KR20190131214A - Apparatus gripper - Google Patents

Abstract

The present invention relates to a gripper device. According to the present invention, a driving part (600) provides rotational force. The driving part (600) is installed on one side of a gripper body part (100). A finger part (200) is formed to be able to be tilted to grip an object after being combined with the other side of the gripper body part (100). Angle control parts (300) are installed between the gripper body part (100) and each of a plurality of finger parts (200) to control the angle for tilting the finger parts (200). A connection part (400) connects the angle control parts (300), and enables the parts to be moved away from the gripper body part (100). A power delivery part (500) is installed between the driving part (600) and the length of the connection part (400) can be extended and contracted by the rotational force while reciprocating the connection part (400) linearly. Therefore, according to the present invention, strength can be precisely controlled only with the torque of a motor without a separate sensor in a gripping part of the gripper device (10).

Description

Gripper device {APPARATUS GRIPPER}

The present invention relates to a gripper device, and more particularly, to a gripper device configured to stably grip an object by receiving a driving force from a string having a variable length by string twisting.

Recently, as research and development such as a robot hand becomes active, various researches are being conducted on a power transmission device used to perform the operation of a robot.

In general, a power train generates a mechanical force by using energy for various purposes such as lifting heavy weights in various industries, and a series of rotational forces transmitted from a driver such as an actuator that converts a physical force mechanically. It is one of the power transmission methods for transmitting to the parts (shaft, chainring, crank, gear) of, and is mounted on the robot hand (robot hand) and provides a driving force for operating the hand of the robot.

On the other hand, in recent years, as research and development of a motor drive upper limb movement device or a robot hand (robot hand) is active, a small actuator that minimizes volume and weight is required.

However, a minimum output torque is required for a drive system including a small actuator and a reducer in order to secure more than a certain amount of stretching force and grip force required by a body-driven upper limb exercise device or a robot hand.

And such a small actuator can obtain a large torque by using a reducer, but the reducer itself increases the weight of the power transmission device, there is a problem that the finger tip portion constituting the robot hand, etc. becomes heavy.

In addition, even when using a gear type reducer composed of a plurality of gears, the weight increases depending on the number of gears, the structure is complicated, there is a problem of space constraints, noise is generated in the engagement portion between the gears when the gear is rotated There is also a problem.

In addition, when the robot hand is precisely operated by mounting various sensors on the grip part of the robot hand, that is, at the end of the hand, the structure of the robot hand becomes complicated and thus the maintenance cost increases.

Accordingly, there is a need for a gripper device having a high driving force and minimizing volume and weight, and configured to stably grip an object through a simple structure.

Therefore, to solve the conventional problems, the present invention has a purpose to minimize the volume and weight while having a high driving force.

Another object of the present invention is to provide a gripper device having a simple structure and capable of stably holding an object.

The problems of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The gripper device of the present invention for achieving the above objects and other features of the present invention comprises a drive for providing a rotational force; A gripper body unit having the driving unit installed at one side thereof; A plurality of finger parts coupled to the other sides of the gripper body part and configured to be tiltable to grip an object; An angle adjusting unit provided between the gripper body unit and the plurality of finger units, respectively, to adjust a tilting angle of the finger unit; A connection part connected between the angle adjustment parts and installed to be movable in a direction closer to the gripper body part; And a power transmission unit installed between the driving unit and the connection unit to reciprocate the connection unit in a linear direction while the length is stretched by the rotational force.

In the present invention, the finger portion is preferably one end hinged to the gripper body portion by a first hinge pin, the other end is characterized in that the free end.

In the present invention, the angle adjustment unit, one end is connected to the other end of the finger portion, the other end extending in a direction away from the other end of the finger portion; And a second link having one end hinged by the other end of the first link and the second hinge pin, and the other end extending in a direction approaching the other end of the finger portion.

In the present invention, the connecting portion is hinged by the third hinge pin and the other end of the second link, respectively, the second link, the other end is rotated around the third hinge pin in accordance with the movement of the connecting portion Preferably, the first link connected to one end of the second link is rotated based on the first hinge pin together with the finger part.

In the present invention, the power transmission unit is composed of at least one connection string having a length, both ends are respectively connected to the drive unit and the connection unit, and the length is shrunk by one-way rotation of the drive unit to reciprocate the connection unit in a linear direction It is preferable to include a string to exercise.

In the present invention, it is preferable to include an elastic restoring portion disposed between the gripper body portion and the connecting portion to move the connecting portion away from the driving portion when the power transmission portion is restored to its original state.

In the present invention, the elastic restoring portion, the guide bar is formed in a direction parallel to the direction in which the connecting portion is moved, one end is coupled to the gripper body portion and the other end is installed through the connecting portion; And an elastic member installed to surround the outer circumferential surface of the guide bar and moving the connection part away from the driving part while being restored to its original state by the opposite direction rotation of the driving part.

In the present invention, it is preferable that the elastic member is formed as a corrugated pipe having a plurality of corrugations formed along the longitudinal direction and having an elastic force.

In the present invention, the elastic member is preferably formed of a coil spring having a restoring force.

In the present invention, it is preferable to further include a control unit connected to the driving unit and controlling the driving unit to drive the power transmission unit.

In the present invention, the drive unit is installed in the housing, the installation space is formed therein, the installation space, the motor is provided with a rotating shaft rotatably, the installation space, one end of the power transmission unit is fixed It is preferable to include a connecting member coupled to the rotating shaft and rotated together with the rotating shaft and a support member installed between the motor and the connecting member to support a force applied in the longitudinal direction of the rotating shaft.

The gripper device according to the present invention provides the following effects.

The present invention has the effect of minimizing the volume and weight by driving the gripper using a string variable in length by string twist.

The present invention also has the effect of precisely controlling the gripping force of the gripper device only by the torque of the motor without a separate sensor in the gripping portion of the gripper.

In particular, the gripper device of the present invention can adjust the tilting angle of the finger portion by using a string that can be stretched by string twisting, so that the object is stable at a low gear ratio, that is, a constant gear ratio, between the motor and the finger end portion. And there is an effect that can be gripped precisely.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view for explaining a gripper device according to an embodiment of the present invention.
2 is an exploded perspective view for explaining a driving unit of the gripper device of the present invention.
3 is a view for explaining a gripper device of the present invention.
4 to 6 are plan views illustrating the operation of the gripper device according to an embodiment of the present invention.
7 is a perspective view for explaining a gripper device according to another embodiment of the present invention.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, the objects or effects presented in the present invention does not mean that a specific embodiment should include all or only such effects, the scope of the present invention should not be understood as being limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when a component is referred to as being "directly connected" to another component, it should be understood that there is no other component in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring to", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprise" or "have" refer to a feature, number, step, operation, component, part, or feature that is implemented. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

In each step, an identification code (e.g., a, b, c, etc.) is used for convenience of description, and the identification code does not describe the order of the steps, and each step clearly indicates a specific order in context. Unless stated otherwise, they may occur out of the order noted. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present application.

Hereinafter, a gripper device according to an exemplary embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.

1 is a perspective view for explaining a gripper device according to a preferred embodiment of the present invention, Figure 2 is an exploded perspective view of the drive unit 600 for explaining the drive unit 600 of the gripper device according to a preferred embodiment of the present invention. .

1 to 2, the gripper device 10 of the present invention includes a driving part 600, a gripper main body part 100, a finger part 200, an angle adjusting part 300, a connecting part 400, and power transmission. A portion 500 is included.

The driver 600 serves to provide rotational force to the power transmission unit 500 to be described below. The driving unit may include a housing 610, a motor 620, a connection member 630, and a support member 640.

The housing 610 is formed in a substantially cylindrical shape. The housing 610 may be molded of a plastic material or a rubber material. In the housing 610, an installation space S1 for installing the motor 620, the connection member 630, the support member 640, and the like, which will be described below, may be formed.

The motor 620 is formed in the installation space S1 of the housing 610. The motor 620 may serve to provide rotational force to the power transmission unit 500. The motor 620 is rotatably provided with a rotating shaft. And, the rotating shaft is coupled to the connecting member 630 to be described below.

For reference, a coupler 650 for connecting the connecting member 630 and the rotating shaft may be formed at the end of the rotating shaft.

In this embodiment, the motor 620 is a small DC motor, but is not necessarily limited thereto.

The connection member 630 is installed in the installation space of the housing 610. The connection member 630 may be coupled to the rotating shaft of the motor 620 by the coupler 650 described above. In addition, the connection member 630 may be coupled to the rotating shaft in a state where one end of the power transmission unit 500 is fixed, and may rotate together with the rotating shaft.

One side of the connection member 630 may be formed with a connection ring. One side of the connecting ring may be fixed to one end of the string 510 is not necessarily limited thereto.

A support member 640 may be installed between the motor 620 and the connection member 630. The support member 640 serves to support the force applied in the longitudinal direction of the rotation axis of the motor 620.

In the present embodiment, the support member 640 is shown as a thrust ball bearing (thrust ball bearing), but may be configured as an angular bearing or a journal bearing.

The gripper body part 100 may include a driving part 600, a finger part 200, an angle adjusting part 300, and a connecting part 400. An installation space S1 for installing the driving unit 600 may be provided at one side of the gripper main body 100. In addition, an installation space S2 for installing the finger part 200, the angle adjusting part 300, and the connecting part 400 may be provided at the other side of the gripper main body part 100.

In the present embodiment, the installation space S1 for installing the driving unit of the gripper main body unit 100 is smaller than the installation space S2 for installing the finger portion 200, the angle adjusting unit 300, and the connection unit 400. It may be formed in a small area, but is not necessarily limited thereto.

In addition, the outer circumferential surface of the installation space for installing the finger portion 200, the angle adjuster 300, and the connection portion 400 of the gripper main body portion 100 is larger than the outer circumferential surface of the installation space for installing the driving unit 600. It may be, but is not limited to such.

Finger portion 200 is formed in a bar shape. One end of the finger portion 200 is hinged by the first hinge pin 212 on the other side of the gripper body portion 100, respectively. The other end of the finger portion may be formed as a free end.

One end of the finger part 200 may be rotated based on the first hinge pin 212. In this case, a first coupling hole 211 may be formed at one end of the finger part 200 and the other side of the gripper body part 100 to be coupled to the first hinge pin 212.

 That is, the finger part 200 is hinged to the other side of the gripper body part 100 to enable tilt (tilt or tilt) movement, respectively, and to hold an object by the tilt motion.

In the present embodiment, the number of the finger parts 200 is illustrated as two, which is the minimum number required for holding the object, but is not necessarily limited thereto.

In another embodiment of the gripper device 10 of the present invention, as shown in FIG. 7, the number of the finger portions 800 may be three. In this case, the finger part 800 may be radially coupled from the gripper body part 100. The connection part 400 may protrude from the center to face each of the finger parts 200. For reference, in FIG. 7, reference numerals of other components except for the finger part 800 use the same reference numerals as those of FIGS. 1 to 6.

1 and 2 again, a through hole 220 having a predetermined size may be formed between the finger parts 200. The through hole 220 formed in the finger part 200 may reduce the weight of the finger part 200 and the gripper device 10. In addition, a gripping member (not shown) corresponding to the property of the object to be gripped may be selectively attached to the through hole 220 of the finger part 200.

For reference, the gripping member may be coupled through a coupling member such as a bolt nut in a state in which one side penetrates the through hole 220, but is not necessarily limited thereto.

For example, in the through hole 220 of the finger part 200, a grip member having a rubber or surface embossed shape, which can increase the frictional force between the object and the finger part 200, may be attached or detached in order to more easily grip the object. Can be. If the temperature of the article is hot or electricity flows through the article, the heat insulating member and the insulating member may be selectively attached or detached to the through hole 220 to protect the finger part 200.

If the object to be gripped is larger than the finger part 200 and the grip part 200 is difficult to grasp, the gripping member has a radius such as a semicircle having a radius widening from the finger part 200 toward the facing finger part 200. It is formed in the shape can make the finger portion 200 to grip the object more easily.

Finger portion 200 through the selectively detachable holding member formed as described above provides an effect of easily holding a variety of objects by attaching and detaching the holding member corresponding to the object even if formed in the structure of two simple bars.

The angle adjusting part 300 is provided between the gripper main body part 100 and the finger part 200 to adjust the tilting angle of the finger part 200. The first link 340 and the second link 320 are respectively provided. It can be configured as.

One end of the first link 340 is connected to the other end of the finger part 200, and the other end extends in a direction away from the other end of the finger part 200. The first link 340 may be formed to have a length not exceeding the installation space S2 of the gripper main body 100 mentioned above.

The first link 340 may rotate with the finger part 200 based on the first hinge pin 212 to adjust the tilting angle of the finger part 200. For reference, the first link 340 may be formed to be bent at a predetermined angle from the other end of the finger portion 200 and may be integrally formed with the finger portion 200.

The first link 340 may be formed on an outer surface of the gripper main body 100 to rotate based on the first hinge pin 212 without restriction of the gripper main body 100.

One end of the second link 320 may be extended in a direction in which the other end of the first link 340 is hinged by the second hinge pin 312 and the other end is closer to the other end of the finger part 200. For example, the first link 340 and the second link 320 may be formed in a V-like shape, and may be rotatable with respect to the second hinge pin 312. For reference, a second coupling hole 311 may be formed at a coupling position of the first link 340 and the second link 320 to be hinged by the second hinge pin 312.

The connection part 400 connects the angle adjusting part 300 including the first link 340 and the second link 320. In addition, the connection part 400 may be installed to be movable in a direction away from the gripper body part 100.

In more detail, the connection part 400 is formed at the center between the angle adjusting part 300 on the extension line of the driving part 600 and the power transmission part 500, and the other end of the second link 320 is respectively formed. The third hinge pin 412 may be hinged to the third coupling hole 411.

The connection part 400 may move in a straight direction in a direction pulled toward the gripper body part 100, that is, in a direction closer to the gripper body part 100. For example, when the connection part 400 moves in a linear direction toward the gripper body part 100 while being spaced apart from the gripper body part 100, the other end of the second link 320 is centered on the third hinge pin 412. Can be rotated to. In this state, the connection part 400 may be restored to its original position by the elastic restoring part 700 to be described below.

In addition, the angle adjusting unit 300 of the present invention is composed of the first link 340 and the second link 320, but is not necessarily limited thereto. For example, the number of the links 300 may vary according to the length and the rotation angle of the finger 200.

On the other hand, the power transmission unit 500 is installed between the drive unit 600 and the connection unit 400 is stretched by the rotational force of the drive unit 600, and the length is stretched and contracted to reciprocate the connecting unit 400 in a linear direction Can play a role.

The power transmission unit 500 may be formed of a string 510, and the string 510 may be formed of at least one connection string having a length, and both ends thereof may be connected to the driving unit 600 and the connection unit 400, respectively.

In addition, the string 510 may serve to linearly move the connection part 400 toward the driving part 600 while the length of the string 510 is twisted to each other by one direction rotation of the driving part 600.

In the present embodiment, the string 510 is made of, but is not necessarily limited to, a connecting string formed of a material comprising yarn or woven fabric or spun twisted-spun yarn. For example, the string 510 may be formed of carbon nanotubes (CNTs) having excellent mechanical strength.

In addition, although the string 510 may be formed by one connection string, in the present exemplary embodiment, the string 510 is formed as two strings 510 and is twisted according to the rotation of the driving unit 600.

Meanwhile, the gripper device 10 of the present invention may include an elastic restoring unit 700. The elastic restoring part 700 is disposed between the gripper body part 100 and the connection part 400. The elastic restoring part 700 serves to move the connecting part 400 in a direction away from the driving part 600 when the twisting of the power transmission part 700 is restored to its original state.

Here, the power transmission unit is restored to its original state, in which the strings 510 twisted together by one direction rotation of the driving unit 600 are contracted in length, and the strings 510 twisted by the rotation in the opposite direction of the driving unit 600 are released. It can mean that the length is longer.

The elastic restoring unit 700 may include a guide bar 720 and an elastic member 740.

The guide bar 720 has one end coupled to the gripper body part 100 at a position adjacent to the string 510 in a direction parallel to the direction in which the connection part 400 moves by the expansion and contraction of the string 510, and the other end of the guide bar 720. 400 may be installed through.

In more detail, the other end of the guide bar 720 does not restrict the linear movement of the connection part 400 in a state that penetrates a through hole (not shown) of the connection part 400. Guide the reciprocating motion.

In addition, the other end of the guide bar 720 may be a separation preventing member 721 having a diameter larger than the through hole of the connecting portion 400 may be formed. The separation preventing member 721 may prevent the connection part 400 from being separated from the other end of the guide bar 720 while the guide bar 720 penetrates the through hole of the connection part 400.

That is, the connection part 400 may reciprocate in a linear direction only within the length of the connection part 400 according to the expansion and contraction of the string 510.

The elastic member 740 is installed to surround the outer circumferential surface of the guide bar 720, and can be moved in a direction away from the driving unit 600 while being restored to its original state by the opposite direction rotation of the driving unit 600. .

For example, the elastic member 740 is elastically compressed when the connection part 400 moves in a straight direction toward the driving part 600 by contraction of the string 510. In addition, the elastic member 740 may move the connection part 400 in a direction away from the driving part 600 by expanding the compression of the elastic member 740 while the contraction of the string 510 is released.

In this embodiment, the elastic member 740 may be formed of a coil spring having an elastic force, but is not necessarily limited thereto. For example, the elastic member 740 may be formed of a corrugated pipe having a plurality of wrinkles formed along the longitudinal direction and having an elastic force.

Looking at the operation of the gripper device 10 of the present invention configured as described above with reference to Figures 4 to 6, first, the length of the string 510 is twisted by each other by one-way rotation of the drive unit 600 can be contracted in length. . In addition, as the length of the string 510 is contracted, the connection part 400 may move in a linear direction toward the driving part 600 according to the guide of the guide bar 720 of the elastic restoring part 700.

For reference, since the first link 340, the second link 320, and the finger part 200 of the connector 400 and the angle adjuster 300 are hinged to each other, the first link 340 and the third link 320 interlock with each other. The hinge pin 412 may be rotated based on the reference pin.

Subsequently, when the connection part 400 moves toward the driving part 600, the other end of the second link 320 hinged by the connection part 400 and the third hinge pin 412 is connected to the third hinge pin 412. While rotating as a reference, the driving unit 600 may move toward the driving unit 600 along the connection unit 400.

In this case, while the other end of the second link 320 moves toward the driving unit 600, the other end of the first link 340 hinged by the second hinge pin 312 and one end of the second link 320 are driven. It may move in the direction away from (600).

The other end of the finger part 200 may grip the object while rotating in the same direction as the other end of the first link 340 to rotate based on the first hinge pin 212.

In other words, when the connection part 400 moves toward the driving part 600, the angle adjusting part 300 and the finger part 200, which are interlocked with each other, are referred to the first hinge pins 212 to the third hinge pins 412. The object can be gripped through the finger portion 200 in which the tilting angle is changed while rotating.

In addition, when the driving unit 600 rotates in the reverse direction in one direction for contracting the string 510, the string 510 that has been contracted is restored. Accordingly, the connection part 400 is linearly moved in a direction away from the driving part 600 by the elasticity of the elastic restoring part 700.

In addition, the finger part 200 may be returned to a state before gripping an object by the angle adjusting part 300 and the connecting part 400 interlocked with each other by the first hinge pins 212 to the third hinge pins 412. have.

On the other hand, the gripper device 10 of the present invention may be provided with a controller (not shown). The control unit may be connected to the driving unit 600 and control the rotation of the driving unit 600 to drive the power transmission unit 500.

Hereinafter, an operation process of the gripper device 10 according to an embodiment of the present invention will be described.

Angle (deg) 13 0 -14 Torque (mNm) 29.9379 26.7584 27.8135

First, [Table 1] is a table showing the torque of the motor 620 according to the operation process of the finger portion 200 of the gripper device 10 of the present invention, to maintain a constant force of the finger portion 200 end The result of measuring the force of the motor 620 for. Here, the force of the end portion of the finger portion 200 is maintained at 14.7N, ANGLE 13 is the open state of the finger portion 200 and ANGLE -14 is the state in which the finger portion 200 is retracted.

Referring to the above table, the gripper device 10 of the present invention has a torque deviation rate of the motor 620 in the state in which the finger portion 200 of FIG. 4 is opened and the finger portion 200 of FIG. 6 is closed. It can be seen that it appears as about 8%.

In other words, the gripper device 10 of the present invention is a deviation ratio of the gear ratio with respect to the end of the motor 620 and the finger portion 200 during the operation in which the finger portion 200 is closed in a fully open state for gripping an object. This is about 8% extremely low, which provides the effect of accurately gripping the object in the state that the finger portion 200 is not rapidly accelerated or rapidly slowed to grip the object.

For reference, when the gripper device 10 is operated using a simple file instead of the power transmission unit 500 that contracts due to the twist of the gripper device 10 of the present invention, the finger part 200 is in an open state. The deviation rate between and closed is about 225%.

On the other hand, when driving the gripper device 10 of the present invention, the holding force of the finger portion 200 can be obtained using the following equation.

[Equation 1] is a formula for estimating the holding force of the finger portion 200 according to the torque of the motor 620, [Equation 2] is for calculating the gear ratio of the end of the motor 620 and the finger portion 200 Expression

= 시스템 효율,

=회전 각,

=줄의 길이,

=줄의 반경,

와

=서로 연관된 그리퍼의 각도를 나타낸다.here,

= System efficiency,

= Rotation angle,

= Length of the line,

= Radius of the line,

Wow

= Indicates the angle of the grippers associated with each other.

As shown in FIG. 3, A, B, C, D, O, and X are each one end of the connection portion 400 and the second link 320 coupled to the third hinge pin 412, and B. Is one end of the first link 340 and the second link 320 coupled to the second hinge pin 312, C is the first link 340 and finger portion 200 coupled to the first hinge pin 212 At one end, D is the end of the finger portion 200, O is the connection portion 400, X is the movement interval of the connection portion 400.

In the gripper device 10 of the present invention, even when the same torque is output to the motor 620 when the grip operation is performed, the output of the motor 620 may have a reduction ratio according to the nonlinearity as the twist occurs. That is, the motor 620 is decelerated non-linearly as the string 510 is twisted, and thus, the gripping speed of the finger portion 200 may be reduced non-linearly, thereby accurately grasping the object.

The gripper device 10 of the present invention uses a string 510 that can be stretched by twisting the wire to adjust the tilting angle of the finger part 200, thereby enabling the gripper to operate in a simple structure. The weight and volume can be reduced.

In addition, the operation of the gripper device 10 of the present invention provides an effect that can stably and accurately grip the object with a low deviation ratio of the gear ratio to the end of the motor 620 and the finger portion 200.

The embodiments and the accompanying drawings described herein are merely illustrative of some of the technical ideas included in the present invention. Therefore, since the embodiments disclosed herein are not intended to limit the technical spirit of the present invention, but to explain, it is obvious that the scope of the technical spirit of the present invention is not limited by these embodiments. Modifications and specific embodiments that can be easily inferred by those skilled in the art within the scope of the technical idea included in the specification and drawings of the present invention should be construed as being included in the scope of the present invention.

100: gripper body
200: finger portion
220: through hole
300: angle adjuster
320: first link
340: second link
400: connection
500: power transmission unit
510 string
600: drive unit
610: housing
620: motor
630: connecting member
640: support member
650: coupler

Claims (11)

A driving unit providing a rotational force;
A gripper body unit having the driving unit installed at one side thereof;
A plurality of finger parts coupled to the other sides of the gripper body part and configured to be tiltable to grip an object;
An angle adjusting unit provided between the gripper body unit and the plurality of finger units, respectively, to adjust a tilting angle of the finger unit;
A connection part connected between the angle adjustment parts and installed to be movable in a direction closer to the gripper body part; And
A power transmission part installed between the driving part and the connection part to reciprocate the connection part in a linear direction while the length is stretched by the rotational force;
Gripper device.
The method of claim 1,
The finger portion,
One end is hinged to the gripper body portion by a first hinge pin, the other end is a free end portion
Gripper device.
The method of claim 2,
The angle adjustment unit,
A first link having one end connected to the other end of the finger part and the other end extending in a direction away from the other end of the finger part; And
One end is hinged by the other end and the second hinge pin of the first link, the other end includes a second link extending in a direction closer to the other end of the finger portion
Gripper device.
The method of claim 3,
The connecting portion,
Hinged by the other end of the second link and a third hinge pin, respectively,
The second link is,
The other end is rotated around the third hinge pin as the connection part moves.
The first link is connected to one end of the second link,
It is rotated with respect to the first hinge pin with the finger portion.
Gripper device.
The method of claim 4, wherein
The power transmission unit,
Comprising at least one connection string having a length, both ends are respectively connected to the drive unit and the connecting portion, characterized in that it comprises a string for reciprocating the connecting portion in a linear direction while the length is contracted by twisting by one direction rotation of the drive unit doing
Gripper device.
The method of claim 4, wherein
It is disposed between the gripper body portion and the connecting portion, further comprising an elastic restoring portion for moving the connecting portion in a direction away from the driving portion when the power transmission unit is restored to its original state;
Gripper device.
The method of claim 6,
The elastic restoration unit,
A guide bar formed in a direction parallel to a direction in which the connection part moves, one end of which is coupled to the gripper body part and the other end of which is installed through the connection part; And
It is installed to surround the outer circumferential surface of the guide bar, including a resilient member to move the connection in a direction away from the drive while being restored to its original state by the opposite direction rotation of the drive unit
Gripper device.
The method of claim 7, wherein
The elastic member,
A plurality of pleats are formed along the longitudinal direction characterized in that formed in the pleated tube having an elastic force
Gripper device.
The method of claim 7, wherein
The elastic member,
Characterized in that formed of a coil spring having a restoring force
Gripper device.
The method of claim 1,
A control unit connected to the driving unit and controlling the driving unit to drive the power transmission unit;
Gripper device.
The method of claim 10,
The control unit
To keep the gear ratio of the drive unit constant while the finger unit holds the object
Gripper device.

Images