Singularity-Free Compact Parallel Gripper

Abstract

The present invention discloses a singularity-preventing compact parallel gripper comprising: a driving unit; a pair of fingers formed to be opened and closed (to come into contact with each other or to spread apart) by the power of the driving unit; a pair of driving links connected between the driving unit and the pair of fingers, formed to open and close the pair of fingers by rotating in the opening and closing direction of the fingers by the power of the driving unit; and a pair of driven links connected between the pair of driving links, uniformly controlling the driving range and driving speed of the pair of driving links, wherein the pair of driving links and the pair of driven links are arranged so as not to be aligned in a straight line when the pair of fingers come into contact with each other.

Description

Technology Field

[0001] The present invention relates to a singularity-preventing compact parallel gripper capable of creating a large stroke without singularities while having advantages when penetrating a narrow environment. Background Technology

[0002] A parallel gripper is a tool used in robotics to pick up or handle objects, and it has a structure in which multiple fingers move to grasp an object.

[0003] Conventional parallel grippers are designed so that two opposing fingers move simultaneously at equal intervals to grasp a specific object in a balanced manner, a feature that is very useful for stably gripping objects of various sizes and shapes. Thanks to their parallel structure, these parallel grippers can exert a large gripping force even with a small size.

[0004] As shown in FIG. 1a, the above-described parallel gripper may have a four-bar mechanism (Scott-Russel + 4 bar linkage) structure, and can pick up an object by moving the finger (200) through the driving of the link (10) by the rotation of the motor. In addition, the parallel gripper is designed to minimize singularities and can create a large stroke range, so it can be actively applied to object picking tasks in various industrial fields such as manufacturing, assembly, and inspection.

[0005] Due to these advantages, parallel grippers are being utilized not only in industrial fields but also in various other areas such as medical robots and service robots.

[0006] However, the aforementioned conventional parallel gripper has the following problems.

[0007] First, in order to achieve the desired gripping force, the conventional parallel gripper is designed with a short length of the link (10), which also narrows the gap between a pair of fingers (20), making it difficult to achieve the desired stroke. Accordingly, the conventional parallel gripper is designed to increase the gap between a pair of fingers (20) to achieve the desired stroke, and there is a problem in that the width of the main body (30) must also increase in order to increase the gap between a pair of fingers (20).

[0008] As a result, as shown in FIG. 1b, the width (W1) of the main body (30) of the conventional parallel gripper is formed to be significantly larger than the width (W2) of the finger (20) when the finger (20) is completely closed, which can cause significant difficulties in penetrating narrow environments or confined spaces. This is a particularly important issue in industrial settings, and there is a problem in that the use of the gripper is inevitably limited when space constraints are large.

[0009] Second, although conventional parallel grippers minimize singularities, there is a problem where singularities occur at specific points where links (10) overlap in a straight line, as shown in FIG. 1a.

[0010] In other words, conventional parallel grippers have a problem in that when the link (10) is aligned in a straight line at the position where the finger (20) is closed, the movement stops or a very large force is required, which reduces driving efficiency.

[0011] Furthermore, due to the occurrence of singularities, it is difficult to maintain the opening and closing speed and positional precision of the finger (20), and parallel gripping is incomplete, making it difficult to stably grip the object.

[0012] Third, in the conventional design based on rotational motion that constitutes a parallel gripper, there is a problem in that some torque is lost and driving efficiency is reduced because friction and play occur at each hinge as the rotational motion of the motor is converted through the link (10).

[0013] In addition, structural fatigue can accumulate during repetitive movements, leading to mechanism deformation, and the need for additional mechanical elements can complicate the overall structure, potentially causing problems such as increased maintenance costs. Prior art literature

[0015] WO 2023 / 147606 A1 The problem to be solved

[0016] The objective of the present invention is to provide a singularity-preventing compact parallel gripper that can be used efficiently in narrow spaces through easy penetration into narrow spaces by designing the finger length to maximize the stroke while ensuring that the width of the finger and the drive link does not exceed the total width of the parallel gripper when the finger is completely closed.

[0017] Another objective of the present invention is to provide a singularity-preventing compact parallel gripper that can provide stable operation by preventing the occurrence of singularities during the driving process through a design in which the driving link for opening and closing the finger is not aligned in a straight line throughout the entire stroke.

[0018] Another objective of the present invention is to provide a singularity-prevention type compact parallel gripper that minimizes power loss of the drive unit by opening and closing the finger using a linear drive method that performs reciprocating linear motion. means of solving the problem

[0019] To achieve the objective of the present invention, the present invention provides a compact parallel gripper with a singularity prevention type comprising: a driving unit; a pair of fingers formed to be opened and closed (to come into contact with each other or spread apart) by the power of the driving unit; a pair of driving links connected between the driving unit and the pair of fingers, formed to open and close the pair of fingers by rotating in the opening and closing direction of the fingers by the power of the driving unit; and a pair of driven links connected between the pair of driving links, which uniformly control the driving range and driving speed of the pair of driving links, wherein the pair of driving links and the pair of driven links are arranged so as not to be aligned in a straight line throughout the entire section in which the pair of fingers are opened and closed.

[0020] At this time, the driving unit is formed to generate power for reciprocating linear motion, and one end of the pair of driving links is axially coupled to the driving unit in an alternating manner so as to rotate in opposite directions in conjunction with the linear motion of the driving unit, and each other end of the pair of driving links can be coupled to each of the pair of fingers.

[0021] In addition, the pair of driven links may be formed to form an angle symmetric to the angle formed by the pair of driving links.

[0022] At this time, the body may further include one end of each of the pair of driven links, which is axially coupled to each of the pair of driving links, and the other end of each of the pair of driven links may be axially coupled to the body.

[0023] Additionally, the drive unit comprises a motor; a screw formed to rotate in forward and reverse directions by the power of the motor; and a cart formed to be screw-coupled to the screw and to be axially coupled together with one end of the drive link, wherein the cart can move back and forth in a straight line by the rotation of the screw and spread the pair of drive links apart or close together.

[0024] At this time, the pair of driving links may each be composed of a first link and a second link, each axially coupled to two points of the cart and two points of the finger, respectively.

[0025] At this time, the first link and the second link are arranged parallel to each other in the rotational direction of the driving link, and when the pair of fingers are spread apart to the maximum extent, the surfaces facing the first link and the second link may be formed irregularly so as not to interfere with each other.

[0026] At this time, the shape of the surface facing the first link and the second link is an irregular curvature, and the concave and convex parts of the first link can be formed to correspond to the convex and concave parts of the second link.

[0027] Additionally, the device includes a body, and the driving unit is formed to move linearly within the body, and when the pair of fingers come into contact with each other, the width formed by the pair of driving links and the pair of fingers can be formed so as not to exceed the width of the body.

[0028] At this time, the pair of driving links may be axially coupled to each other in an alternating manner so as to rotate in opposite directions by the linear motion of the driving unit, and the pair of driven links may be formed to form an angle symmetric to the angle formed by the pair of driving links. Effects of the invention

[0029] The effects of the present invention obtained through the above-described solution are as follows.

[0030] First, the present invention is designed so that the width of the drive link including the finger does not extend beyond the body, thereby making the overall size of the gripper compact, which allows for easy penetration into narrow spaces and thus enables robot operation in narrow spaces.

[0031] In addition, the present invention allows for the parallel arrangement of multiple grippers through the compactness of the gripper, thereby increasing the efficiency of the automation system.

[0032] In addition, the present invention has the effect of improving safety by reducing the risk of collision with the surrounding environment due to the reduction in finger width.

[0033] Second, the present invention can prevent power transmission loss and uncontrollable conditions at specific locations through a design that prevents singularities in the drive link. Accordingly, the present invention improves driving stability, enables precise operation, and increases reliability during repeated use, thereby allowing for the expectation of reduced maintenance costs.

[0034] Third, the present invention applies a linear drive method that performs reciprocating linear motion rather than a rotary drive method, thereby minimizing mechanical friction and torque loss that may occur during the drive process. Accordingly, the output of the motor is transmitted more directly to the finger, and higher force and precision can be secured even at the same power consumption, which increases energy efficiency and enables optimal performance even in tasks requiring high-speed responsiveness. This enables the versatile use of the parallel gripper and increases responsiveness to heavy load tasks, thereby increasing its utility in industrial robots and automation systems. Brief explanation of the drawing

[0035] FIG. 1a is a schematic diagram showing a parallel gripper and the link operation of a parallel gripper according to the prior art. FIG. 1b is a diagram showing the opening and closing process of a finger according to the link operation of a parallel gripper according to the prior art in sequence. FIG. 2 is a perspective view showing a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention. FIG. 3 is a perspective view showing a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, with the side body opened to show the interior. FIG. 4a shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a side view showing the maximum gap between a pair of fingers. FIG. 4b shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a plan view showing the maximum spread between a pair of fingers. FIG. 5a shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a side view showing a state in which the gap between a pair of fingers is relatively small compared to the maximum gap. FIG. 5b shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a plan view showing a state in which the gap between a pair of fingers is relatively small compared to the maximum gap. FIG. 6a shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a side view showing a state in which a pair of fingers are in close contact with each other. FIG. 6b shows a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention, and is a plan view showing a state in which a pair of fingers are in close contact with each other. Specific details for implementing the invention

[0036] Below, a singularity-prevention type compact parallel gripper will be described in more detail with reference to the drawings.

[0037] In describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted.

[0038] The attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that all modifications, equivalents, and substitutions included within the concept and technical scope of the present invention are included.

[0039] In the following description, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0040] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0041] Hereinafter, a singularity-preventing compact parallel gripper according to a preferred embodiment of the present invention will be described with reference to the attached FIGS. 2 to 6b.

[0042] The singularity-prevention compact parallel gripper is designed to enable full parallel grasping with maximized stroke by axially coupling a pair of links for driving a pair of fingers in an alternating manner. Through this alternating arrangement of links, the overall width of the gripper can be minimized when the pair of fingers are closed, thereby enabling effective operation even in robot manipulation and confined environments.

[0043] In addition, by ensuring that a pair of fingers come into contact with each other before a pair of links are aligned in a straight line, the occurrence of singularities caused by the alignment of the links is prevented throughout the entire opening and closing range of the fingers, thereby maximizing the torque of the gripper and ensuring stable operation.

[0044] As shown in FIGS. 2 and 3, a singularity-prevention type compact parallel gripper may include a body (100), a driving part (200), a finger (300), a driving link (400), and a driven link (500).

[0045] The body (100) forms the exterior of a singularity-prevention type compact parallel gripper and is a part connected to the arm of a robot.

[0046] At this time, the body (100) may have a driving unit (200) formed at one end in the longitudinal direction and a finger (300) formed at the other end.

[0047] Additionally, the body (100) may be provided with a pair of covers (110) positioned on both sides, and the other end of the cover (110) may be formed to gradually narrow in width.

[0048] At this time, one end of a pair of covers (110) can be coupled to a driving unit (200) described later, and the other end of a pair of covers (110) can be connected through a connecting bar (120) as shown in FIGS. 2 and FIGS. 3.

[0049] Next, the driving unit (200) provides power to open and close a pair of fingers (300) and can be configured on the inner side of the body (100). That is, the driving unit (200) can be placed between a pair of covers (110).

[0050] At this time, the meaning of opening or closing the fingers (300) is the action of gathering or spreading a pair of fingers (300), that is, bringing a pair of fingers into contact with each other or spreading them apart.

[0051] The drive unit (200) can generate power to perform linear motion in a reciprocating manner.

[0052] The drive unit (200) may include a motor (210), a screw (220), a reduction gear (230), and a cart (240), as shown in FIG. 3.

[0053] The motor (210) can generate rotational power in forward and reverse directions and may be a stepper motor.

[0054] The screw (220) is made rotatable by the rotational power of the motor (210) and forms screw threads.

[0055] One end of the screw (220) is axially coupled to a reduction gear (230) described later, and the other end of the screw (220) can be connected to a connecting bar (120) of the body (100). At this time, a bearing (not shown) may be interposed between the other end of the screw (220) and the connecting bar (120) to ensure smooth rotation of the screw (220).

[0056] The reduction gear (230) serves to stably drive the rotation of the screw (220) and is formed between the motor (210) and the screw (220). At this time, the reduction gear (230) is composed of multiple gears and can adjust the rotational speed and torque of the screw (220) by adjusting the gear ratio.

[0057] This reduction gear (230) can precisely perform the opening and closing operation of the finger through stable and precise rotational driving of the screw (220).

[0058] The reduction gear (230) may consist of a first gear (231) axially coupled to the motor (210), a second gear (232) engaged with the first gear (231), a third gear (233) axially coupled to the second gear (232), and a fourth gear (234) engaged with the third gear (233) and axially coupled to the screw (220).

[0059] The cart (240) moves back and forth along the length of the screw (220) when the screw (220) is rotated by the rotational power of the motor (210), and serves to open and close a pair of fingers (300).

[0060] The cart (240) is screw-coupled to the screw (220) and can move back and forth in a straight line on the screw (220) through forward and reverse rotation of the screw (220).

[0061] Next, the fingers (300) are configured to grasp an object and can be formed as a pair. Due to the parallel gripper characteristics, the fingers (300) are formed to be coupled to different links and driven independently, and when a pair of fingers (300) clamp an object or come into contact with each other, the movement of the fingers (300) is canceled out and stops.

[0062] That is, the finger (300) is configured to be able to grasp an object through a movement that moves away from or closer to each other through the rotation of the driving link (400) and the driven link (500) described later.

[0063] At this time, the finger (300) may form a non-slip tip (310) on each opposing surface. This tip (310) prevents slipping when in contact with an object, thereby enabling a stable grip.

[0064] Additionally, the tip (310) can be designed to be detachable from the finger (300) so that it can be replaced in case of wear or damage. This makes maintenance of the tip (310) easier and extends the lifespan of the gripper.

[0065] Next, the drive link (400) is driven by the power of the drive unit (200) and serves to open and close a pair of fingers (300).

[0066] The drive link (400) is formed as a pair connected between the cart (240) and a pair of fingers (300), and the pair of drive links (400) can be formed to rotate in opposite directions around the cart (240) through the movement of the cart (240).

[0067] At this time, a pair of drive links (400) are designed to share a single cart (240). One end of each drive link (400) is axially connected to the cart (240), and the other end is axially connected to each of a pair of fingers (300).

[0068] Through this structure, the drive link (400) performs the role of transmitting the movement of the cart (240) to the finger (300). That is, when the cart (240) moves, the pair of fingers (300) receive the movement through the drive link (400) and perform the opening and closing operation.

[0069] Specifically, as the cart (240) approaches the end of the screw (220), the pair of drive links (400) rotate in opposite directions around one end, thereby opening or closing the pair of fingers (300).

[0070] Additionally, a pair of drive links (400) can be arranged staggered relative to each other around the cart (240).

[0071] This is to prevent a pair of drive links (400) from being aligned in a straight line when the drive link (400) is driven, thereby preventing singularities from occurring. In addition, this is to maximize the overlapping range of a pair of drive links (400) so that the gripper can be designed to be compact.

[0072] Accordingly, a pair of drive links (400) can be joined at an angle toward different directions around the cart (240), as shown in FIGS. 4a, 5a, and 6a.

[0073] Meanwhile, a pair of drive links (400) may each be composed of multiple links formed in plurality.

[0074] Accordingly, the drive link (400) can improve structural stability by evenly distributing the load, and can strengthen durability by reducing the fatigue of the drive link (400) caused by repeated opening and closing movements.

[0075] In addition, the drive link (400) made of multiple links has superior resistance to twisting and external forces compared to a simple single-axis link and can provide a wider opening and closing range of the finger (300).

[0076] For convenience of explanation, in this specification, each of the pair of drive links (400) will be described as being composed of two multi-links, each consisting of a first link (410) and a second link (420).

[0077] One end of the first link (410) and the second link (420) is each axially connected to two points of the cart (240), and the other end of the first link (410) and the second link (420) is each axially connected to two points of the finger (300).

[0078] At this time, the first link (410) and the second link (420) are arranged parallel to each other in the direction in which the driving link (400) rotates, and may be formed in an irregular shape. At least, the opposing surfaces of the first link (410) and the second link (420) are each formed in a rough shape having irregular curvature of concave and convex in the longitudinal direction.

[0079] As the first link (410) and the second link (420) are formed in an irregular shape, interference between the first link (410) and the second link (420) can be avoided during the process of the driving link (400) driving, so the rotational movement of the driving link (400) can be performed smoothly.

[0080] In particular, when the drive link (400) operates to spread a pair of fingers (300) as wide as possible, the first link (410) and the second link (420) can prevent overlapping or physical collision with each other, thereby securing the maximum stroke.

[0081] At this time, the concave portion of the first link (410) is formed to correspond to the convex portion of the second link (420), and the convex portion of the first link (410) can be formed to correspond to the concave portion of the second link (420).

[0082] Meanwhile, a pair of drive links (400) are designed so that they are not aligned in a straight line throughout the entire range in which a pair of fingers (300) are opened and closed.

[0083] In particular, as illustrated in FIG. 6a, a pair of drive links (400) can be positioned to maintain a specific angle relative to each other while a pair of fingers (300) are in contact, thereby preventing singularity from occurring. The structure of these drive links (400) can be implemented by arranging a pair of drive links (400) in an alternating manner and designing the pair of drive links (400) to share a single cart (240).

[0084] Next, the driven link (500) moves indirectly by being linked to the operation of the driving link (400), and serves to assist the movement of the driving link (400) or distribute force.

[0085] That is, the driven link (500) consistently transmits the motion of the driving link (400) to a pair of fingers (300) and serves to control the pair of fingers (300) to move at the same speed and distance. As a result, the driven link (500) prevents overloading of a specific driving link (400) among the pair of driving links (400), thereby improving the durability of the entire gripper structure.

[0086] If the configuration of the driven link (500) is excluded, the balance on both sides of the driving link (400) is disrupted, making it difficult to perform the finger (300) operation normally, and the driving link (400) may cause a singularity at a specific location.

[0087] The driven link (500) is formed as a pair and is axially connected between the body (100) and the driving link (400).

[0088] As shown in FIGS. 2 and 3, one end of the driven link (500) is axially coupled with the other end of the body (100) while sharing it, and the other end of the driven link (500) is axially coupled to the driving link (400) respectively.

[0089] At this time, the angle formed by a pair of driven links (500) may be symmetric with respect to the angle formed by a pair of driving links (400).

[0091] Hereinafter, the operation of a singularity-preventing compact parallel gripper composed of the above-described configuration will be explained with reference to the attached FIGS. 4a to 6b.

[0092] Although not illustrated, the singularity-preventing compact parallel gripper of the present invention is installed and used in robot arms for industrial, medical, service, etc.

[0093] For convenience of explanation, this specification will only examine the operation of a singularity-preventing compact parallel gripper with a robot arm omitted.

[0094] FIG. 4a is a drawing showing a state in which a pair of fingers (300) are open for gripping an object, and the distance between the pair of fingers (300) is maximized to show a state in which the stroke can be maximized.

[0095] At this time, the cart (240) of the drive unit (200) is positioned at the end (right side in the drawing) of the body (100) as shown in FIG. 4a and FIG. 4b, and a pair of drive links (400) that are axially coupled by sharing the cart (240) rotate in opposite directions around the cart (240) to spread a pair of fingers (300) as wide as possible.

[0096] At this time, a pair of driven links (500) form an angle symmetrical with respect to the driving link (400) and stably maintain the angle of the driving link (400). Accordingly, the balance of the driving link (400) can be stably maintained.

[0097] Next, the user commands the gripper to grasp an object through the control unit (not shown).

[0098] At this time, the motor (210) of the drive unit (200) generates rotational power to drive the reduction gear (230), and the fourth gear (234) of the reduction gear (230) rotates the screw (220).

[0099] At this time, the cart (240), which is screw-coupled to the screw (220), moves to the left in the drawing as shown in FIGS. 4a to 5b. Accordingly, a pair of drive links (400) rotate and operate in conjunction with the movement of the cart (240). During this process, the drive links (400) contract around the cart (240) and perform the action of gradually narrowing the space between the pair of fingers (300).

[0100] Additionally, the driven link (500) rotates around the end of the body (100) and performs a contracting motion in conjunction with the movement of the driving link (400). Through this, the driven link (500) consistently transmits the movement of the driving link (400) to a pair of fingers (300) without disrupting the balance of the driving link (400), thereby allowing the pair of fingers (300) to move at the same speed and distance.

[0101] Subsequently, due to the continuous rotational power of the motor (210), the cart (240) moves to the left in the drawings as illustrated in FIGS. 5a to 6b. At this time, the drive link (400) is driven until a pair of fingers (300) come into contact with each other or clamp an object, and when a pair of fingers (300) come into contact with each other or clamp an object, the motor (210) of the drive unit (200) stops the rotational power. In this way, the method of transmitting gripping force to the fingers (300) through the linear motion of the cart (240) is an efficient driving method in which the force acting on the cart (240) is transmitted directly to the fingers (300) due to mechanical characteristics, thereby maximizing the gripping force of the fingers (30).

[0102] At this time, as shown in FIG. 6a, it can be seen that a pair of driving links (400) and driven links (500) are not aligned in a straight line and maintain a predetermined angle while a pair of fingers (300) are in contact with each other.

[0103] Accordingly, the present invention is designed with a structure in which no singularity occurs due to the driving link (400) and the driven link (500), thus having the advantage of maximizing torque when a pair of fingers (300) grip an object. However, if the driving link (400) and the driven link (500) are aligned in a straight line and a singularity occurs during the process of opening and closing the fingers (300) while the cart (240) moves, then infinite force will be required for the cart (240) in the singularity section, making it impossible to move the cart (240). Accordingly, the present invention avoids the aforementioned singularity by designing the driving link (400) and the driven link (500) not to be aligned in a straight line throughout the entire section in which the fingers (300) are opened and closed, as shown in FIGS. 4a to 6b.

[0104] Meanwhile, as shown in FIGS. 6a and 6b, when a pair of fingers come into contact, it can be seen that the width of the drive link (400) and the finger (300) is such that it does not exceed the width of the entire gripper. Accordingly, since the gripper can easily penetrate into a narrow space, it has the advantage of maximizing its use in narrow industrial and medical sites.

[0105] Meanwhile, to open a pair of fingers (300) that are in contact with each other to grasp an object, the user performs the above series of processes in reverse order.

[0106] At this time, the motor (210) of the drive unit (200) generates rotational power in the opposite direction, and the cart (240) moves to the right in the drawing as shown in FIGS. 6b and FIGS. 5b. At this time, when a pair of drive links (400) rotate in opposite directions as shown in FIGS. 6a and FIGS. 5a, they open the space between a pair of fingers (300).

[0107] Subsequently, due to the continuous rotational power of the motor (210), the cart (240) moves further to the right in the drawing and rotates the drive link (400) to its maximum extent. As a result, the pair of fingers (300) become fully open, as shown in FIG. 4a.

[0108] In this way, a pair of drive links (400) axially coupled in an alternating manner form a linear movement trajectory, that is, full parallel, on the finger (300). Due to this structural feature, the pair of fingers (300) can secure a wide opening range, which can lead to the advantage of maximizing the stroke.

[0109] In particular, since the first link (410) and the second link (420) of the multi-link drive link (400) are formed in an irregular shape, when a pair of fingers (300) are opened to the maximum extent, the first link (410) and the second link (420) interlock the irregularities on their opposing surfaces as shown in FIG. 4a.

[0110] Accordingly, when the finger (300) is driven to open, the drive link (400) does not cause interference between the first link (410) and the second link (420), so the opening range of the finger (300) can be increased and the stroke can be maximized.

[0111] As explained above, the singularity-preventing compact parallel gripper according to the present invention can prevent singularities from occurring throughout the entire opening and closing range of the fingers by designing the drive links (400) that open and close the fingers (300) to be axially coupled to each other, and can maximize the stroke by expanding the opening range of the fingers (300).

[0112] Accordingly, the present invention can maximize the clamping torque of the gripper by preventing singularities and can effectively grip objects of various sizes by expanding the stroke through the extension of the length of the finger. Explanation of the symbols

[0113] 100: Body 110: Cover 120: Connection bar 200: Drive unit 210: Motor 220: Screw 230: Reducer 231: 1st gear 232: 2nd Gear 233: Third Gear 234: 4th Gear 240: Cart 300: Finger 310: Tip 400: Drive link 410: First link 420: Second link 500: Follower link

Claims

Claim 1 A compact parallel gripper with a singularity prevention type, comprising: a driving unit; a pair of fingers formed to open and close (to come into contact with or separate from each other) by the power of the driving unit; a pair of driving links connected between the driving unit and the pair of fingers, formed to open and close the pair of fingers by rotating in the opening and closing direction of the fingers by the power of the driving unit; and a pair of driven links connected between the pair of driving links, uniformly controlling the driving range and driving speed of the pair of driving links, wherein the pair of driving links and the pair of driven links are arranged so as not to be aligned in a straight line throughout the entire section in which the pair of fingers are opened and closed. Claim 2 A singularity-preventing compact parallel gripper according to claim 1, wherein the driving unit is formed to generate power for reciprocating linear motion, one end of the pair of driving links is axially coupled to the driving unit in an alternating manner so as to rotate in opposite directions in conjunction with the linear motion of the driving unit, and each other end of the pair of driving links is coupled to each of the pair of fingers. Claim 3 A singularity-preventing compact parallel gripper according to claim 1, wherein the pair of driven links are formed to form an angle symmetric to the angle formed by the pair of driving links. Claim 4 A singularity-preventing compact parallel gripper according to paragraph 3, further comprising a body, wherein one end of each of the pair of driven links is axially coupled to each of the pair of driving links, and the other end of each of the pair of driven links is axially coupled to the body. Claim 5 In claim 1, the driving unit comprises: a motor; a screw formed to rotate in forward and reverse directions by the power of the motor; and a cart formed to be screw-coupled to the screw and to be axially coupled together with one end of the driving link, wherein the cart moves back and forth in a straight line by the rotation of the screw to spread or close the pair of driving links together, a singularity-preventing compact parallel gripper. Claim 6 In claim 5, the above pair of driving links each consists of a first link and a second link axially coupled to two points of the cart and two points of the finger, respectively, in a singularity-preventing compact parallel gripper. Claim 7 A singularity-preventing compact parallel gripper according to claim 6, wherein the first link and the second link are arranged parallel to each other in the rotational direction of the drive link, and when the pair of fingers are spread apart to the maximum extent, the opposing surfaces of the first link and the second link are formed irregularly so as not to interfere with each other. Claim 8 A singularity-preventing compact parallel gripper according to claim 7, wherein the shape of the opposing surfaces of the first link and the second link is an irregular curvature, and the concave and convex parts of the first link are formed to correspond to the convex and concave parts of the second link. Claim 9 A singularity-preventing compact parallel gripper according to claim 1, comprising a body, wherein the driving unit is formed to move linearly within the body, and when the pair of fingers come into contact with each other, the width formed by the pair of driving links and the pair of fingers is formed such that it does not exceed the width of the body. Claim 10 A singularity-preventing compact parallel gripper according to claim 9, wherein the pair of driving links are axially coupled in an alternating manner to rotate in opposite directions by the linear motion of the driving part, and the pair of driven links are formed to form an angle symmetric to the angle formed by the pair of driving links.

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