Compact Gripper with In-line Frameless Motors

Abstract

The present invention relates to a frameless motor linearly arranged compact gripper, wherein two frameless motors are arranged vertically to realize a compact structure and is suitable for precisely performing rotational movements of a rotating base and radial reciprocating movements of a plurality of gripping jaws, and for this purpose comprises: a housing; a rotating base rotatably mounted on the lower end of the housing; a plurality of gripper blocks arranged radially on the rotating base and reciprocating while having gripping jaws at their leading ends to grip an object; a rotating motor for rotating the rotating base; and a gripping motor for reciprocating the gripping jaws, wherein the rotating motor and the gripping motor are arranged vertically.

Description

Technology Field

[0001] The present invention relates to a gripper, and more specifically, to a gripper suitable for implementing a compact structure by arranging two frameless motors in an upper and lower line, and for precisely performing rotational movement of a rotating base and radial reciprocating movement of a plurality of gripper blocks. Background Technology

[0002] Generally, conventional grippers used to grasp and transport objects in automated devices have a configuration in which a first motor that rotates a rotating base and a second motor that moves a plurality of gripper blocks radially forward and backward are each installed separately.

[0003] As illustrated herein, FIG. 1 is a reference diagram for explaining a gripper according to the prior art, in which a motor (30) for driving a rotating base (10) and a motor (40) for moving the gripper block (20) are individually arranged at spaced positions, and the power of each motor is transmitted through a separate mechanism.

[0004] However, according to the prior art, as two motors (30, 40) are installed individually, the structure of the power transmission mechanism for transmitting driving force to the rotating base (10) and the gripper block (20) becomes complex, and there are problems such as interference between mechanisms or difficult assembly processes. Consequently, the overall volume of the housing increases, and the structure becomes bulky, making it difficult to meet the requirements for miniaturization and lightweighting. Furthermore, since power is transmitted through multiple mechanical connections, there are problems such as power loss or difficulty in precise control. Prior art literature

[0005] Korean Registered Patent Publication No. 10-1879544 (July 11, 2018) The problem to be solved

[0006] Accordingly, the present invention is proposed to resolve the aforementioned conventional problems, and the objective of the present invention is to provide a gripper with a compact structure capable of simply and precisely implementing the rotational movement of a rotating base and the radial forward and backward movement of a plurality of gripper blocks by arranging two frameless motors in a vertical line and arranging the rotor rod and lead screw on the same axis. means of solving the problem

[0007] To achieve the above objectives, a gripper according to the technical concept of the present invention comprises, in a gripper for gripping an object, a housing; a rotating base rotatably mounted on the lower end of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip an object; a rotary motor for rotating the rotating base; and a gripping motor for retracting the gripper blocks, wherein the rotary motor and the gripping motor are arranged in an upper and lower line, which is a characteristic of the technical configuration.

[0008] Here, the rotary motor and the gripping motor may be characterized as a first frameless motor positioned on the lower side of the internal receiving space of the housing and a second frameless motor positioned on the upper side.

[0009] Additionally, the first frameless motor may include a first stator and a first rotor, and the second frameless motor may include a second stator and a second rotor, and the first stator and the second stator may be fixed inside the housing.

[0010] Additionally, a rotor rod is coupled to the first rotor, and the rotor rod is coupled to the rotating base, so that the rotational power of the first frameless motor is transmitted to the rotating base through the rotor rod; a nut is coupled to the second rotor to rotate integrally, and a lead screw coupled to the nut moves up and down in the axial direction, thereby causing the plurality of gripper blocks to move back and forth in the radial direction.

[0011] In addition, the lifting motion of the lead screw is transmitted to a link mechanism, and the lifting motion of the plurality of lead screws is converted into a forward and backward motion of the gripper block through the link mechanism.

[0012] In addition, the link mechanism may be characterized by including a link rod connected to the lower side of the lead screw and moving up and down, and a link lever that connects the lower end of the link rod and the gripper block to convert the lifting motion of the link rod into a radial moving motion of the gripper block.

[0013] In addition, the link rod may be characterized by being installed in a manner that penetrates the central part of the rotor rod so as not to interfere with the rotational movement of the rotor rod during lifting operation.

[0014] In addition, the housing may be formed to arrange a first frameless motor and a second frameless motor in the same axial direction, and the rotor rod and lead screw may be arranged along the axial direction to form a compact integrated configuration.

[0015] Additionally, an auxiliary housing in the shape of a circular tube having sections with different inner diameters is further installed inside the above housing, and a lead screw and a nut are inserted into the internal penetration of the auxiliary housing to be aligned and supported in the axial direction, and a second rotor is aligned and rotatably supported on the outer surface of the auxiliary housing.

[0016] In addition, the housing may be formed in a cylindrical shape, and the first stator and the second stator may be fixed in close contact with the inner circumference of the housing.

[0017] In addition, at least one of a thermal conductive pad, a thermal compound, a heat pipe, or a heat sink may be interposed between the inner surface of the housing and the first stator and the second stator to improve the cooling efficiency of the first frameless motor and the second frameless motor.

[0018] In addition, it may further include a temperature sensor installed in each of the first and second stators to measure temperature, and a limit sensor that detects a sensor dog installed to move up and down along the lead screw at the upper part inside the housing to detect the movement limit of the lead screw and the gripper block.

[0019] Additionally, the gripper block may be characterized by comprising: an upper block connected to the link mechanism; a lower block equipped with the gripping jaw; a spring plunger that elastically supports the lower block so that it tends to descend relative to the upper block, and allows the lower block to rise when the object being held by the gripping jaw rotates and receives upward pressure due to screw release; and a spring pin installed in a downward protruding form from the front upper end of the gripping jaw, which is pressed upward by the object when the gripping jaw holds the object, and then pushes the object downward to separate it when the gripping state of the object being held by the gripping jaw is released.

[0020] Meanwhile, the liquid handler device of the present invention is characterized by including the aforementioned grip as a component. Effects of the invention

[0021] The gripper according to the present invention has the effect of enabling simple and precise rotational movement of the rotating base and radial forward and backward movement of a plurality of gripper blocks by arranging two frameless motors in a vertical line and arranging the rotor rod and lead screw on the same axis. In addition, the overall structure is implemented compactly, enabling miniaturization and weight reduction, and has the effect of improving driving efficiency and control precision.

[0022] Furthermore, when applied to high-precision automation systems such as liquid handler devices through this configuration, it is effective in ensuring high reliability and stability when performing tasks such as gripping and moving pipettes or tubes, or opening tube caps. Brief explanation of the drawing

[0023] FIG. 1 is a reference diagram for explaining a gripper according to the prior art. FIG. 2 is a perspective view of a gripper according to an embodiment of the present invention. FIGS. 3 and 4 are reference perspective drawings for explaining a gripping module mounted on a gripper according to an embodiment of the present invention. FIG. 5 is a front cross-sectional view illustrating the internal configuration of a gripper according to an embodiment of the present invention. FIG. 6 is a left cross-sectional view illustrating the internal configuration of a gripper according to an embodiment of the present invention. FIG. 7 is a cross-sectional view illustrating the configuration of a spring plunger and a spring pin in a gripper according to an embodiment of the present invention. Specific details for implementing the invention

[0024] A gripper according to embodiments of the present invention will be described in detail with reference to the attached drawings. Since the present invention is susceptible to various modifications and may take various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed forms, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention. Similar reference numerals have been used for similar components in the description of each drawing. In the attached drawings, the dimensions of the structures are shown enlarged or reduced to the actual size to ensure clarity of the present invention or to understand the schematic configuration.

[0025] Additionally, terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. Meanwhile, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0026] <Example>

[0027] FIG. 1 is a reference diagram for explaining a gripper according to the prior art, FIG. 2 is a perspective view of a gripper according to an embodiment of the present invention, FIG. 3 and FIG. 4 are reference perspective views for explaining a gripping module mounted on a gripper according to an embodiment of the present invention, FIG. 5 is a front cross-sectional view for explaining the internal configuration of a gripper according to an embodiment of the present invention, and FIG. 6 is a left cross-sectional view for explaining the internal configuration of a gripper according to an embodiment of the present invention.

[0028] As described above, the gripper according to an embodiment of the present invention comprises a housing (101), a rotary base (110), a plurality of gripper blocks (120) equipped with gripping jaws (121), a first frameless motor (130), a second frameless motor (140), a rotor rod (151), a lead screw (152), a nut (153), a link rod (154), a link lever (155), and an auxiliary housing (160) as main components, and is configured to precisely perform rotation of the rotary base (110) and radial movement of the gripper blocks (120) while implementing a compact integrated structure through the vertical alignment of the first frameless motor (130) and the second frameless motor (140) and the alignment of the rotor rod (151) and the lead screw (152).

[0029] Hereinafter, an embodiment of the gripper according to the present invention will be described in detail, focusing on each of the above components.

[0030] The housing (101) in the gripper according to an embodiment of the present invention accommodates and supports the entire mechanism, provides alignment standards, dissipates heat generated during operation, and accommodates sensors. A rotating base (110) is rotatably mounted at the bottom of the housing (101) and supported to rotate stably. A first frameless motor (130) and a second frameless motor (140) are accommodated in a line at the bottom and top of the housing (101). At this time, the first frameless motor (130) is positioned at the bottom and the second frameless motor (140) is positioned at the top, and the housing (101) is formed so that the two frameless motors are arranged in the same axial direction.

[0031] A first stator (131) and a second stator (141) are fixed inside the housing (101). In one embodiment, the housing (101) is formed in a cylindrical shape so that the first stator (131) and the second stator (141) are fixed in close contact with the inner surface of the housing (101). Between the inner surface of the housing (101) and the first stator (131) and the second stator (141), at least one of a thermal conductive pad, a thermal compound, a heat pipe, or a heat sink is interposed as needed to improve the cooling efficiency of the first frameless motor (130) and the second frameless motor (140). Due to this structure, the first stator (131) and the second stator (141) are stably fixed with respect to the housing (101), and heat generated during the operation of the first frameless motor (130) and the second frameless motor (140) is effectively dissipated.

[0032] The internal receiving space of the housing (101) is formed so that the rotor rod (151) and the lead screw (152) are arranged in the same axial direction. Accordingly, the rotor rod (151) coupled with the first rotor (132) and the lead screw (152) screw-coupled with the nut (153) that rotates integrally with the second rotor (142) are arranged to coincide with the axis of the housing (101), thereby realizing a compact integrated configuration. Meanwhile, an auxiliary housing (160) in the shape of a circular tube having sections with different inner diameters may be further installed inside the housing (101). The auxiliary housing (160) is arranged concentrically with the housing (101) and is coupled to the housing (101) so that the lead screw (152) and the nut (153) are aligned and supported in the axial direction at the internal penetration part, and the second rotor (142) is aligned and rotatably supported at the outer surface. Thus, the center of the drive system on the second frameless motor (140) side is maintained, so that the linear lifting of the second rotor (142), nut (153), and lead screw (152) and the radial movement of the plurality of gripper blocks (120) are precisely performed.

[0033] Additionally, the housing (101) is provided with a structure for mounting sensors. A temperature sensor (170c, 170d) for monitoring heat generation may be placed on the inner surface of the housing (101) or at an adjacent location to the first stator (131) and the second stator (141), and a limit sensor (170a) for detecting the movement limit of the lead screw (152) and the plurality of gripper blocks (120) may be mounted in the upper part of the inside of the housing (101) by providing a sensor dock. The housing (101) provides a space and an opening for the placement and wiring of such sensors, thereby enabling the stable collection of state information necessary to control the rotation of the rotating base (110) and the radial advance and retraction of the plurality of gripper blocks (120).

[0034] The above-described rotating base (110) performs the function of radially arranging and supporting a plurality of gripper blocks (120) in a gripper according to an embodiment of the present invention, while simultaneously receiving rotational power from a first frameless motor (130) and rotating. The rotating base (110) is rotatably mounted on the lower end of the housing (101) and is supported so as to rotate smoothly relative to the housing (101). A plurality of gripper blocks (120) are radially arranged and mounted on this rotating base (110), and each gripper block (120) is supported so as to move back and forth along a guide groove (121) formed in the rotating base (110). Accordingly, the rotating base (110) serves as a base that guides the movement path of the gripper blocks (120) when the gripping jaws (121) provided in the plurality of gripper blocks (120) grip or release an object.

[0035] A rotor rod (151) coupled with the first rotor (132) of the first frameless motor (130) is connected to the above-mentioned rotating base (110). The rotor rod (151) directly transmits the rotational power of the first frameless motor (130) to the rotating base (110) to enable stable rotation.

[0036] Additionally, the rotating base (110) is provided with a structure that is linked to a lead screw (152) and a link mechanism for moving multiple gripper blocks (120) back and forth. The lead screw (152) is screw-coupled to a nut (153) that rotates integrally with the second rotor (142) of the second frameless motor (140) to move up and down, and the movement of the lead screw (152) is transmitted to multiple gripper blocks (120) through a link rod (154) and a link lever (155). In this process, the rotating base (110) serves as a foundation for the lead screw (152) and the link mechanism to move multiple gripper blocks (120) back and forth radially.

[0037] In this way, the rotating base (110) is rotatably mounted on the lower part of the housing (101) and is connected to the rotor rod (151) and lead screw (152) to guide and support the movement of a plurality of gripper blocks (120), thereby realizing the function of stably gripping an object in the gripper according to the embodiment of the present invention.

[0038] The above gripper block (120) is a core component that directly contacts and grips or releases an object in a gripper according to an embodiment of the present invention, and is radially arranged on a rotating base (110) to perform a forward and backward movement. Each gripper block (120) is supported to move along a guide groove (121) formed in the rotating base (110), and moves radially toward the object to grip it or moves away from it to release the object through interlocking with a lead screw (152) and a link mechanism.

[0039] Multiple gripper blocks (120) are controlled to move back and forth through the operation of the second frameless motor (140). Specifically, when a nut (153) that rotates integrally with the second rotor (142) is screw-coupled to the lead screw (152) and moves up and down in the axial direction, the movement of the lead screw (152) is transmitted to the link rod (154). The movement of the link rod (154) is then converted into a radial movement of the multiple gripper blocks (120) by the link lever (155) shown in FIG. 6. Through this conversion process, the multiple gripper blocks (120) can move and precisely grip an object by the gripping jaw (121), and the gripping force is stably maintained by the mechanical characteristics of the link mechanism and the control of the second frameless motor (140).

[0040] A load cell (not shown) is installed in a plurality of gripping blocks (120) to detect gripping force and the presence or absence of an object. Through this combination with the load cell, the plurality of gripper blocks (120) perform a role that goes beyond simple gripping functions to determine whether an object is properly grasped and whether it is gripped with an appropriate force. Additionally, the movement limit of the gripper blocks (120) can be detected through linkage with a limit sensor (170a) installed near the upper part of the lead screw (152), thereby protecting the gripper blocks (120) from moving excessively forward or backward. To this end, a sensor dog (170b) is provided that is installed to move up and down along the lead screw (152) from the upper part inside the housing (101), and the limit sensor (170a) detects the sensor dog (170b) to enable the detection of the movement limit of the lead screw (152) and the gripper blocks (120).

[0041] The above gripper block (120) may be configured in sets of three as shown in FIG. 3 or in sets of two as shown in FIG. 4, and together with the rotating base (110), it forms the shape of a gripping module (120M) and organically combines with the link mechanism, lead screw (152) and the second frameless motor (140) to perform the function of stably and precisely gripping an object.

[0042] Here, the gripper block (120) includes an upper block (120a) connected to a link lever (155) as shown in FIG. 7, and a lower block (120b) on which the gripping jaw (121) is formed. The lower block (120b) is elastically supported by a spring plunger (123) so as to have a tendency to descend relative to the upper block (120a). Accordingly, when the object is rotated while the gripping jaw (121) is gripping the object and receives an upward pressure due to the release of the screw connection, the lower block (120b) is allowed to rise. With this configuration, the lower block (120b) moves elastically in response to the upward force generated as the object rotates, thereby preventing the gripped object from being damaged or deformed by twisting.

[0043] The lower block (120b) is elastically supported against the upper block (120a) by a spring plunger (123). The spring plunger (123) is configured to maintain the lower block (120b) in a normally lowered position, but to allow the lower block (120b) to rise toward the upper block (120a) when an external force is applied. Accordingly, the upward pressure caused by the release of the screw connection that occurs as the object rotates (e.g., the release of the screw connection that occurs as the cap (CA) rotates relative to the tube) is accommodated by the spring plunger (123), thereby allowing the lower block (120b) to rise without causing impact or abnormal stress during the process of attaching or detaching the object. Thus, a separate Z-axis lifting device for lifting the object does not need to be installed. Meanwhile, a guide pin (120c) penetrating the lower block (120b) in the vertical direction is installed in a fixed state on the upper block (120a) to stably guide the lifting and lowering of the lower block (120b).

[0044] Additionally, a spring pin (122) is installed in a downwardly protruding form at the front upper end of the gripping jaw (121) in the gripper block (120). The spring pin (122) maintains a state of being pressed upward by the upper surface of the object when the gripping jaw (121) grips the object, and when the gripping state of the gripping jaw (121) is released, it protrudes downward by the spring restoring force to push the object downward and separate it. Accordingly, even after the gripping is released, the object does not get caught or stuck in the gripping jaw (121) and can smoothly detach downward.

[0045] As a result, the gripper block (120) is structured to stably control both the lifting force and the separation process that occur during the screw release process of an object through the spring plunger (123) and the spring pin (122), thereby simultaneously improving the reliability of the gripping and releasing operation and the mechanical completeness.

[0046] The first frameless motor (130) above functions as a driving source for rotating the rotating base (110) in a gripper according to an embodiment of the present invention. The first frameless motor (130) includes a first stator (131) and a first rotor (132), the first stator (131) is fixed inside the housing (101) to form an electrical magnetic field, and the first rotor (132) performs a rotational operation by the magnetic field of the first stator (131). Since the first frameless motor (130) configured in this way is installed as an integral part of the housing (101) together with the second frameless motor (140) without a separate frame, the size of the driving unit can be minimized and the efficiency of rotational power transmission can be increased.

[0047] A rotor rod (151) is coupled to the first rotor (132), and this rotor rod (151) is coupled to a rotating base (110) rotatably mounted on the lower part of the housing (101). Thus, the rotational power of the first frameless motor (130) is transmitted to the rotating base (110) through the rotor rod (151). Through this configuration, the rotating base (110) can rotate precisely under the control of the first frameless motor (130), and a plurality of gripper blocks (120) radially arranged thereon rotate in a desired direction while gripping an object.

[0048] In addition, the first frameless motor (130) is positioned vertically on the same axis as the second frameless motor (140). Through this linear arrangement, the space utilization inside the housing (101) is increased, and the configuration of the motor drive system is simplified, thereby achieving the miniaturization and weight reduction of the entire gripper. In this way, the first frameless motor (130) is responsible for driving the rotating base (110), while also playing an important role in realizing the compact integrated structure of the gripper according to the embodiment of the present invention through mutual arrangement with the second frameless motor (140).

[0049] Consequently, the first frameless motor (130) is a component that rotates the rotating base (110) stably and precisely, while maximizing the reliability, durability, and space efficiency of the device through a cooperative structure with the housing (101) and the second frameless motor (140).

[0050] The second frameless motor (140) functions as a driving source for moving a plurality of gripper blocks (120) in a radial direction in a gripper according to an embodiment of the present invention. The second frameless motor (140) includes a second stator (141) and a second rotor (142), wherein the second stator (141) is fixedly installed inside the housing (101) to form an electromagnetic field, and the second rotor (142) performs a rotational operation by means of the electromagnetic field.

[0051] A nut (153) is coupled to the second rotor (142) so as to rotate integrally. Since the nut (153) is arranged in a screw-coupled state with the lead screw (152), when the second rotor (142) rotates, the lead screw (152) moves up and down in the axial direction. This up and down movement is transmitted to a link mechanism connected to a plurality of gripper blocks (120) arranged on a rotating base (110) at the bottom of the housing (101), and as a result, the plurality of gripper blocks (120) move back and forth in the radial direction.

[0052] In addition, the second frameless motor (140) is positioned vertically on the same axis as the first frameless motor (130). This structural arrangement allows for efficient utilization of the internal space of the housing (101) and enables the miniaturization and weight reduction of the device by integrally implementing rotational drive and gripping drive on a single axis.

[0053] Furthermore, the second frameless motor (140) is closely related to the auxiliary housing (160). The auxiliary housing (160) is formed in a tubular shape, and a lead screw (152) and a nut (153) are inserted into the internal through-hole to be aligned and supported, while the second rotor (142) is aligned and rotatably supported on the outer surface. The structure of this auxiliary housing (160) ensures stable operation of the second frameless motor (140) and smoothly supports precise rotation of the second rotor (142) and axial lifting of the lead screw (152).

[0054] As such, the second frameless motor (140) provides direct power to open and close a plurality of gripper blocks (120) and forms an integrated configuration on the same axis together with the first frameless motor (130), acting as an important component for realizing the compact structure and high precision control performance of the gripper according to the embodiment of the present invention.

[0055] The rotor rod (151) performs the function of transmitting rotational power of the first frameless motor (130) to the rotation base (110). That is, as the rotor rod (151) coupled to the first rotor (132) rotates in the same manner as the rotation of the first frameless motor (130), the power is transmitted to the rotation base (110) coupled to the lower end of the rotor rod (151). Accordingly, the rotation base (110) rotates precisely and stably, and the direction or gripping position of the plurality of gripper blocks (120) can be adjusted by the rotation of the rotation base (110).

[0056] In addition, the rotor rod (151) is arranged in a form that passes through the center of the link rod (154) which is positioned on the same axis as the lead screw (152), so that the first frameless motor (130) and the second frameless motor (140) can function without interference even in a structure where they are arranged in a vertical line.

[0057] The lead screw (152) is a key component that implements linear motion for moving a plurality of gripper blocks (120) in a radial direction in a gripper according to an embodiment of the present invention. The lead screw (152) is screw-coupled to a nut (153) coupled to a second rotor (142), and when the nut (153) rotates according to the rotation of the second frameless motor (140), the lead screw (152) performs an axial movement. This axial movement of the lead screw (152) is immediately transmitted to a link mechanism, and a plurality of gripper blocks (120) move inward or outward simultaneously through a link rod (154) and a link lever (155).

[0058] The lead screw (152) is aligned on the same axis as the rotor rod (151) of the first frameless motor (130), thereby forming a compact structure while minimizing interference with the two frameless motors arranged in a vertical line. Additionally, the lead screw (152) is inserted into the internal through-hole of the auxiliary housing (160) and aligned and supported in the axial direction, thus preventing shaking or eccentricity that may occur during lifting. As a result, the plurality of gripper blocks (120) can perform precise and stable forward and backward movements.

[0059] As such, the lead screw (152) is configured to convert the rotational motion of the second frameless motor (140) into linear motion, thereby enabling the radial movement of a plurality of gripping blocks (120), and is an important power transmission means for realizing a precise gripping operation of the gripper according to an embodiment of the present invention.

[0060] The nut (153) serves as a medium for converting the rotational force of the second frameless motor (140) into linear motion of the lead screw (152) in the gripper according to an embodiment of the present invention. Specifically, the nut (153) is integrally coupled with the second rotor (142) and rotates together with the rotation of the second frameless motor (140), and is positioned in a screw-coupled state with the lead screw (152). Thus, when the second frameless motor (140) is driven, the nut (153) rotates together with the second rotor (142), and the lead screw (152) moves up and down in the axial direction in response to the rotation of the nut (153).

[0061] The nut (153) is a basic power conversion means that enables stable linear motion through precise screw coupling with the lead screw (152) and allows a plurality of gripping blocks (120) to move uniformly in a radial direction. Additionally, the nut (153) is inserted together with the internal through-hole of the auxiliary housing (160) and is aligned and supported together with the lead screw (152), thereby suppressing eccentricity or vibration that may occur during the driving process and ensuring smooth operation.

[0062] The above link rod (154) acts as an intermediate medium that transmits the axial lifting motion of the lead screw (152) in the gripper according to the embodiment of the present invention and converts it into the radial moving motion of the plurality of gripping blocks (120). The above link rod (154) is connected to the lower side of the lead screw (152) to accommodate the linear motion of the lead screw (152) as is, and is coupled with a plurality of link levers (155) at the lower end. Here, it can be noted that the above link rod (154) is installed in a state that penetrates the central part of the rotor rod (151). As a result, the link rod (154) can perform a lifting motion without interfering with the rotation of the rotor rod (151), and contributes to forming a compact structure.

[0063] The above link rod (154) is precisely guided in the lifting direction by a coupling structure with the lead screw (152) and is formed to transmit power generated during the lifting process to the link lever (155) without loss. As a result, the lifting motion of the link rod (154) is converted into rotational motion of the link lever (155), and the link lever (155) again generates a driving force to move the gripping block (120) back and forth.

[0064] In this way, the above link rod (154) contributes to enabling the plurality of gripping blocks (120) to move uniformly in a radial direction through mechanical linkage with the plurality of link levers (155) and gripping blocks (120), and minimizes shaking or eccentricity that may occur during lifting operation through cooperation with the guide structure inside the housing (101) or the auxiliary housing (160).

[0065] The above link lever (155) performs the function of converting the lifting motion of the link rod (154) into the radial moving motion of the plurality of gripping blocks (120) as shown in FIG. 6. That is, the link lever (155) is a conversion medium that is supported to be rotatable around an axis and converts vertical motion into horizontal motion through simple rotational motion rather than the lever principle.

[0066] Specifically, the link lever (155) is connected between the lower end of the link rod (154) and a plurality of gripping blocks (120), and converts the linear motion of the link rod (154) into rotational motion when it rises and falls. This rotational motion is transmitted to the gripping blocks (120) through the other end of the link lever (155), causing the gripping blocks (120) to move back and forth uniformly in a radial direction.

[0067] In addition, the link lever (155) is linked to each of the multiple gripping blocks (120), so it functions to distribute force evenly so that all gripping blocks (120) can move at the same distance and speed. As a result, when an object is gripped, a uniform gripping force is generated, and the object can be stably fixed.

[0068] The above link lever (155) is designed to cooperate with a guide structure placed inside the housing (101) or a support structure of the rotating base (110) to ensure precise motion conversion even during repetitive movements and to minimize friction or wear. Accordingly, the link lever (155) acts as a key element that mechanically connects the linear motion of the lead screw (152) and the radial motion of the gripping block (120).

[0069] The auxiliary housing (160) serves to stably align and support the second rotor (142) and lead screw (152) and nut (153) of the second frameless motor (140). That is, the auxiliary housing (160) is a tubular member additionally installed inside the housing (101), and its internal penetration and outer surface each have the function of supporting different components.

[0070] Specifically, the auxiliary housing (160) is formed in the shape of a tube with sections having different inner diameters, and a lead screw (152) and a nut (153) are inserted into the internal through-hole. As a result, the lead screw (152) and the nut (153) are accurately aligned in the same axial direction and are stably supported so that linear movement in the axial direction can be performed without shaking.

[0071] Additionally, a second rotor (142) is positioned on the outer surface of the auxiliary housing (160) and rotatably supported. This allows the second rotor (142) to rotate stably relative to the outer surface of the auxiliary housing (160), and the rotational force of the second rotor (142) is accurately transmitted to the nut (153) and converted into a lifting motion of the lead screw (152). In this way, the auxiliary housing (160) provides a structural base that precisely supports the lead screw (152), the nut (153), and the second rotor (142), respectively, through the internal penetration and the outer surface.

[0072] The auxiliary housing (160) stabilizes the rotational force transmission path of the second frameless motor (140) through such support and alignment functions, and increases the operational precision of the lead screw (152) and nut (153), thereby ensuring that the radial movement of the plurality of gripping blocks (120) is smooth and uniform. Therefore, the auxiliary housing (160) is an essential element for the gripper according to the embodiment of the present invention to realize a compact yet high-precision integrated structure.

[0073] Furthermore, the gripper according to an embodiment of the present invention further comprises a temperature sensor (170c, 170d) installed in each of the first stator and the second stator to measure temperature, a limit sensor (170a) that detects the movement limit of a lead screw (152) and a plurality of gripping blocks (120), and a load cell that detects gripping force and the presence or absence of an object. These sensors contribute to improving the safety and reliability of the entire gripper by enabling the securing of stability of the motor drive unit, control of the operating range of the gripper block (120), and confirmation of the object gripping state.

[0074] The temperature sensors (170c, 170d) detect heat generated during the operation of the first frameless motor (130) and the second frameless motor (140) in real time to prevent overheating. This ensures stable operation of the motor and prevents performance degradation or component damage caused by heat accumulation inside the housing (101). Additionally, signals from the temperature sensors (170c, 170d) can be used as an auxiliary means to adjust motor driving conditions or improve cooling efficiency by linking with the control unit.

[0075] The limit sensor (170a) is installed at the upper part inside the housing (101) and detects a sensor dog installed to move up and down along the lead screw (152) to detect the lifting limit position of the lead screw (152) and prevents the plurality of gripper blocks (120) from moving excessively forward or backward. Through this, the operating range of the gripper blocks (120) is accurately controlled, thereby improving stability when gripping an object and preventing mechanical overload or breakage. In addition, the limit sensor (170a) ensures that the plurality of gripper blocks (120) do not exceed the gripping range, thereby contributing to increasing the safety and reliability of the entire gripper.

[0076] An unillustrated load cell is installed at the tip of or near each gripper block (120). The load cell precisely measures the pressure generated when the gripping jaw (121) of the gripper block (120) grips an object and provides a control signal to maintain the gripping force within an appropriate range. This prevents the object from being damaged by excessive force or, conversely, from detaching due to insufficient fixation. Additionally, since the load cell can detect whether the object is gripped in real time and recognize the presence or absence of the object, the reliability and safety of the operation in the automated device can be significantly improved.

[0077] For reference, the bearing (157) serves to smoothly support various components that undergo rotational and linear motion in the gripper according to an embodiment of the present invention. The bearing (157) is positioned at various locations inside the housing (101) to support parts that perform rotational or lifting motions, such as the rotor rod (151), lead screw (152), and second rotor (142), so that they can be driven stably while minimizing frictional resistance. In this way, the bearing (157) functions to maintain the axial alignment of the rotating part and the linear motion part, and to prevent unnecessary shaking or wear, thereby improving the durability and driving precision of the gripper.

[0078] The spring (158) serves to elastically support components such as the link rod (154), the lead screw (152) and the nut (153) coupled thereto. Referring to FIGS. 5 and 6, the spring (158) is positioned along the path of the link rod (154) as it moves up and down inside the housing (101), and stabilizes the linear motion of the link rod (154) by compressing it when the link rod (154) descends and providing a restoring force when it rises. As a result, the rotational and lifting movements of the lead screw (152) and the nut (153) are maintained more smoothly, and sudden load changes or vibrations are absorbed, thereby ensuring that a uniform force is transmitted during the radial movement of the multiple gripper blocks (120).

[0079] Additionally, the spring (158) acts as a restoring force to return the link rod (154) to its neutral position when it deviates from it, thereby preventing unnecessary uneven load from being transmitted to the link lever (155). Consequently, the spring acts as an elastic support for the link rod (154) and its upper components, functioning as an auxiliary component that enhances the mechanical stability and durability of the entire gripper.

[0080] In this way, the gripper according to the embodiment of the present invention forms a compact integrated structure in which the first frameless motor (130) and the second frameless motor (140) are arranged vertically, and the rotor rod (151) and the lead screw (152) are arranged in the same axial direction. In addition, the rotating base (110) is stably rotated by driving the first frameless motor (130), and the plurality of gripper blocks (120) move in and out precisely in a radial direction through the interlocking of the lead screw (152), nut (153), link rod (154), and link lever (155) according to the driving of the second frameless motor (140).

[0081] Furthermore, the auxiliary housing (160) improves the stability of the entire motor drive unit by aligning and supporting the lead screw (152) and nut (153) internally and aligning and supporting the second rotor (142) on the outer surface. In addition, a plurality of bearings placed inside the housing (101) smoothly support each component that rotates and moves up and down, and a spring (158) installed on the upper part of the link rod (154) provides elastic restoring force to increase driving stability.

[0082] Accordingly, the gripper according to the embodiment of the present invention has a simplified and compact structure compared to the prior art, and enables the object gripping operation to be performed more precisely and stably. As a result, high performance and reliability can be secured in automation systems, and it can be particularly effective when applied to a liquid handler device to transport tubes or to open tube caps by rotating them.

[0083] Although preferred embodiments of the present invention have been described above, the present invention may use various variations, modifications, and equivalents. It is clear that the present invention can be applied in the same way by appropriately modifying the above embodiments. Therefore, the above description does not limit the scope of the present invention, which is defined by the limitations of the following claims. Explanation of the symbols

[0084] 101: Housing 110: Rotating base 120: Gripper block 120a: Upper block 120b: Lower block 120c: Guide pin 121: Gripping jaw 130: First frameless motor 131: First stator 132: First rotor 140: Second frameless motor 141: First stator 142: Second rotor 151: Rotor rod 152: Lead screw 153: Nut 154: Link rod 155: Link lever 158: Spring 160: Auxiliary housing 170a: Limit sensor 170b: Sensor dock 170c, 170d: Temperature sensor

Claims

Claim 1 A gripper for gripping an object comprises: a housing; a rotating base rotatably mounted on the lower portion of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip the object; and a rotary motor for rotating the rotating base. and includes a gripping motor for moving the gripper block back and forth, wherein the rotary motor is a first frameless motor disposed on the lower side of the internal receiving space of the housing, and the gripping motor is a second frameless motor disposed on the upper side of the internal receiving space of the housing, wherein the first frameless motor includes a first stator and a first rotor, and the second frameless motor includes a second stator and a second rotor, wherein the first stator and the second stator are fixed inside the housing, and a rotor rod is coupled to the first rotor, and the rotor rod is coupled to the rotating base, so that the rotational power of the first frameless motor is transmitted to the rotating base through the rotor rod, and a nut is coupled to the second rotor to rotate integrally, and a lead screw screw coupled to the nut moves up and down in the axial direction so that the plurality of gripper blocks move back and forth in the radial direction, and the lifting motion of the lead screw is transmitted to a link mechanism, and through the link mechanism, the lifting motion of the lead screw is of the plurality of gripper blocks A gripper characterized by converting into a radial forward and backward motion, wherein the link mechanism comprises a link rod connected to the lower side of the lead screw and moving up and down, and a link lever connecting the lower end of the link rod and the gripper block to convert the upward and downward motion of the link rod into a radial forward and backward motion of the gripper block. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 A gripper according to claim 1, characterized in that the link rod is installed in a manner that penetrates the central part of the rotor rod so as not to interfere with the rotational movement of the rotor rod during lifting operation. Claim 8 delete Claim 9 A gripper for gripping an object comprises: a housing; a rotating base rotatably mounted on the lower portion of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip the object; and a rotary motor for rotating the rotating base. and includes a gripping motor for moving the gripper block back and forth, wherein the rotary motor is a first frameless motor disposed on the lower side of the internal receiving space of the housing, and the gripping motor is a second frameless motor disposed on the upper side of the internal receiving space of the housing, the first frameless motor includes a first stator and a first rotor, and the second frameless motor includes a second stator and a second rotor, the first stator and the second stator are fixed inside the housing, a rotor rod is coupled to the first rotor, and the rotor rod is coupled to the rotating base, so that the rotational power of the first frameless motor is transmitted to the rotating base through the rotor rod, a nut is coupled to the second rotor to rotate integrally, and a lead screw screw coupled to the nut moves up and down in the axial direction so that the plurality of gripper blocks move back and forth in the radial direction, and the housing is formed to arrange the first frameless motor and the second frameless motor in the same axial direction inside, and the rotor rod and the lead screw are the A gripper characterized by being arranged along an axial direction to form a compact, integrated structure, wherein an auxiliary housing in the shape of a circular tube having sections with different inner diameters is further installed inside the housing, a lead screw and a nut are inserted into the internal penetration of the auxiliary housing to be aligned and supported in the axial direction, and a second rotor is aligned and rotatably supported on the outer surface of the auxiliary housing. Claim 10 delete Claim 11 A gripper for gripping an object comprises: a housing; a rotating base rotatably mounted on the lower portion of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip the object; and a rotary motor for rotating the rotating base. A gripper comprising a gripping motor for moving the gripper block forward and backward, wherein the rotary motor is a first frameless motor disposed on the lower side of the internal receiving space of the housing, and the gripping motor is a second frameless motor disposed on the upper side of the internal receiving space of the housing, wherein the first frameless motor includes a first stator and a first rotor, and the second frameless motor includes a second stator and a second rotor, wherein the first stator and the second stator are fixed inside the housing, and the housing is formed in a cylindrical shape so that the first stator and the second stator are fixed in close contact with the inner circumference of the housing, and at least one of a thermal conductive pad, a thermal compound, a heat pipe, or a heat sink is interposed between the inner circumference of the housing and the first stator and the second stator, thereby improving the cooling efficiency of the first frameless motor and the second frameless motor. Claim 12 A gripper for gripping an object comprises: a housing; a rotating base rotatably mounted on the lower portion of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip the object; and a rotary motor for rotating the rotating base. and includes a gripping motor for moving the gripper block back and forth, wherein the rotary motor is a first frameless motor disposed on the lower side of the internal receiving space of the housing, and the gripping motor is a second frameless motor disposed on the upper side of the internal receiving space of the housing, wherein the first frameless motor includes a first stator and a first rotor, and the second frameless motor includes a second stator and a second rotor, wherein the first stator and the second stator are fixed inside the housing, and a rotor rod is coupled to the first rotor, and the rotor rod is coupled to the rotating base, so that the rotational power of the first frameless motor is transmitted to the rotating base through the rotor rod, and a nut is coupled to the second rotor to rotate integrally, and a lead screw screw coupled to the nut moves up and down in the axial direction so that the plurality of gripper blocks move back and forth in the radial direction, and the lifting motion of the lead screw is transmitted to a link mechanism, and through the link mechanism, the lifting motion of the lead screw is of the plurality of gripper blocks A gripper characterized by further including a temperature sensor installed in each of the first and second stators to measure temperature, which converts into a radial forward and backward motion, a sensor dog installed to move up and down along the lead screw at the upper part inside the housing, and a limit sensor that detects the sensor dog to detect the movement limit of the lead screw and the gripper block. Claim 13 A gripper for gripping an object comprises: a housing; a rotating base rotatably mounted on the lower portion of the housing; a plurality of gripper blocks radially arranged on the rotating base and installed to be retractable, each having a gripping jaw at its tip to grip the object; and a rotary motor for rotating the rotating base.and includes a gripping motor for moving the gripper block back and forth, wherein the rotary motor is a first frameless motor disposed on the lower side of the internal receiving space of the housing, and the gripping motor is a second frameless motor disposed on the upper side of the internal receiving space of the housing, wherein the first frameless motor includes a first stator and a first rotor, and the second frameless motor includes a second stator and a second rotor, wherein the first stator and the second stator are fixed inside the housing, and a rotor rod is coupled to the first rotor, and the rotor rod is coupled to the rotating base, so that the rotational power of the first frameless motor is transmitted to the rotating base through the rotor rod, and a nut is coupled to the second rotor to rotate integrally, and a lead screw screw coupled to the nut moves up and down in the axial direction so that the plurality of gripper blocks move back and forth in the radial direction, and the lifting motion of the lead screw is transmitted to a link mechanism, and through the link mechanism, the lifting motion of the lead screw is of the plurality of gripper blocks A gripper characterized by being converted into a radial forward and backward motion, wherein the gripper block comprises: an upper block connected to the link mechanism; a lower block equipped with the gripping jaw; a spring plunger that elastically supports the lower block so that it tends to descend relative to the upper block, and allows the lower block to rise when an object held by the gripping jaw rotates and receives upward pressure due to screw release; and a spring pin installed in a downwardly protruding form from the front upper end of the gripping jaw, which is pressed upward by the object when the gripping jaw holds the object, and pushes the object downward to separate it when the gripping state of the object held by the gripping jaw is released. Claim 14 A liquid handler device for sucking and dispensing a liquid to be dispensed, characterized by including a gripper according to any one of claims 1, 7, 9 and 11 to 13 for gripping an object.

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