Inspection robot gripper and control method thereof

Robot Gripper for Inspection

This technology is a gripper module mounted on the end of a multi-degree-of-freedom robot manipulator. It integrates an air chuck, Remote Center Compliance (RCC), a force-torque sensor, and a laser sensor to perform a real-time impedance control mechanism based on the contact force between components and inspection jigs.

Conventional position-based control methods for manufacturing robots struggle to handle minor jamming or alignment errors between components and inspection jigs, often leading to a reliance on operator skill and reduced accuracy in defect detection.

This technology utilizes a position-based impedance control algorithm that calculates component movement paths in real time. It forms a system that performs precise insertion and position/orientation correction by controlling the RCC through feedback from force-torque and laser sensors. Applicable to logistics, service robots, and autonomous platforms, it improves the accuracy and speed of inserting components into test jigs, while reducing damage and increasing operational efficiency compared to manual methods.

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Key Features:

• A laser sensor mounted on a laser sensor bracket attached to one side of the main bracket, which senses the movement distance, speed, and insertion depth of the component into the jig.
• A force-torque (F/T) sensor coupled with the RCC via an RCC bracket, which senses the impact applied when the positioning pin is inserted into the jig.
• A robot gripper for inspection featuring a pair of gripper fingers, each equipped with a pad to enhance gripping force.
• An air chuck with its upper section mounted on one side of the bracket, which grips and releases components using a pair of gripper fingers in response to control signals.

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This invention was developed with support from the Ministry of Science and ICT’s AI-based Anti-Drone Active Control Technology Development project.