between the first magnet and the second magnet located on the second side, and an attractive force is generated between the first magnet and the second magnet located on the first side.

10. In Paragraph 1, The above motor is, A linear motor for adjusting the distance between the plurality of gripper tips; and A robot device comprising a rotary motor for rotating each of the plurality of gripper tips.

Images