Grip manipulator and method for controlling the same
AssigneeLG Electronics Inc.
InventorWonhee Lee
Life of this patent
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Abstract
The present disclosure provides a grip manipulator used in a robot to eliminate an inefficient and power consumable operation caused by the use of multiple manipulators when gripping an object or handling the gripped object. The grip manipulator includes a manipulator body, a support rod of a first group and a support rod of a second group provided to protrude from the manipulator body in a direction, a longitudinal drive unit configured to discharge or introduce the support rod of the first group or the support rod of the second group in the protruding direction, and a transverse drive unit configured to spread or gather the support rod of the first support group or the support rod of the second group in a direction perpendicular to the protruding direction.
Claims18
A grip manipulator comprising:
- a manipulator body;
- and
- a plurality of support rods of a first group and a plurality of support rods of a second group provided to protrude from the manipulator body in a protruding direction,
- wherein the plurality of support rods of the first group are configured to be discharged or retracted in the protruding direction, and to be spread or gathered in a second direction perpendicular to the protruding direction,
- wherein the plurality of support rods of the second group are configured to be discharged or retracted in the protruding direction, and to be spread or gathered in the second direction,
- wherein the plurality of support rods of the first group and the plurality of support rods of the second group are alternately provided on a circumference,
- wherein the grip manipulator further comprises:
- a longitudinal drive unit including a motor for discharging or retracting the plurality of support rods of the first group and the plurality of support rods of the second group;
- a transverse drive unit including a motor for spreading or gathering the plurality of support rods of the first group and the plurality of support rods of the second group;
- and
- a controller configured to control driving of each of the longitudinal drive unit and the transverse drive unit,
- wherein the discharging and retracting of the plurality of support rods of the first group and the plurality of support rods of the second group are driven independently of the spreading and gathering of the plurality of support rods of the first group and the plurality of support rods of the second group, and
- wherein the discharging/retracting and spreading/gathering of the plurality of support rods of each group is done independently of the other group.
A method of controlling a grip manipulator comprising a plurality of support rods of a first group and a plurality of support rods of a second group provided to protrude from a manipulator body, the method comprising:
- an operation of spreading the plurality of support rods of the first group;
- an operation of retracting the plurality of support rods of the first group that has spread;
- an operation of gathering the plurality of support rods of the first group that has been retracted;
- an operation of spreading the plurality of support rods of the second group;
- and
- an operation of discharging the plurality of support rods of the first group that has gathered,
- wherein the operations are performed in sequence,
- wherein the discharging or retracting the plurality of support rods of the first group is operated by a motor included in a longitudinal drive unit,
- wherein the spreading or gathering the plurality of support rods of the first group and the spreading of the plurality of support rods of the second group is operated by a motor included in a transverse drive unit, and
- wherein a driving of each of the longitudinal drive unit and the transverse drive unit is controlled by a controller.
A method of controlling a grip manipulator comprising a plurality of support rods of a first group and a plurality of support rods of a second group provided to protrude from a manipulator body, the method comprising:
- an operation of spreading the plurality of support rods of the first group;
- an operation of retracting the plurality of support rods of the first group that has spread;
- an operation of spraying pressurizing water on an object;
- an operation of discharging the plurality of support rods of the first group;
- an operation of gathering the plurality of support rods of the first group that has been discharged;
- an operation of spreading the plurality of support rods of the second group;
- an operation of retracting the plurality of support rods of the second group that has spread;
- and
- an operation of spraying pressurizing water on the object,
- wherein the operations are performed in sequence,
- wherein the discharging or retracting the plurality of support rods of the first group and the retracting of the plurality of support rods of the second group is operated by a motor included in a longitudinal drive unit,
- wherein the spreading or gathering the plurality of support rods of the first group and the spreading of the plurality of support rods of the second group is operated by a motor included in a transverse drive unit, and
- wherein a driving of each of the longitudinal drive unit and the transverse drive unit is controlled by a controller.
Dependencies are inferred from the claim text.