US 12,128,548 B2
Soft grip unit, grip device comprising same, and driving method of grip device
Sung Hyuk Song, Daejeon (KR); Sung Hwi Lee, Daejeon (KR); Chanhun Park, Daejeon (KR); Byungin Kim, Sejong (KR); Heechang Park, Daejeon (KR); Dongil Park, Daejeon (KR); Jongwoo Park, Sejong (KR); Jaeyoung Lee, Daejeon (KR); Yongsin Seo, Daejeon (KR); and Hyunmok Jung, Sejong (KR)
Assigned to KOREA INSTITUTE OF MACHINERY & MATERIALS, Daejeon (KR)
Appl. No. 17/294,113
Filed by KOREA INSTITUTE OF MACHINERY & MATERIALS, Daejeon (KR)
PCT Filed Jan. 31, 2020, PCT No. PCT/KR2020/001455
§ 371(c)(1), (2) Date May 14, 2021,
PCT Pub. No. WO2020/251130, PCT Pub. Date Dec. 17, 2020.
Claims priority of application No. 10-2019-0070604 (KR), filed on Jun. 14, 2019; application No. 10-2019-0074041 (KR), filed on Jun. 21, 2019; application No. 10-2019-0077880 (KR), filed on Jun. 28, 2019; and application No. 10-2020-0005811 (KR), filed on Jan. 16, 2020.
Prior Publication US 2021/0402623 A1, Dec. 30, 2021
Int. Cl. B25J 15/00 (2006.01); B25J 15/06 (2006.01); B25J 15/12 (2006.01); B25J 19/00 (2006.01)
CPC B25J 15/0023 (2013.01) [B25J 15/0691 (2013.01); B25J 15/12 (2013.01); B25J 19/0025 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A soft grip unit comprising:
a flexible cover having a gripping surface on which a target object is attached and a reference surface coupled with the gripping surface, to form a receiving space inside of the flexible cover;
a particle received by the receiving space, and transformed corresponding to a shape of the target object;
a negative pressure generator connected to the flexible cover, wherein the negative pressure generator absorbs an air of the receiving space to contract the flexible cover so that the particle transformed corresponding to the shape of the target object is pressurized so as for the target object to be gripped by the flexible cover;
a flexible supporting part tightly attached to the reference surface, and transformed at the same time when the flexible cover is pressurized and transformed by the target object, to support the flexible cover; and
a signal generator generating a transform completing signal when the flexible cover is transformed to reach a predetermined compression distance,
wherein the signal generator comprises:
a pressing block disposed inside of a through hole formed at the flexible supporting part; and
a flexible electrode formed at a surface of the flexible supporting part and generating the transform completing signal.