SOFT GRIP HEAD SOFT GRIP UNIT INCLUDING THE SAME GRIP APPARATUS INCLUDING SOFT FRIP UNIT AND METHOD OF CONTROLLING GRIP APPARATUS

• Main Authors: PARK CHAN HUN, SEO YONG SIN, KIM BYUNG IN, PARK JONG WOO, LEE SUNG HWI, SONG SUNG HYUK, LEE JAE YOUNG
• Format: Patent
• Language: English; Korean
• Published: 20.08.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONVEYING; HAND TOOLS; HANDLING THIN OR FILAMENTARY MATERIAL; MANIPULATORS; PACKING; PERFORMING OPERATIONS; PNEUMATIC TUBE CONVEYORS; PORTABLE POWER-DRIVEN TOOLS; SHOP CONVEYOR SYSTEMS; STORING; TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING; TRANSPORTING

One embodiment of the present invention provides a soft grip head with improved gripping performance of objects through suction, a soft grip unit including the same, a grip device including the soft grip unit, and a method of controlling the grip device. The soft grip head includes a suction pad and a flexible support. The suction pad is formed by being partitioned by a flexible partition wall, and includes a plurality of suction cells in which the shape of the suction cell is deformed and a target object is adsorbed when the target object to be attached to an inlet formed at one end is in contact and a suction force provided from the outside is transmitted through the inner space. The flexible support is provided in the inner space of the suction cell, has a greater stiffness in the width direction than the stiffness in the axial direction based on the suction cell, and provides resistance to the contraction deformation in the width direction of the suction cell. 본 발명의 일실시예는 흡착을 통한 물체의 파지 성능이 향상된 소프트 그립헤드, 이를 포함하는 소프트 그립유닛, 소프트 그립유닛을 포함하는 그립장치 및 그립장치 제어방법을 제공한다. 여기서, 소프트 그립헤드는 흡입패드 그리고 유연 지지체를 포함한다. 흡입패드는 유연한 격벽으로 구획되어 형성되고, 일단부에 형성되는 입구부에 부착하고자 하는 대상물체가 접촉되고 외부에서 제공되는 흡입력이 내측 공간을 통해 전달되면 형상이 변형되면서 대상물체가 흡착되도록 하는 복수의 흡입셀을 가진다. 유연 지지체는 흡입셀의 내측 공간에 구비되고, 흡입셀을 기준으로 축방향 강성보다 큰 폭방향 강성을 가지며, 흡입셀의 폭방향 수축 변형에 대한 저항력을 제공한다.