Patent ID: 12186893

* Reference numerals100, 101, 102, 1100, 1200, 1300, 1400: soft grip head110, 1110, 1210, 1310, 1410: suction pad111, 1111, 1220, 1320, 1420: sidewall112: stopper113, 1113, 1230, 1330, 1430: suction cell115, 1115, 1240, 1440: flexible supporting part117: mounting groove118: inner body120, 1250, 1500: fixing cap130: connecting line140: suction power generating part150: check valve200, 201, 2000, 2001, 2002: soft grip unit300: body400: connecting part500: arm550: holding part600, 601: grip device1260: block part1261: particle1340: supporting part1431: flange

DETAILED DESCRIPTION

The invention is described more fully hereinafter with Reference to the accompanying drawings, in which embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity.

It will be understood that, although the terms first, second, third etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present invention. Spatially relative terms, such as “beneath,” “below,” “lower,” “above,” “upper” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Hereinafter, example embodiments of the present invention are explained in detail referring to the figures.

FIG.1is a perspective view illustrating a soft grip head according to an example embodiment of the present invention.FIG.2is a cross-sectional view illustrating the soft grip head ofFIG.1.

Referring toFIG.1andFIG.2, the soft grip head according to the present example embodiment includes a suction pad110and a flexible supporting part115.

The suction pad110has a sidewall111, and a plurality of suction cells113. The suction pad110is divided by the sidewall111, to form the plurality of the suction cells113.

Both ends of the sidewall111are open, and the sidewall111divides the suction pad110into a plurality of spaces, and the spaces divided by the sidewall113is formed to be the suction cells113.

The sidewall111may include a flexible material, and both ends of each of the suction cells113are also open and an opening is formed through each of the suction cells113.

A suction force may be provided from outside into the space inside of the suction cells113. An inlet116formed at a first end of the suction pad110makes contact with an obstacle, and the obstacle may be attached to the suction pad110as the suction force is provided to a second end of the suction pad110.

In addition, the sidewall111includes a material blocking an air to pass through the sidewall111. For example, the suction pad110may include a flexible polymer material. Thus, the air flowed into any suction cell113may be prevented from passing through the sidewall111and from moving to an adjacent suction cell113.

A thickness of the sidewall111between the suction cells113adjacent to each other is uniform. In addition, a cross-section of the suction cell113along a width direction A2which is substantially perpendicular to an axial direction A1of the suction cell113may be a polygon shape having the same shape and size. For example, the polygon shape may be a triangle shape, a rectangle shape, a pentagon shape or a hexagon shape.

In the present example embodiment, for the convenience of the explanation, the cross-sectional shape along the width direction A2is explained to be the hexagon shape, and thus, the suction pad110may be a honeycomb shape. The suction cell113is divided by the sidewall111, and thus the space between the suction cells113is decreased. Thus, an entire attaching area of the suction cells113is increased, to enhance the gripping efficiency.

The flexible supporting part115is disposed in the space inside of the suction cell113. The flexible supporting part115has the stiffness along the axial direction A1smaller than the stiffness along the width direction A2, with respect to the suction cell113. The flexible supporting part115may include a coil spring partially making contact with an inner surface of the suction cell113.

The coil spring may be a round shape, but not limited thereto. Alternatively, the coil spring may have a shape corresponding to a cross-sectional shape of the suction cell113along the width direction. Here, when the cross-sectional shape of the suction cell113along the width direction is the hexagon shape, the coil spring may have the hexagon shape, too.

As the suction force is provided from the inlet116of the suction cell113toward the second end of the suction cell113and the object is attached to the inlet116of the suction cell113, the object is gripped with suction to the inlet116of the suction cell113, due to the suction force. As the object is gripped with suction, the inlet116of the suction cell113is pressed and transformed by the object. Here, as the shape of the suction cell113changes, the sidewall111of the suction cell113may be depressed and thus the suction cell113may be blocked. In this case, even though the suction force is fully provided, the sectional flow is blocked or decreased and thus the suction force on the object may be decreased.

However, in the present example embodiment, the flexible supporting part115has the stiffness along the width direction A2larger than the stiffness along the axial direction A1, and thus a blocking force on the depressed transform of the suction cell113along the width direction due to the depression of the sidewall111may be provided. Thus, a collapse of the suction cell113is minimized and the suction cell113is prevented from being blocked. Accordingly, the suction force may be stably provided to the object.

Here, a first end of the flexible supporting part115is spaced apart from the inlet116of the suction cell113by a predetermined distance. Thus, the inlet116of the suction cell113is not supported by the flexible supporting part115, and the shape of the inlet116is freely changed. The inlet116of the suction cell113is tightly attached to a surface of the object and functions as a suction cup blocking the suction cell113. Thus, as the inlet116is not supported by the flexible supporting part115, the inlet116is easily attached to the surface of the object with various transformations.

Here, a length of the inlet116not supported by the flexible supporting part115, which is a reference distance G, is formed such that the inlet116does not block the opening of the suction cell113even though the inlet116is rolled inside of the suction cell113. For example, when the suction cell113has a circular shape cross-section, the reference distance G may be shorter than a radius of each of the suction cell113.

The surface of the object is irregular, a portion of the inlet116of the suction cell113which is spaced apart from the surface of the object may be rolled inside of the suction cell113due to the suction force. Here, the flexible supporting part115effectively limits shrinkage of the suction cell113along the width direction in the suction cell113, to block the inlet116of the suction cell113from being rolled inside of the suction cell113over the reference distance G.

In addition, when the object attached to the suction cell113is removed, the suction cell113is efficiently restored into an initial shape due to the flexible supporting part115. Here, the stiffness of the flexible supporting part115along the width direction A2is larger than the stiffness along the axial direction A1, and thus the cross-section of the suction cell113along the width direction A2is stably restored into the initial shape.

The suction cell113includes a stopper112. The stopper112is protruded from the inner surface of the suction cell113at a position corresponding to the reference distance G. The stopper112constrains the first end of the flexible supporting part115inserted into the suction cell113, to block the flexible supporting part115from moving toward the inlet116of the suction cell113. Thus, the stopper112prevents the flexible supporting part115from getting out of the suction cell113.

In addition, the flexible supporting part115pushes the stopper112so that the suction cell113is unfolded along the axial direction A1and is efficiently restored into the initial shape, when the object is removed and the suction cell113is restored into the initial shape.

The suction pad110includes an inner body118configured to the second end of the suction cell113. The number of the inner bodies118is the same as that of the suction cells113, and each inner body118continuously extends from each suction cell113. Here, the inner body118is formed as an opening hole.

Here, a cross-sectional area of each of the suction cell113is larger than that of each of the inner bodies118.

Each inner body118has a central axis substantially same as each suction cell113, and the inner body118functions as a base supporting the suction cell113. An opening width inside of each inner body118is smaller than that of each suction cell113, and thus the second end of the flexible supporting part115is tightly attached to a stepped portion formed between the inner body118and the suction cell113. Thus, the second end of the flexible supporting part115is stably disposed inside of the suction cell113.

FIG.3is a cross-sectional view illustrating a soft grip head according to another example embodiment of the present invention.

The soft grip head101according to the present example embodiment is substantially same as the soft grip head100ofFIG.1andFIG.2, except for an inserting position of a flexible supporting part, and thus same reference numerals are used for same elements and any repetitive explanation will be omitted.

Referring toFIG.3, in the soft grip head101, the flexible supporting part115ais positioned to be inserted into the inner body118in addition to the suction cell113.

The flexible supporting part115ahas a first diameter D1which is substantially same as a width of an inner cross-section of the suction cell113, at an inner side of the suction cell113. In addition, the flexible supporting part115ahas a second diameter D2which is substantially same as a width of an inner cross-section of the inner body118, at an inner side of the inner body118. Here, the second diameter D2is smaller than the first diameter D1.

Accordingly, the flexible supporting part115ais inserted into the inner body118, so that an axial length of the flexible supporting part115amay be elongated. Thus, a compressible length of the flexible supporting part115amay be increased, and a spring constant of the flexible supporting part115amay be decreased. Here, the flexible supporting part115ais compressed more efficiently with a relatively smaller suction force, and thus the flexible supporting part115adoes not interrupt a transformation of the suction cell113.

In addition, the suction cell113has a mounting groove117. The mounting groove117is depressed to have a spiral shape on an inner surface of the suction cell113, and the flexible supporting part115ais inserted into the mounting groove117. Thus, when the suction cell113is restored to the initial shape, the flexible supporting part115ais inserted into the mounting groove117and is restored, and thus the suction cell113may be restored into the initial shape more efficiently.

Although not shown in the figure, the stopper112explained inFIG.2may replace the mounting groove117. Alternatively, both of the mounting groove117and the stopper112may be formed.

FIG.4is a cross-sectional view illustrating a soft grip head according to still another example embodiment of the present invention.

The soft grip head102according to the present example embodiment is substantially same as the soft grip head100ofFIG.1andFIG.2, except for a shape of a suction cell113and a shape of the flexible supporting part115b, and thus same reference numerals are used for same elements and any repetitive explanation will be omitted.

Referring toFIG.4, in the soft grip head102according to the present example embodiment, a width of the cross-section of the suction cell113of the suction pad110ais decreased as the suction cell113goes from the inlet116toward the inner body118. Here, the diameter of the flexible supporting part115bmay be decreased too, as the flexible supporting part115bgoes from the inlet116toward the inner body118.

Accordingly, the diameter of the flexible supporting part115bis the maximum at a position adjacent to the inlet116of the suction cell113, so that the flexible supporting part115and the sidewall111may be adhered to each other more tightly, at the position adjacent to the inlet116. Thus, the inlet116may be prevented from being depressed excessively.

Here, the flexible supporting part115bmay extend toward the inner body118, and at least one of the mounting groove117and the stopper112may be formed, as explained above.

FIG.5is a cross-sectional view illustrating a soft grip unit having the soft grip head ofFIG.3.

Referring toFIG.5, the soft grip unit200includes the soft grip head101, a fixing cap120, a suction force generating part140and a connecting line130. Here, the soft grip unit200is explained to include the soft grip head101explained inFIG.3, but not limited thereto. Thus, the soft grip unit200may include the soft grip head100inFIG.1, or may include the soft grip head102inFIG.4.

The soft grip head101is explained above, and thus any repetitive explanation will be omitted.

The fixing cap120is combined with the second end of the suction pad110. The fixing cap120includes a through hole121connected to each of the suction cells113. When the suction pad110has the inner body118, the fixing cap120is combined with the inner body118.

The suction force generating part140generates the suction force.

The connecting line130connects the suction force generating part140with the fixing cap120, and thus the connecting line130guides the suction force from the suction force generating part140into each suction cell113of the suction pad110.

The connecting line130may be a plural, and a first end of the connecting line130is connected to the suction force generating part140and a second end of the connecting line130is connected to the through hole121independently. The suction force from the suction force generating part140is provided to each suction cell113uniformly through each connecting line130.

FIG.6Ais a cross-sectional view illustrating a gripping state on an object using a conventional soft grip unit, andFIG.6Bis a cross-sectional view illustrating a gripping state on the object using the soft grip unit ofFIG.5.

Referring toFIG.6A, in the conventional soft grip unit20, when pressed by the object10, a surface21of the soft grip unit20is entirely compressed but a contact area22with the object10is relatively small.

In addition, in the convention soft grip unit20, pores inside of the soft grip unit20are connected with each other, and thus the suction force applied to the object10is decreased.

Alternatively, referring toFIG.6B, in the soft grip unit200according to the present example embodiment, when the object10is attached to the inlet116of the suction pad110, the inlet116of the suction pad110is pressed by the object10.

Here, since the suction pad110has the suction cells113divided by the sidewall111, the suction cell113amaking contact with the object10is pressed by the object10and the shape of the suction cell113ais changed, but the sucking cell113bnot making contact with the object10is not pressed by the object10and the shape of the suction cell113bis not changed. In addition, most of the portions114including the inlet116pressed by the object10makes contact with the surface of the object10.

Accordingly, compared to the conventional soft grip unit20, the area of the portions of the suction pad110making contact with the object10is relatively increased, and thus the suction force applied to the object10may be increased more.

In addition, since the air is blocked by the sidewall111, the suction force of the suction cell113ato which the object10is attached is only applied to the object10, and thus the suction force may be increased more.

FIG.7is a cross-sectional view illustrating the soft grip unit ofFIG.5combined with a check valve.

Referring toFIG.7, in the soft grip unit200, a check valve150is configured between the fixing cap120and the connecting line130, and thus an opening and closing of the connecting line130is controlled.

Here, the check valve150includes a socket151, a flange153, a ball155, a stop unit156, an elastic member157, a combining ring158and a pressing cover159.

The socket151is combined with the through hole121of the fixing cap120with a screw152, and a center of the socket151is open along the axial direction.

The flange153is configured to a first end of the socket151, and an opening hole154is formed at the center of the flange153.

The ball155is configured inside of the socket151, and a diameter of the ball155is larger than that of the opening hole154of the flange153.

The stop unit156extends inside of the socket151along the axial direction of the socket151, and a center of the stop unit156is open along the axial direction. The center of the stop unit156is aligned with the center of the opening hole154of the flange153. An inner diameter of the stop unit156is smaller than the diameter of the ball155.

The elastic member157is disposed around the stop unit156. A first end of the elastic member157is tightly adhered to the socket151, and a second end of the elastic member157is tightly adhered to the ball155, to support the ball155toward the flange153. At the initial state, the ball155is supported by the elastic member157to close the opening hole154.

The combining ring158is combined with a first end of the connecting line130, and is combined with a second end of the socket151.

The pressing cover159is combined with the second end of the socket151to fix the combining ring158, and the pressing cover159is combined with the socket151with a screw.

FIG.8A,FIG.8B,FIG.9AandFIG.9Bare cross-sectional views illustrating an operation state of the check valve ofFIG.7. Here, the operating state of the check valve connected to the suction cell which is attached to the object is illustrated inFIG.8AandFIG.8B. The operating state of the check valve connected to the suction cell which is not attached to the object is illustrated inFIG.9AandFIG.9B.

Referring toFIG.8AandFIG.8B, as the suction force is provided through the connecting line130, an air SA is inhaled due to the suction force and the ball155moves upwardly. Then, the elastic member157is compressed to open the opening hole154, and as the suction force is continuously provided, the object10is continuously attached to the suction cell113a. Here, as the object10entirely closes the suction cell113a, the inhaled flow of the air SA is removed and the connecting line is to be a vacuum. Then, the ball155moves downwardly again due to the elastic restoring force, to block the opening hole154.

When an amount of air flow inhaled to each suction cell in the state that the object10is not attached to the suction pad110is defined as a first flow, a second flow larger than the first flow is generated at the suction cell to which the object is not attached, since the ball155blocks the opening hole154and the air flow is also blocked at the suction cell to which the object is attached.

Then, as illustrated inFIG.9AandFIG.9B, the elastic member157is compressed more and the ball155closes the stop unit156. Here, the check valve configured to the connecting line connected to the suction cell113bto which the object is not attached is closed by the suction force of the suction cell. Accordingly, when the air is not inhaled through the entire suction cell113of the suction pad110, the object10may be attached to the suction cell113more strongly.

As illustrated inFIG.5, the check valve150may be configured to a position B of the connecting line130, and thus both ends of the check valve150are connected to the connecting line130.

FIG.10is a cross-sectional view illustrating another example soft grip unit having the soft grip head ofFIG.3.

Referring toFIG.10, in the soft grip head201, the connecting line130ais configured to be a single connecting line. Here, a first end of the connecting line130ais connected to the suction force generating part140, and a second end of the connecting line130ais connected to the fixing cap120. A plurality of through holes121is formed inside of the connecting line130a.

Accordingly, in the case that the connecting line130ahas the single connecting line, although not shown in the figure, the check valve150is connected to each through hole121. Here, a first end of the check valve150is connected to the through hole121, and a second end of the check valve150is formed as open inside of the connecting line130a. The operation of the check valve150is the same as explained above.

FIG.11AandFIG.11Bare schematic diagrams illustrating a grip device having the soft grip unit ofFIG.5or the soft grip unit ofFIG.10.

Referring toFIG.11AandFIG.11B, the grip device600includes a body300, a connecting part400, a soft grip unit200and201, an arm500and a holding part550.

The connecting part400is connected to the body300, and extends outward of the body300. The soft grip unit200and201is configured at an end of the connecting part400. The connecting part400moves the soft grip unit200and201toward or far away from the body300. Here, the connecting part400moves straightly, to move the soft grip unit200and201toward or far away from the body300.

When the soft grip unit200and201grips an upper surface of the object with suction, the connecting part400moves the soft grip unit200and201upwardly.

Here, the connecting line130and130aof the soft grip unit200and201is disposed inside of the connecting part400.

The arm500may be a plural, and a first end of the arm500is combined with the body300. Second ends of the arms500are spaced apart from each other, and the second ends of the arms500may move closely. As illustrated in the figure, the arm500is connected to the body300via a hinge, but not limited thereto.

The holding part550is configured at the second end of the arm500. The holding part550presses and holds a side surface of the object10, as the arm500moves closely.

Operation steps of the soft grip unit200and201and the holding part550may not be limited. For example, as illustrated inFIG.11A, with the object10attached to the soft grip unit200and201, the connecting part400moves upwardly, and then, as illustrated inFIG.11B, the arms500move closely so that the holding part550presses and holds the side surface of the object10. Thus, the object10may be gripped more stably.

Alternatively, the soft grip unit200and201grips an upper surface of the object10with suction, and at the same time, the side surface of the object10is also pressed, to hold the object10.

FIG.12is a cross-sectional view illustrating a holding part ofFIG.11AandFIG.11B.

As illustrated inFIG.12, the holding part550is transformed by the object10, and includes a flexible cover551and a particle552.

The flexible cover551includes a holding surface551aand a combining surface551b. The holding surface551aforms a first side surface of the flexible cover551and is tightly adhered to the object10. The combining surface551bforms a second side surface of the flexible cover551and is combined with the arm500. A receiving space551cis formed inside of the flexible cover551.

The flexible cover551is a flexible layer shape, and an air is blocked by the flexible cover551.

The particle552is filled in the pocket555, and the particle552is a type of powder.

As the flexible cover551is pressed by the object10, the pocket555and the particle552are transformed according to the shape of the object10. Here, the transformation of the particle means that the particles pressed by the object10are pushed so that the entire shape of the pocket555is transformed.

The suction force generating part140is connected to the pocket555. The suction force generating part140may further include a suction line141, and the suction line141extends into the receiving space551c. An air inside of the pocket555is inhaled through the suction line141. The pocket555may have a pore555a.

As the air inside of the receiving space551cis inhaled by the suction force generating part140, the flexible cover551is contracted and the particle552is tightly compressed and tightly fixed due to the compressed flexible cover551.

With the object10pressing the holding surface551a, the air inside of the receiving space551cis inhaled by the suction force generating part140, and then the particle552which is transformed by the pressing of the object10is compressed more tightly due to the compression of the flexible cover551. Then, the particle552and the flexible cover551may be hardened. Thus, the side surface of the object10pressing the holding surface551amay be stably gripped by the flexible cover551.

Here, the holding part550may not limited thereto, in which the holding part550is soft in a normal condition and is hardened due to the suction force. Thus, the holding part550may be a sponge type.

FIG.13AandFIG.13Bare schematic diagrams illustrating another example grip device having the soft grip unit ofFIG.5or the soft grip unit ofFIG.10.

Referring toFIG.13AandFIG.13B, in the grip device601, the connecting part400ais formed to be elongated, and thus the soft grip unit200may go toward or be away from the body part300. The elements of the grip device601are substantially same as those of the grip device inFIG.11AandFIG.11B.

FIG.14is a perspective view illustrating a soft grip head according to still another example embodiment of the present invention, andFIG.15is a bottom view partially illustrating the soft grip head ofFIG.14.

Referring toFIG.14andFIG.15, the soft grip head1100according to the present example embodiment includes a suction pad1110and a flexible supporting part1115.

The suction pad1110includes a sidewall1111, and a plurality of suction cells1113. The suction pad1110is divided by the sidewall1111, and thus the suction cells1113are formed.

The flexible supporting part1115is filled inside of the suction cell1113, and in the present example embodiment, the soft grip head1100is substantially same as the soft grip head100inFIG.1, except for the flexible supporting part1115. Thus, any repetitive explanation will be omitted.

The structure, the material, the shape and so on of the sidewall1111and the suction cell1113, are substantially same as those of the sidewall111and the suction cell113inFIG.1.

The flexible supporting part1115is filled inside of the suction cell1113, and the flexible supporting part1115may include a material such that the flexible supporting part1115may be easily transformed and the air may be blocked. For example, the material may include a sponge or a porous structure.

Accordingly, as the flexible supporting part1115is filled inside of the suction cell1113, the object is attached to a first end of the suction cell1113with suction, when the suction force is applied from the first end of the suction cell1113toward a second end of the suction cell1113. When the object is attached with suction, the first end of the suction cell1113is pressed by the object to be transformed. Here, when the surface of the object is irregular, a portion of the first end of the suction cell1113which is spaced apart from the surface of the object is rolled inside of the suction cell1113. Thus, the flexible supporting part1115supports the suction cell1113inside of the suction cell1113, to prevent the portion of the suction cell1113from being rolled inside of the suction cell1113.

Accordingly, the flexible supporting part1115has a stiffness along the axial direction A1smaller than a stiffness along the width direction A2, so that the flexible supporting part1115sufficiently supports the suction cell1113to prevent the suction cell1113from being rolled inside thereof.

FIG.16is a cross-sectional view illustrating a gripping state on an object using the soft grip unit having the soft grip head ofFIG.14.

Referring toFIG.16, the soft grip head1100according to the present example embodiment is fixed by the fixing cap120and is connected by the connecting line130, so as to be a soft grip unit2000.

Here, the fixing cap120and the connecting line130included in the soft grip unit2000are the same as explained referring toFIG.5.

As in the present example embodiment, when the soft grip unit2000grips the object10, compared to the conventional soft grip unit, the area of the suction pad1110making contact with the object10is relatively increased, to increase the suction force for the object10.

In addition, in the present example embodiment, the air is blocked by the sidewall1111in the suction, and thus the suction force for the object10may be increased more.

As the air is blocked by the sidewall during the suction, the suction force by the suction cell1113aand the flexible supporting part1115is applied only to the object10. Thus, the attached suction cell1113aand flexible supporting part1115are only transformed by the attachment of the object10, and the suction cell1113band the flexible supporting part1115corresponding to the suction cell1113bto which the object10is not attached are not transformed and are maintained to be the initial state.

As illustrated in the figure, the flexible supporting part1115is spaced apart from the first end of the suction cell1113, and thus an end1111aof the sidewall1111is not supported by the flexible supporting part1115. Here, the end1111aof the sidewall1111functions as a suction cup tightly adhered to the surface of the object and blocking the suction cell1113, and thus the transformation of the end1111amay be not limited by the flexible supporting part1115, so that the end1111aof the sidewall1111may be tightly adhered to the surface of the object more efficiently.

Here, a length of the end1111aof the sidewall1111not supported by the flexible supporting part115is formed such that the end1111aof the sidewall1111does not block the suction cell1113entirely, even though the end1111ais rolled inside of the suction cell1113. When the suction cell1113has a circular cross-section, the length of the end1111aof the sidewall1111may be smaller than a radius of the suction cell1113.

FIG.17is a perspective view illustrating a soft grip head according to still another example embodiment of the present invention.

Referring toFIG.17, the soft grip head1200according to the present example embodiment includes a suction pad1210, a flexible supporting part1240and a block part1260.

Here, as explained above, the suction pad1210includes a sidewall1220and a plurality of suction cells1230, and the suction pad1210is divided by the sidewall1220to for the suction cells1230. In addition, the flexible supporting part1240is disposed inside of the suction cell1230.

In the present example embodiment, the structure, the material, the shape and so on of the sidewall1220and the suction cell1230are substantially same as those of the sidewall111and the suction cell113inFIG.1.

Further, the flexible supporting part1240has a stiffness along the axial direction A1smaller than a stiffness along the width direction A2with respect to the suction cell1230, and the flexible supporting part1240may be a coil spring partially making contact with an inner surface of the suction cell1230, as explained above.

However, in the present example embodiment, the block part1260is formed around an outline of the suction pad1210.

A plurality of the block parts1260is formed inside of an outer frame forming the soft grip head1200, and an outline of the suction cell113is covered by the block part1260to be disposed inside of the block part1260. Here, particles1261are disposed inside of the block part1260, and the particles1261are explained referring toFIG.18below.

FIG.18is a cross-sectional view illustrating a gripping state on an object using the soft grip unit having the soft grip head ofFIG.17.

Referring toFIG.18, the soft grip head1200according to the present example embodiment is fixed by the fixing cap1250and is connected with the connecting line130, to be a soft grip unit2001.

Here, the fixing cap1250and the connecting line130of the soft grip unit2001are substantially same as explained referring toFIG.5. However, in the present example embodiment, the fixing cap1250may include a fixing plate1250disposed on an upper surface of the block part1260and inside of the fixing cap1250, considering the structure of the block part11260.

The block part1260is disposed outside of the suction cell1230, and as explained above, the particles1261are filled inside of the block part1260.

Thus, as the particles1261are filled inside of the block part1260, the soft grip head1200is maintained to have a predetermined shape.

Although not shown in the figure, a pressure control part (not shown) may be further configured, to control a negative pressure inside of the block part1260.

The pressure control part is connected to the block part1260, and controls the negative pressure of the block part1260, to control an adhesion between the particles1261. Thus, an entire stiffness of the soft grip head1200may be changed.

For example, when the object10is not attached to the soft grip unit2001, the negative pressure is not provided to an inside of the block part1260and thus the adhesion between the particles1261is relatively low and the block part1260is maintained to be easily transformed.

However, as illustrated inFIG.18, with the object10attached to the soft grip unit2001with suction, the negative pressure is provided to the inside of the block part1260, and then the adhesion between the particles1261is increased. Thus, the stiffness of the block part1260may be increased.

Accordingly, as the block part1260increases, the side of the soft grip head1200has a predetermined stiffness and thus the attaching state for the object10may be maintained more stably. In addition, even though an external force from outside increases, the attaching state for the object10may be maintained more stably.

As illustrated inFIG.18, the soft grip unit2001grips the object10with a relatively larger contact area, compared to the conventional soft grip unit, and thus the suction force applied to the object10may be more increased.

In addition, since the air is blocked by the sidewall1220during the suction, the suction force applied to the object10may be more increased.

Since the air dose not pass through the sidewall1220during the suction, the suction force provided to the suction cell1230ato which the object10is attached and the flexible supporting part1240corresponding to the suction cell1230, is only applied to the object10. Thus, the suction cell1230aand the flexible supporting part1240to which the object10is attached are only transformed due to the suction but the suction cell1230band the flexible supporting part1240to which the object10is not attached are not transformed and are maintained with the initial shape.

FIG.19is a perspective view illustrating a soft grip head according to still another example embodiment of the present invention.

Referring toFIG.19, the soft grip head1300according to the present example embodiment includes a suction pad1310, and the suction pad1310includes a sidewall1320and a plurality of suction cells1330. The suction pad1310is divided by the sidewall1320to form the suction cells1330. Here, the suction pad1310finally forms a body of the soft grip head1300, and thus the suction pad1310is integrally formed and then the sidewall1320is also formed at the same time.

In the present example embodiment, an inside of the suction cell1330is not filled with a structure such as the flexible supporting part, and thus the inside thereof is open.

However, in the present example embodiment, since the structure such as the flexible supporting part is not filled or disposed, the suction pad1310includes a metamaterial having the stiffness along the axial direction A1smaller than the stiffness along the width direction A2.

Here, since the sidewall1320is formed integrally with the suction pad1310, the sidewall1320also includes the above mentioned metamaterial.

The metamaterial is defined as a material in which a meta atom is periodically arranged. Here, the meta atom is designed with a metal or a dielectric material formed to have a very small size smaller than a wavelength of a light, to perform characteristics not existing in a natural world.

In the present example embodiment, the suction pad1310includes the metamaterial to perform the characteristics of the suction pad1310having the stiffness along the width direction larger than that along the axial direction, and as illustrated inFIG.19, the suction pad1310includes a first material layer1311and a second material layer1312.

Here, the first material layer1311may be a plate shape, and extend flat along the width direction A2of the suction cell1330. The first material layer1311may be a plural spaced apart from each other along the axial direction A1of the suction cell1330. The first material layer1311may have a first stiffness.

In addition, the second material layer1312is disposed between the first material layers1311adjacent to each other, and may have a second stiffness. The second material layer1312may include a flexible polymer. Since the second material layer1312has the stiffness smaller than that of the first material layer1311, the second material layer1312is compressed more easily compared to the first material layer1311when the soft grip head1300is compressed along the axial direction A1. Thus, the soft grip head1300may be compressed more easily along the axial direction A1.

However, since the stiffness of the first material layer1311is larger than that of the second material layer1312, the transformation along the width direction A2is relatively small when the soft grip head1300is compressed along the axial direction A1. Thus, the resisting force on the compressed transformation of the suction cell1330may be effectively provided.

Accordingly, except for the material of the sidewall1320, the structure, the shape and so on of the sidewall1320and the suction cell1330are substantially same as those of the sidewall111and the suction cell113.

FIG.20is a cross-sectional view illustrating a gripping state on an object using the soft grip head ofFIG.19.

Referring toFIG.20, as explained above, even though additional structure such as the flexible supporting part is not filled or disposed inside of the suction cell1330, the soft grip head1300efficiently grips the object10with suction, since the stiffness along the width direction of the soft grip head1300is larger than the stiffness along the axial direction.

When the stiffness along the width direction is larger than the stiffness along the axial direction, the resisting force on the compressed transformation of the suction cell1330along the width direction is relatively large, and thus the transformation along the width direction A2is maintained relatively smaller, even though the suction cell1330is compressed along the axial direction A1in the gripping of the object10.

Accordingly, the suction cell1330is prevented from being blocked, and the suction force is continuously generated through the suction cell1330, so that the gripping for the object10with suction may be effectively improved.

FIG.21is a cross-sectional view illustrating an example supporting part formed inside of a suction cell1330, in the soft grip head ofFIG.19.

Referring toFIG.21, a supporting part1340is formed inside of the suction cell1330. The supporting part1340extends along the width direction A2and a plurality of the supporting parts1340is spaced apart from each other along the axial direction A1.

The supporting part1340extends along a circumferential direction of the suction cell1330, and is disposed inside of the suction cell1330. Thus, the supporting part1340provides the resisting force on the compressed transformation along the width direction A2.

In addition, an outer surface of the supporting part1340makes contact with an inner surface of the suction cell1330, which is the sidewall1320, and thus the supporting part1340makes contact with an inner surface of the suction cell1330.

In the figure, the supporting part1340is positioned with the same height in all suction cells1330, but not limited thereto, and thus the supporting part1340may be positioned with different heights at every suction cell1330.

FIG.22is a cross-sectional view illustrating another example supporting part formed inside of a suction cell1330, in the soft grip head ofFIG.19.

The supporting part1340inFIG.22is the same as inFIG.21, except for a fixing state with the sidewall1320.

Referring toFIG.22, the supporting part1340formed inside of the suction cell1330is depressed into the inside of the sidewall1320.

A groove1321is formed in the sidewall1320, and an outer surface of the supporting part1340is inserted and mounted at the groove1321. Thus, the supporting part1340may be positioned at the suction cell1330more stably.

FIG.23is a perspective view illustrating a soft grip head according to still another example embodiment of the present invention, and a fixing cap combined with the soft grip head.

Referring toFIG.23, the soft grip head1400according to the present example embodiment includes a suction pad1410, a flexible supporting part1440and a flange1431, and the fixing cap1500includes a base1510and a socket1520. Here, a through hole1521is formed through the socket1520.

Here, the suction pad1410includes a sidewall1420, and a plurality of suction cells1430, and the suction pad1410is divided by the sidewall1420to form the suction cells1430. The flexible supporting part1440is disposed inside of the suction cell1430, as explained above.

In addition, in the present example embodiment, the structure, the material, the shape and so on of the sidewall1420and the suction cell1430are substantially same as those of the sidewall111and the suction cell113inFIG.1.

Further, the flexible supporting part1440has a stiffness along the axial direction A1smaller than a stiffness along the width direction A2, and the flexible supporting part1440may be a coil spring partially making contact with an inner surface of the suction cell1430, as explained above.

However, in the present example embodiment, the flange1431is disposed over the suction pad1410, and the flange1431is combined with the base1510.

The base1510of the fixing cap1500is combined with the flange1431, and thus the fixing cap1500and the soft grip head1400are combined with each other.

A plurality of the sockets1520is protruded from the base1510, and the position and the arrangement of the sockets1520are substantially same as those of the suction cells1430.

Thus, when the fixing cap1500and the soft grip head1400are combined with each other, each of the sockets1520is inserted into the suction cell1430.

Here, the diameter of the socket1520may be larger than the inner diameter of the suction cell1430. The sidewall1420forming the suction cell1430includes a flexible material and is stretchable, and thus the socket1520and the suction cell1430are combined with each other more stably when the diameter of the socket1520is larger than the inner diameter of the suction cell1430. In addition, the air may be prevented from being leaked.

The fixing cap1500includes a protrusion1530, and the protrusion1530is combined with a mounting groove formed on an upper surface of the flange1431, although not shown in the figure. Thus, the fixing cap1500and the soft grip head1400are combined with each other more stably, and the suction air may be prevented from being leaked.

FIG.24Ais a cross-sectional view illustrating the soft grip head and the fixing cap ofFIG.23, andFIG.24Bis a cross-sectional view illustrating a combined state of the soft grip head and the fixing cap ofFIG.23.

As illustrated inFIG.24A, a distance P1(first distance) between the centers of the suction cells1430adjacent to each other, is smaller than a distance P2(second distance) between the centers of the sockets1520adjacent to each other.

Accordingly, as illustrated inFIG.24B, when the fixing cap1500is combined with the soft grip head1400, a force F is applied at an upper portion of the soft grip head1400to increase the first distance P1. Then, the socket1520is positioned inside of the suction cell1430.

Then, the applied force F is removed, the first distance P1is restored and the socket1520and the suction cell1430are fixed with each other more tightly.

FIG.25AandFIG.25Bare cross-sectional views illustrating a gripping state on an object using the soft grip head ofFIG.23.

As illustrated inFIG.24B, when the soft grip head1400and the fixing cap1500are combined with each other, as illustrated inFIG.25A, the upper portion of the soft grip head1400which is a portion connected to the fixing cap1500is elongated, and thus a cross-sectional area of the soft grip head1400decreases as the soft grip head goes toward the object10.

That is, the soft grip head1400may have an effect of a suction cup.

Thus, as illustrated inFIG.25A, when the object10has a round shape such as a circular shape or an elliptical shape, a gap G between the soft grip head1400and the object10may be maintained to be relatively small, in case that the object10makes contact with the soft grip head1400.

Since the end of the soft grip head1400is entirely concaved, the suction cell1430apositioned at a center may be easily adhered to the object10, but the suction cell1430bpositioned at an edge may be less adhered to the object10. However, the gap G may be maintained to be relatively small.

Then, as illustrated inFIG.25B, when the suction force is generated inside of the suction cell1430, the suction cell1430bpositioned at the edge may be adhered to the object10more tightly, and then the object10may be entirely enclosed by the suction cell1430. The contact area between the object10and the suction cell1430is increased, and thus the gripping on the object10may be performed more efficiently.

Here, the resisting force on the compressed transformation along the width direction due to the flexible supporting part1440inside of the suction cell1430is maintained, and thus the suction cells1430are prevented from being narrowed excessively and the object10is gripped more stably.

FIG.26is a cross-sectional view illustrating a soft grip unit having the soft grip head ofFIG.23.

Referring toFIG.26, the soft grip head1400according to the present example embodiment forms the soft grip head2002, with the fixing cap1500combined at an upper portion of the soft grip head1400, the connecting line130connected with the soft grip head1400through the fixing cap1500, and the suction force generating part140providing the suction force to the connecting line130.

Here, a first end of the connecting line130is connected to the through hole1521formed through the socket1520of the fixing cap1500, and a second end of the connecting line130is connected to the suction force generating part140.

At a portion of the connecting line130connected to the through hole1521, the check valve150explained referring toFIG.7may be configured, and any repetitive explanation will be omitted. Further, as explained above, the suction force generating part140generates the suction force to each of the suction cells1430through the connecting line130.

According to the present example embodiments, in the soft grip head, the plurality of the suction cells is divided by the sidewall, and each of the suction cells has the stiffness along the axial direction smaller than that along the width direction, so that an opening of the suction cells is prevented from being blocked and an attaching area is increased in the gripping with suction. Thus, the gripping may be more efficient.

Here, the material of the soft grip head is maintained to have the stiffness along the width direction more largely, or the flexible supporting part is filled or disposed inside of the suction cells, so that the shape of the suction cells is properly maintained and the suction force is properly provided in the gripping with suction.

Further, the soft grip unit is configured to have the soft grip head and the components providing the suction force, and various kinds of soft grip devices may be designed for gripping the object having various shapes more efficiently.

Although the exemplary embodiments of the present invention have been described, it is understood that the present invention should not be limited to these exemplary embodiments but various changes and modifications can be made by one ordinary skilled in the art within the spirit and scope of the present invention as hereinafter claimed.