Cam profile-based gripper finger unit

Abstract

The present invention provides a gripper finger unit (10) characterized by comprising: a base (2); a gripper transfer module (600), of which at least a portion is movably disposed on the base (2) and to which a driving force is input; a gripper linkage (100) having a multi-joint linkage structure in which one end is connected to the gripper transfer module (600) and the other end can come into contact with a gripping object; and a gripper cam unit (700), one portion of which is disposed on the base (2)-side and another portion of which is disposed on the gripper linkage unit (100) and engages with the one portion so that the gripper linkage unit (100) moves within a preset range.

Description

Cam profile-based gripper finger unit

[0001] The present invention relates to a gripper finger unit having a shape-adaptive gripping function in which the shape of the finger can be changed to adapt to various shapes of an object for stable gripping and parallel gripping of an object while the gripper tip moves in parallel based on a cam structure located inside a link.

[0002] As demands for robots diversify, efforts are increasing to have robots perform a variety of tasks, not just in traditional tasks like manufacturing and logistics, but also in service settings. For example, grippers with diverse gripping mechanisms are needed to perform complex tasks like serving and cooking.

[0003] However, most commercial grippers are specialized for simple, repetitive tasks. While they can reliably grasp standardized objects like boxes, they struggle to grasp irregularly shaped objects, including tool handles like ladles and knives used in service settings. Robotic hands, capable of grasping objects of various shapes with a high degree of freedom, face significant challenges in widespread adoption due to their high manufacturing costs and control difficulties.

[0004] Conventional grippers are classified into a parallel gripper in which the gripper tip moves parallel using a shaft or LM guide, as shown in Fig. 1(a), and a rotary gripper in which the gripper tip moves parallel as the gripper link rotates, as shown in Fig. 1(b).

[0005] As shown, in the parallel gripper of Fig. 1(a), the size of the gripper body (B) determines the stroke, which is the gripping range of the gripper (G). That is, as the gripper body becomes larger, the stroke also becomes larger. However, when the gripper grips an object, the gripper body may collide with other objects in the vicinity, such as boxes or shelves, causing a problem of gripping failure.

[0006] The rotary gripper of Fig. 1(b) has the advantage of having a smaller gripper body size than that of Fig. 1(a), but since the link (L) rotates, the height of the gripper tip cannot be maintained constant, and thus, when gripping an object, the gripper tip may collide with the surrounding environment or push the object out, causing a problem in that gripping may fail.

[0007] Figure 2 is a schematic diagram illustrating the problems that arise in the conventional parallel gripper mentioned above. As the gripper body becomes larger, it may collide with other objects inside the box during a bin picking operation, as shown in Figure 2(a), or may collide with the box, as shown in Figure 2(b), resulting in failure to grasp the object. To avoid such collisions, if the gripper body is reduced, as shown in Figure 2(c), the gripper stroke becomes smaller, making it impossible to grasp large objects. Therefore, to perform tasks in narrow spaces, such as bin picking, a gripper with a small body but a large stroke is required.

[0008] Figure 3 is a schematic diagram illustrating a problem that occurs in a conventional rotary gripper. Unlike the previously described parallel gripper, the rotary gripper has a small gripper size and a large stroke, making it suitable for tasks such as empty picking in narrow spaces. However, as the link rotates, the height of the gripper tip changes, which can collide with the surrounding environment, resulting in a failure to grasp, as shown in Figure 3(b).

[0009] Therefore, to meet the growing demand for service robots, there is a need to develop adaptive grippers that can grip a variety of objects with a small number of actuators and overcome or minimize limitations caused by kinematic or structural issues.

[0010] Accordingly, the present invention has been invented to solve the problems of the prior art, and an object of the present invention is to provide an adaptive gripper type gripper finger unit capable of parallel and adaptive gripping with a single power by applying a mechanism based on a cam structure.

[0011] The present invention provides a gripper finger unit (10) characterized by including a base (2), a gripper transfer module (600) at least one of which is movably disposed on the base (2) and to which a driving force is input, a gripper linkage (100) of a multi-section link structure having one end connected to the gripper transfer module (600) and the other end contactable with a gripping object, and a gripper cam unit (700) that is disposed such that a part thereof is on the base (2) side and the other part thereof is on the gripper linkage unit (100) and engages with the part thereof to allow the movement of the gripper linkage unit (100) to be performed within a preset range.

[0012] In the gripper finger unit (10), the gripper linkage (100) may include: a base link portion (110) movably positioned on the base (2), an outer link portion (120) having one end rotatably connected to the base link portion (110), an inner link portion (140) having one end rotatably connected to the base link portion (110), and a gripper link portion (150) having one end connected to the outer link portion (120) and the other end connected to the inner link portion (140), at least a portion of which can come into contact with a gripping target.

[0013] In the above gripper finger unit (10), the connection points between the base link portion (110) and each of the outer link portions (120) and the inner link portions (140) may be spaced apart from each other.

[0014] In the above gripper finger unit (10), the base link portion (110) may be formed integrally with at least a portion of the gripper transfer module (600).

[0015] In the above gripper finger unit (10), a gripper actuator unit (200) that is placed on the base (2) and generates a driving force input to the gripper transfer module (600) may be further provided.

[0016] In the gripper finger unit (10), the gripper transfer module (600) may include: a transfer shaft (610) that receives driving force, a transfer shaft corresponding portion (620) that is arranged on the base link portion (110) and engages with the transfer shaft (610) so as to be relatively movable, and a transfer guide (630) that guides the movement of the base link portion (110).

[0017] In the above gripper finger unit (10), the transfer guide (630) may include: a transfer guide rail (631) located on the base (2), and a transfer guide rail corresponding portion (633) located on the base link portion (110) and movably engaged with the transfer guide rail (631).

[0018] In the above gripper finger unit (10), the gripper cam unit (700) may include: a cam profile (710) formed on the base (2) side, and a cam follower (720) positioned on the gripper linkage (100) and capable of contacting the cam profile (710).

[0019] In the above gripper finger unit (10), a plurality of cam followers (720) may be provided for the corresponding cam profile (710).

[0020] In the above gripper finger unit (10), the cam profile (710) may include a straight movable profile.

[0021] In the above gripper finger unit (10), the linear movable profile may include: a vertical movable sub-profile formed in a longitudinal direction toward the gripping target, and a horizontal movable sub-profile formed perpendicular to the vertical movable sub-profile.

[0022] In the above gripper finger unit (10), the cam profile (710) may include a curved movable profile.

[0023] In the above gripper finger unit (10), the cam profile (710) may include an approaching movable profile that guides the gripper link portion (150) to approach in a direction toward the gripping target.

[0024] In the above gripper finger unit (10), the cam profile (710) may include an open and retraction movable profile that guides the gripper link portion (150) away from the longitudinal center line and away from the gripping object.

[0025] In the above gripper finger unit (10), the inner link portion (140) may have a multiple link structure.

[0026] In the above gripper finger unit (10), the inner link portion (140) may include: a plurality of inner sub-links (141) and an inner sub-joint (Jsi) connecting the plurality of inner sub-links (141).

[0027] In the above gripper finger unit (10), the inner link portion (140) may further be provided with an inner link support portion (500) that prevents the relative rotation of the plurality of inner sub-links (141) with a preset support force.

[0028] In the above gripper finger unit (10), the inner link support part (500) may be an elastic body.

[0029] In the above gripper finger unit (10), the inner link support portion (500) may be a magnetic body.

[0030] In the above gripper finger unit (10), the outer link portion (120) may have a multiple link structure.

[0031] In the above gripper finger unit (10), the outer link portion (120) may include: a plurality of outer sub-links (121) and an outer sub-joint (Jso) connecting the plurality of outer sub-links (121).

[0032] In the above gripper finger unit (10), the outer link portion (120) may further be provided with an outer link support portion (800) that prevents the relative rotation of the plurality of outer sub-links (121) with a preset support force.

[0033] In the above gripper finger unit (10), the outer link support part (800) may be an elastic body.

[0034] In the above gripper finger unit (10), the inner link support portion (800) may be a magnetic body.

[0035] In the gripper finger unit (10), the gripper cam unit (700) includes: a cam profile (710) formed on the base (2) side, and a cam follower (720) positioned on the gripper linkage (100) and capable of contacting the cam profile (710), and at least a part of the cam follower (720) may be arranged on one of the outer sub-links (121).

[0036] In the gripper finger unit (10), the base link portion (110) and the outer link portion (120) are connected with the outer base joint (JOB) as the center, and at least a part of the cam follower (720) arranged on one of the outer sub-links (121) may be arranged to be spaced apart by a preset distance or more on the length line connecting the outer base joint (JOB) and the outer sub-joint (Jso).

[0037] In the above gripper finger unit (10), one end of the base link portion (110) may be rotatably connected to at least a part of the gripper transfer module (600).

[0038] In the above gripper finger unit (10), the gripper linkage (100) may be provided in a single piece, and a gripper fixing part (20) may be provided at an opposite position of the gripper linkage (100).

[0039] In the above gripper finger unit (10), a plurality of gripper linkages (100) are provided, and at least one of the plurality of gripper linkages (100) may be arranged to face at least one other of the plurality of gripper linkages (100).

[0040] In the above gripper finger unit (10), a plurality of gripper linkages (100) are provided, but the number of gripper actuators (200) may be less than or equal to the number of gripper transfer modules (600).

[0041] A gripper finger unit and a gripper module according to one embodiment of the present invention have the following effects.

[0042] First, the gripper is designed with a link structure to provide high rigidity and durability, and the parallel four-section link shape allows it to stably grip objects in parallel.

[0043] Second, shape-adaptive gripping is possible by using a cam-based mechanism to grip various objects according to their shape with a single power source.

[0044] Figures 1 to 3 are schematic operating diagrams of a conventional gripper.

[0045] Figures 4 to 7 are schematic partial configuration diagrams of a structure for transmitting gripper driving force to the base gear side of a gripper finger unit according to one embodiment of the present invention.

[0046] FIG. 7a is a schematic partial enlarged perspective view of a gripper cam unit of a gripper finger unit according to one embodiment of the present invention.

[0047] FIG. 8 and FIG. 9 are schematic partial operation state diagrams of a gripper cam unit of a gripper finger unit according to one embodiment of the present invention.

[0048] FIG. 10 and FIG. 11 are schematic partial operation state diagrams of a gripper cam unit of a gripper finger unit according to a modified example of one embodiment of the present invention.

[0049] FIG. 12 is a partial state diagram of a cam profile of a gripper cam unit of a gripper finger unit according to one embodiment of the present invention.

[0050] Fig. 13 is a diagram showing the operating state of the gripper finger unit according to the cam profile of Fig. 12.

[0051] FIGS. 14 to 24 are schematic perspective views, partially enlarged front views, partially enlarged side views, etc. of gripper finger units according to other examples of the present invention.

[0052] Figures 25 to 28 are configuration diagrams of variations of the cam profile of a gripper finger unit according to another example of the present invention.

[0053] Figures 29 to 30 are operation state diagrams of a gripper finger unit according to another example of the present invention.

[0054] Figures 31 to 39 are diagrams showing the configuration and operating status of a gripper finger unit according to another example of the present invention.

[0055] Figures 40 to 42 are structural diagrams of the layout of a gripper finger unit according to another example of the present invention.

[0056] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when assigning reference numerals to components in each drawing, it should be noted that, where possible, identical components are assigned the same reference numerals even if they appear in different drawings. Furthermore, when describing the present invention, detailed descriptions of known related structures or functions will be omitted if they are deemed to obscure the gist of the present invention.

[0057]

[0058] A gripper finger unit (10) according to one embodiment of the present invention includes a base (2), a gripper linkage (100), a gripper transfer module (600), and a gripper cam unit (700). The gripper module (1) may be configured through a configuration including an entire end effector or control unit including the gripper finger unit (10). That is, the gripper module (1) includes the gripper finger unit (10) of such a configuration, and may further include other separate components.

[0059] In some cases, the gripper finger unit (10) or gripper module (1) may further include a gripper actuator (200). In this embodiment, the case where the gripper actuator (200) is further provided will be described. Here, the gripper actuator (200) refers to a component that forms the kinematic behavior of the gripper finger unit (10) and generates a gripping force for implementing a gripping motion of a gripping object (P). This may be configured to be included in the gripper finger unit (10) or externally disposed as a separate component, and various modifications are possible depending on the design specifications.

[0060] The base (2) serves as a housing function as a frame for implementing the linkage operation of the gripper finger unit (10).

[0061] The base (2) may be configured as a fixed base on the ground, or may take on a separate movable support structure to form a structure that forms the skeleton of the end effector. Various modifications are possible depending on the design specifications. However, the base (2) in this embodiment will be described mainly in the case where it functions as a housing of the gripper finger unit (10) as an end effector.

[0062] The base (2) performs a predetermined support or mass function to enable the formation of a stable support structure for the gripper finger unit (10) placed thereon. The base (2) performs a housing function as an overall support structure for the gripper finger unit (10), and the base (2) of the gripper finger unit (10) as an end effector can be connected to other links of the robot to realize the overall function of the robot.

[0063] In this embodiment, the base (2) includes base bodies (2a, 2b) and a base spacer (2c). The base bodies (2a, 2b) are spaced apart from each other, and the base spacer (2c) is placed between them to form a space for placing or operating other components. In addition to the base bodies (2a, 2b) and the base spacer (2c), a structure may be adopted in which separate parts are provided to fix the positions of other components.

[0064] At least a portion of the base body (2a, 2b) may be formed with at least a portion of the gripper cam unit (700) described below.

[0065]

[0066] In this embodiment, the gripper module (1) and the gripper finger unit (10) are described mainly in the case where they have a structure that can be attached to and detached from other members.

[0067] The gripper linkage (100) includes a base link portion (110), an outer link portion (120), an inner link portion (140), and a gripper link portion (150). The base link portion (110), the outer link portion (120), the inner link portion (140), and the gripper link portion (150) may have a simple link structure, or may have a predetermined modified structure according to design specifications.

[0068] The base link portion (110), the outer link portion (120), the inner link portion (140), and the gripper link portion (150) have a link connection structure that is rotatable relative to each other. More specifically, the base link portion (110) and the inner link portion (140) have a configuration that is rotatable relative to each other with respect to the base inner joint (JBI), the base link portion (110) and the outer link portion (120) have a configuration that is rotatable relative to each other with respect to the outer base joint (JOB), the outer link portion (120) and the gripper link portion (150) have a configuration that is rotatable relative to each other with respect to the gripper outer joint (JGO), and the gripper link portion (150) and the inner link portion (140) have a configuration that is rotatable relative to each other with respect to the inner gripper joint (JIG). The base link portion (110), the outer link portion (120), the inner link portion (140), and the gripper link portion (150) are connected to each other through a link connection structure that allows relative rotation, thereby completing the configuration of the gripper linkage (100).

[0069] More specifically, the base link portion (110) is movably positioned on the base (2). In the present embodiment, the base link portion (110) takes the form of being integrated into a moving block movably positioned on the base (2) that functions as a housing. The base link portion (110) has a structure that is integrated or movably connected to a component of a gripper transfer module (600) described below in the form of a moving block.

[0070] The base link portion (110), the outer link portion (120), and the inner link portion (140) are connected to each other at an outer base joint (JOB) and a base inner joint (JBI) so as to be able to rotate relative to each other. In the present embodiment, the outer base joint (JOB) and the base inner joint (JBI) formed in the base link portion (110) are spaced apart from each other to form a linkage structure that is able to rotate relative to each other.

[0071] The outer base joint (JOB) and the base inner joint (JBI) are located in the base link portion (110). In the present embodiment, the outer base joint (JOB) and the base inner joint (JBI) are located spaced apart from each other, so that the base link portion (110) can operate as one link element of one multi-joint linkage structure.

[0072]

[0073] A joint connection structure is formed between the base link portion (110), the outer link portion (120), and the inner link portion (140) in the outer base joint (JOB) and the base inner joint (JBI). Relative rotation between the base link portion (110), the outer link portion (120), and the inner link portion (140) is possible in the outer base joint (JOB) and the base inner joint (JBI).

[0074] The outer link part (120) is connected to the base link part (110) so as to be rotatably connected with the outer base joint (JOB) as the center. That is, one end of the outer link part (120) is connected to one side of the base link part (110) so as to be rotatably connected with the outer base joint (JOB) as the center axis of rotation. At least a part of the gripper cam unit (700) described below, that is, the gripper cam follower (720), is arranged in the outer link part (120) and performs a motion of relative rotation with respect to the base link part (110) when the outer link part (120) rotates. Here, the outer link part (120) may have a single straight link structure in the present embodiment, or may have a multiple link structure as the case may be, and various modifications are possible.

[0075]

[0076] The inner link portion (140) is connected at one end to the base inner joint (JBI). That is, one end of the inner link portion (140) is connected to the base link portion (110) with the base inner joint (JBI) as the center. One end of the inner link portion (140) and one end of the base link portion (110) are configured to be able to rotate relative to each other with the base inner joint (JBI) as the center.

[0077] At this time, the inner link part (140) is arranged toward the gripping target object (P). Here, the gripping target object (P) refers to an object that a user wants to grip, move a position, and implement a predetermined motion in a gripping state through a gripper module (1) having a gripper finger unit (10). At least one surface of the inner link part (140) is arranged to face the gripping target object (P). The inner link part (140) may have a single straight link structure in the present embodiment, or may have a multiple link structure as the case may be, and various modifications are possible.

[0078] The gripper link portion (150) is connected to the outer link portion (120) and the inner link portion (140). That is, one side of each end of the gripper link portion (150) is connected to the other side of the outer link portion (120) so as to be rotatably connected with the gripper outer joint (JGO) around the gripper outer joint, and the other side of each end of the gripper link portion (150) is connected to the other side of the inner link portion (140) so as to be rotatably connected with the other side of the inner link portion (140).

[0079] The gripper link portion (150) may include a gripper link body (151) and a gripper link body extension (153). The connection between the outer link portion (120) and the inner link portion (140) is made through the gripper link body (151), and the gripper link body extension (153) is formed to extend to an end of the gripper link body (151).

[0080] As illustrated in FIGS. 4 and 5, the gripper link body extension (153) is arranged on the end side of the gripper link body (151) facing the inner link portion (140). In some cases, as described below, a gripper link body extension pad (155) may further be included on one side of the gripper link body extension (153). The gripper link body extension pad (155) may also prevent unnecessary damage when in contact with the gripping target (P).

[0081]

[0082] Each of these link parts forms a gripper linkage (100) through a joint. In this embodiment, the gripper linkage (100) basically takes a 4-section link structure, but in some cases, it can be implemented as a multi-section link, such as a 5-section link structure or a 6-section link structure, and various other modifications are possible.

[0083] The gripper actuator (200) generates a gripper driving force that operates the gripper linkage (100). The gripper actuator may have a structure for transmitting a rotational driving force using pneumatic pressure, may transmit the rotational driving force through a non-contact magnetic body, or may be implemented with a separate electric motor, and various other configurations are possible, within the scope of generating a gripper driving force that operates the gripper linkage (100) and transmitting it to one end of the base link portion (100). However, in order to facilitate understanding of the present invention, the gripper actuator (200) in this embodiment is described with a focus on a case where it is implemented with an electric motor, but the present invention is not limited thereto.

[0084] The gripper actuator (200) can have a structure that matches one-to-one with the gripper finger unit (10), or can have a structure that matches one-to-many, and so on, and various modifications are possible. In the present embodiment, the driving force flowing from the gripper actuator (200) is simultaneously transmitted to two gripper linkages (100) through a single gripper transfer module (600). However, the present invention is not limited thereto, and various modifications are possible, such as a structure in which the gripper linkage (100) matches individual gripper actuators.

[0085]

[0086] In some cases, as shown in the drawing, the gripper actuator (200) may include a gripper actuator driver (210) and a gripper actuator reducer (220), and the driving force output through the gripper actuator output shaft connected from the gripper actuator driver (210) or the gripper actuator reducer (220) is transmitted to the base link unit (110). In addition, various configurations are possible, such as in some cases, the gripper actuator output shaft may not be directly connected to the base link unit (110), but may be connected through a separate transmission element for direct or indirect connection.

[0087]

[0088] In addition, the gripper finger unit (10) of the present invention includes a gripper transfer module (600). The gripper transfer module (600) is located on the base (2). One side of the gripper transfer module (600) is directly or indirectly connected to the gripper actuator (200) side to receive a driving force generated by the gripper actuator (200).

[0089] The gripper linkage (100) described above forms a multi-section link structure in which one end is connected to the gripper transfer module (600) and the other end is capable of contacting a gripping object. More specifically, the other end of the gripper transfer module (600) is connected to the base link unit (110). In the embodiment of FIG. 5, the base link unit (110) is configured to be integrally connected to the gripper transfer module (600), so that the driving force is transmitted to the base link unit (110) by the operating motion of the gripper transfer module (600), and the link rotation or translational motion of the outer link unit (120) and the inner link unit (140) is formed through the base link unit (110), and ultimately, the kinematic behavior of the gripper linkage (100) for the gripping motion of the gripping object (P) through the gripper link unit (150) is formed.

[0090] By performing the kinematic operation of the gripper linkage (100) including the outer link portion (120) and the inner link portion (140) connected to the joint of the base link portion (110) by the behavior of the gripper transfer module (600), the driving force input through the gripper transfer module (600) can ultimately provide a gripping force for implementing a gripping operation of a gripping target object through the gripper link portion (150).

[0091]

[0092] More specifically, in this embodiment, the gripper transfer module (600) provides a linear driving force through a linear block and linear guide structure, but various modifications are possible within the range of ultimately transmitting the driving force through linear movement.

[0093] The gripper transfer module (600) includes a transfer shaft (610), a transfer shaft counterpart (620), and a transfer guide (630).

[0094] The transfer shaft (610) receives driving force, and when a configuration including a gripper actuator unit (200) is adopted, the transfer shaft (610) is directly or indirectly connected to the gripper actuator unit (200) and receives the driving force generated from the gripper actuator unit (200). The transfer shaft (610) is arranged to be axially rotatable on the base (2).

[0095] A base link portion (110) is arranged in the transfer shaft counterpart (620), and the transfer shaft counterpart (620) is interlocked with the transfer shaft (610) so as to be relatively movable. The transfer shaft counterpart (620) includes a transfer module body (621) and a transfer module block (623). The transfer module body (621) and the transfer module block (623) can be formed by individually assembling them or formed as one piece, and various other options are possible.

[0096] The transfer module body (621) is movably engaged with the transfer shaft (610), so that when the transfer shaft (610) rotates, the transfer module body (621) moves along the longitudinal direction of the transfer shaft (610).

[0097] The transfer module block (623) is connected to the transfer module body (621) and moves together when the transfer module body (621) moves in a straight line. The transfer module block (623) is connected to the base link unit (110). In the present embodiment, the base link unit (110) has a structure that is formed integrally with the transfer module block (623), and is indicated by a dotted line in the drawing. As described above, the base link unit (110) is connected or arranged in the transfer module block (623). In the present embodiment, the base link unit (110) is formed integrally with the transfer module block (623), so that each outer base joint (JOB) and base inner joint (JBI) of the base link unit (110) are located in the transfer module block (623).

[0098] The transfer guide (630) guides the movement of the base link portion (110), and at least a portion of the transfer guide (630) is positioned and fixed on the base (2). The transfer guide (630) includes a transfer guide rail (631) and a transfer guide rail corresponding portion (633). The transfer guide rail (631) is positioned on the base (2). The transfer guide rail (631) has a preset length and is positioned and fixed on the base body (2a, 2b) of the base (2).

[0099] The transfer guide rail counterpart (633) is located in the transfer shaft counterpart (620). The transfer guide rail counterpart (633) is configured to movably engage with the transfer guide rail (631).

[0100] The transfer rail counterpart (633) is movably engaged with the transfer guide rail (631). Through this configuration, the transfer shaft (610) of the gripper transfer module (600) performs a rotational motion by the driving force generated and input from the gripper actuator portion (200), and the transfer shaft counterpart (620) located on the rotating transfer shaft (610) is moved to perform a rotational or translational motion of the base link portion (110), thereby forming the kinematic behavior of the gripper linkage (100). At this time, the motion is guided along the transfer guide rail counterpart (633) formed on the transfer shaft counterpart (620) and the transfer guide rail (631) located on the base body (2a, 2b), thereby enabling the implementation of a stable gripper linkage motion.

[0101] That is, the position of the base link unit (110) changes as the transfer module body (621) and the transfer module block (623) of the transfer shaft counterpart (620) are operated. At this time, the outer link unit (120) and the inner link unit (140) are connected to each other so as to be able to rotate relative to each other around the outer base joint (JOB) and the base inner joint (JBI) of the base link unit (110), which are spaced apart from each other, and the gripping motion with the gripper target object can be executed through the mechanical behavior of the gripper link unit (150) connected around the gripper outer joint (JGO) and the inner gripper joint (JIG).

[0102]

[0103] Meanwhile, the gripper finger unit (10) of the present invention includes a gripper cam unit (700). A part of the gripper cam unit (700) is disposed on the base (2) side, and another part is disposed on the gripper linkage unit (100) to engage with the part and allow the movement of the gripper linkage unit (100) to be performed within a preset range.

[0104] More specifically, the gripper cam unit (700) includes a cam profile (710) and a cam follower (720). The cam profile (710) is formed on the base (2) side, and the cam profile (710) may be configured as a predetermined recessed or protruding element. The cam follower (720) is positioned on the gripper linkage (100) and can come into contact with the cam profile (710).

[0105] The cam follower (720) is implemented as a predetermined roller in this embodiment, and various selections are possible within the range of implementing a predetermined guide function through contact. As illustrated in FIG. 7A, the cam follower (720) may include a cam follower roller (721) and a cam follower roller shaft (723). The cam follower roller (721) is arranged in the outer link portion (120) or the inner link portion (140), and one end of the cam follower roller shaft (723) is arranged in the outer link portion (120) or the inner link portion (140), and the other end of the cam follower roller shaft (723) is connected to the cam follower roller (721). The cam follower roller (721) is rotatably arranged on the cam follower roller shaft (723), and the cam follower roller shaft (723) may have a structure capable of a predetermined elastic deformation, thereby enabling formation of a pressurized contact state between the cam follower roller (721) and the cam profile (710).

[0106] The cam profile (710) and cam follower (720) of the gripper cam unit (700) of the present invention may be single or multiple. In the present embodiment, multiple cam followers (720) are respectively arranged in the outer link portion (120) and the inner link portion (140), and cam profiles (710) of individual or integrated shapes are arranged in corresponding positions of the base body (2a).

[0107] Through the interlocking contactable movable structure of the cam follower (720) and cam profile (710) as described above, a preset kinematic behavior in which the movement of the gripper linkage (100) is limited or restrained can be formed.

[0108] Here, the cam profile (710) can be varied in various ways according to the design specifications. In the present embodiment, the cam profile (710) includes a curved movable profile. FIGS. 6 to 9 illustrate the cam profile (710) of the curved movable profile. In the present embodiment, the cam profile (710) implemented as the curved movable profile has cam followers (720) respectively arranged on the outer link portion (120) and the inner link portion (140) formed in contact and guided, thereby enabling smooth rotation and translational motion of the gripper linkage (100). At this time, the behavior of the gripper link portion (150) implements a parallel gripping motion in a parallel state. As shown in (a) to (c) of FIG. 8, a parallel gripping motion is performed through a change in the gap (wo > wm > wi) indicated by the drawing symbols wo, wm, and wi between the gripper link body extension pads (155) of the two gripper link parts (150).

[0109] As illustrated in Fig. 9, the transfer shaft counterpart (620) forms a straight or vertical movable state along the transfer shaft (610), and the base link portion (110) integrally positioned with the transfer shaft counterpart (620) also moves together. The outer link portion (120) and the inner link portion (140) movably connected to the base link portion (110), and the gripper link portion (150) connected thereto perform the movable motion. In the present embodiment, the movement of the gripper link portion (150) is guided through the contact guide of the cam follower (720) and the cam profile (710) located in the outer link portion (120) and the inner link portion (140). At this time, the cam profile (710) forms a curved movable profile. The point of the gripper outer joint (JGO) is indicated by the drawing symbol A, the point of the cam follower (720) is indicated by B(x,y), and the outer link portion (120) having a length (L) forms an inclination angle (θ) and implements a rotational or translational motion. If the positional relationship between them on the xy coordinate plane is expressed as shown in (a) to (c) of FIG. 9, the curved motion profile of the cam profile (710) can take the form of a parabola, an ellipse, a quadratic curve, etc.

[0110] When the point of the cam follower (720) moves to the point indicated by the drawing symbol B' at B(x,y), the gap between the gripper link body extension pads (155) gradually decreases in the order of the drawing symbols wo, wm, and wi, and in this process, a predetermined parallel gripping motion can be realized.

[0111] The cam profile (710) of the present invention can be modified in various ways other than a curved movable profile for a parallel gripping motion. As shown in (a) and (b) of FIGS. 10 and 11, a composite movable profile can be configured, which forms a composite movable structure that enables the implementation of a simple parallel opening motion of the gripper linkage (150), an approaching motion for approaching a gripping object, and an open and retraction motion as an opening and retraction motion for accommodating the gripping object.

[0112] A cam profile (710) having an approaching operating profile guides the gripper link portion (150) toward the gripping target object, and a cam profile (710OR) having an open and retraction operating profile guides the gripper link portion (150) away from the longitudinal center line and away from the gripping target object.

[0113] That is, in (a) of FIG. 10, the gripper link body extension pad (155) is shown in a state where the driving force is not applied and the closest state is shown, in (b) of FIG. 10, the partial simple parallel opening operation state of the gripper link body extension pad (155) through the cam profile (710HO) is shown, in (a) of FIG. 11, the approaching operation state in which the gripper link body extension pad (155) through the cam profile (710AP) approaches the gripping target (not shown) is shown, and in (b) of FIG. 11, the open and retraction operation state in which the gripper link body extension pad (155) through the cam profile (710OR) is opened significantly to accommodate the gripping target (not shown) and at the same time retracts rearward to prevent interference with the gripping target is shown.

[0114] Cam profiles can enable the implementation of complex motions, which can be a combination of simple straight-line motion structures in addition to curves, or various combinations of straight-line and curved motion structures.

[0115] The straight movable profile includes a vertical movable sub-profile and a horizontal movable sub-profile, wherein the vertical movable sub-profile is formed in a longitudinal direction toward the gripping target, and the horizontal movable sub-profile is formed perpendicular to the vertical movable sub-profile. However, the terms horizontal, vertical, curved, etc. herein are terms used to describe the behavior of the end effector end for gripping an actual gripping target, such as a gripper link portion (150) or a gripper link body extension pad (155), and do not refer to the shape of the actual cam profile, such as a straight line or curve.

[0116] Fig. 12 illustrates a cam profile (710H) ​​having a horizontally movable sub-profile for implementing horizontal and vertical motion states and a cam profile (710V) having a vertically movable sub-profile. In this case, the cam profile (710H) ​​forms part of an elliptical profile, but the motion of the gripper link body extension pad (155) ultimately implemented through the kinematic motion of the gripper linkage (100) achieves horizontal motion.

[0117] FIG. 13 shows the operating state of the gripper linkage (100) that performs the approaching motion, horizontal gripping motion, and closing motion of the gripper link body extension pad (155) guided through the cam profile (710H, 710V) of FIG. 12 by the driving force transmitted through the gripper transfer module (600).

[0118] (a) and (b) of FIG. 13 illustrate the before and after states of the approaching operation of the gripper link body extension pad (155) approaching the gripping target through the cam profile (710V), and (b) and (c) of FIG. 13 illustrate the operation state of gripping the gripping target through the cam profile (710H) ​​or forming the closed state of the gripper link body extension pad (155).

[0119]

[0120] Meanwhile, in the preceding embodiments, the link parts constituting the gripper linkage (100), for example, the inner link part (140), took a simple single link structure, but the inner link part (140) of the present invention is not limited to this and various modifications are possible. That is, the inner link part (140) of the present invention is not limited to a single link structure and may have a plurality of link structures.

[0121] In this case, the inner link part (140) includes a plurality of inner sub-links (141) and one or more inner sub-joints (Jsi), and the inner sub-joints (Jsi) connect the plurality of inner sub-links (141). Here, the plurality of inner sub-links may have a difference in structure, such as a straight line or a curvature, or may have a configuration having different length aspects, and each inner sub-link (141) is connected by the inner sub-joint (Jsi), and there is a difference in configuration in that the end of one inner sub-link (141) is arranged and connected toward the gripper link part, and the other is arranged and connected toward the base link part (110). However, in the present invention, the same drawing reference numerals are given to the plurality of inner sub-links in order to focus on understanding the configuration.

[0122] The inner link section (140) operates as a multi-link structure of a plurality of inner sub-links (141) at least some of which are rotatably connected by one or more inner sub-joints (Jsi).

[0123] At this time, when a plurality of inner sub-links (141) are configured as two, the gripper linkage (100) including the base link portion (110), the outer link portion (120), and the gripper link portion (150) may operate like a 5-section link.

[0124] FIGS. 14 to 30 illustrate a plurality of inner sub-links as schematic variations of the gripper finger unit (10) of the present invention.

[0125] As illustrated in FIGS. 14 and 15, one end of one of the plurality of inner sub-links (141) is connected to the gripper link portion (150) through an inner gripper joint (JIG), and the other end of one of the plurality of inner sub-links (141) is connected to one end of another inner sub-link (141) through an inner sub-joint (Jsi). And the other end of another inner sub-link (141) is connected to the base link portion (110) through a base inner joint (JBI). Of course, even in the case of a modification of the present embodiment, the base link portion (110) is formed integrally with the transfer shaft counterpart (620), and the base link portion (110) is illustrated in a dotted line in FIGS. 14 and 15, which is the same as in the previous embodiment. As in the previous case, the transfer shaft counterpart (620) includes a transfer module body (621) and a transfer module block (623), and the transfer module body (621) is movably engaged with the transfer shaft (610), so that the transfer shaft (610) rotates axially, thereby causing the transfer module body (621) to move along the longitudinal direction of the transfer shaft (610), and the transfer module block (623) is connected to the transfer module body (621) and moves together when the transfer module body (621) moves in a straight line. As described above, the base link portion (110) is connected or arranged in the transfer module block (623), and the gripper linkage (100) is mechanically operated through the gripper link portion (150) and the outer link portion (120) and the inner link portion (140) connected to each outer base joint (JOB) and base inner joint (JBI) of the base link portion (110), respectively. At this time, the inner link portion (140) ultimately forms a five-section link structure through the connection of two inner sub-links (141).

[0126] In addition, in the case of the present embodiment, the gripper link part (150) includes a gripper link body (151), a gripper link body extension (153), and a gripper link body extension pad (155). In the case of the present embodiment, the gripper link body extension pad (155) may be configured to be linked with the gripper link body extension (153). The gripper link body extension pad (155) includes an extension pad body (155a) and an extension pad contact portion (155b), and the extension pad body (155a) is linked with the extension link body extension (153). An extension pad contact portion (155a) is formed at the tip of the extension pad body (155a). The extension pad contact portion (155a) may be made of a predetermined elastic material, and a component that prevents damage to the gripping object during the gripping operation may be selected. The extension pad body (155a) of the gripper link body extension pad (155) is connected to the gripper link body extension (153) and the gripper joint (JG) formed at the end of the gripper link body (151). At this time, when the connection between the gripper link body extension (153) and the gripper link body extension pad (155) is formed with the gripper joint (JG) as the center, the gripper joint elastic part (154) is arranged between them to provide a preset elastic force between the gripper link body extension (153) and the gripper link body extension pad (155). When the gripper link body extension pad (155) comes into contact with the gripping object, a predetermined elastic position change is achieved between the gripper link body extension (153) and the gripper link body extension pad (155), but excessive relative rotation is prevented, thereby enabling a stable gripping operation to be implemented.

[0127] Of course, a stopper may be provided on the gripper joint (JG), so that the relative rotation angle of the gripper link body extension (153) and the gripper link body extension pad (155) can be limited.

[0128]

[0129] In some cases, a separate configuration may be further provided to restrict the relative rotation between the inner sub-links (141) centered on the inner sub-joint (Jsi). That is, the inner sub-link portion (140) may include a separate component for restricting the rotation of the plurality of inner sub-links (141; 141a, 141b), and in the present embodiment, the inner sub-link portion (140) includes an inner link stopper (145). The inner link stopper (145) allows only one-way rotation between the plurality of inner sub-links (141). More specifically, the inner link stopper (145) as an example of the present embodiment includes an inner link stopper protrusion (1451) and an inner link stopper protrusion corresponding portion (1453). The inner link stopper (145) can be respectively arranged on two adjacent inner sub-links (141) among the plurality of inner sub-links (141) that are interconnected. The inner link stopper protrusion (1451) is formed on one side of one of the inner sub-links (141), and the inner link stopper protrusion corresponding portion (1453) is formed on the other side of the inner sub-link (141). At this time, the inner link stopper protrusion corresponding portion (1453) can be engaged with the inner link stopper protrusion (1451) within a preset angle range.

[0130] As shown in the drawing, an inner link stopper protrusion (1451) is arranged at one end of one of two inner sub-links (141; 141a, 141b) that are interconnected through an inner sub-joint (Jsi), and an inner link stopper protrusion corresponding portion (1453) is arranged at one end of the other inner sub-link. When the two inner sub-links (141) are deployed 180 degrees around the inner sub-joint (Jsi), the inner link stopper protrusion (1451) and the inner link stopper protrusion corresponding portion (1453) come into contact with each other, thereby preventing the two inner sub-links (141; 141a, 141b) from being deployed more than 180 degrees.

[0131] Additionally, the inner link stopper (145) includes an inner link stopper chamfer portion (1452), which is located on one of a plurality of interconnected inner sub-links (141) and allows relative rotation between the plurality of inner sub-links (141).

[0132] The inner link stopper chamfer portion (1452) is positioned on the inner sub-link (141) where the inner link stopper protrusion (1451) is arranged and has a predetermined chamfered groove-type structure so that interference with the inner link stopper protrusion corresponding portion (1453) of another adjacent inner sub-link (141) is eliminated, ultimately allowing relative rotation between the two inner sub-links (141; 141a, 141b).

[0133] This inner link stopper chamfer portion (1452) is not only located on the inner sub-link (141) where the inner link stopper protrusion (1451) is arranged, but can also be formed on the inner sub-link (141b) side where the inner link stopper protrusion corresponding portion (1453) is formed, and various selections are possible depending on the design specifications.

[0134] Meanwhile, the inner link part (140) of the present invention may further include a separate component that restricts the operation of the inner sub-link (141) under certain conditions. The inner link part (140) may include an inner link support part (500). The inner link support part (500) prevents the relative rotation of a plurality of inner sub-links (141) with a preset supporting force. In the drawing, the inner link support part (500) is illustrated as being arranged on the opposite side of the gripping target (P), but the arrangement position may be selected in various ways within a range that excludes interference during the gripping operation of the gripping target (P).

[0135] In one embodiment of the present invention, the inner link support member (500) may be formed of an elastic body. That is, one end of the inner link support member (500) is connected to an inner sub-link (141a) indicated by drawing reference numeral 141a, and the other end of the inner link support member (500) is connected to an inner sub-link (141b) indicated by drawing reference numeral 141b.

[0136] When a second stage operation of a link bending gripping motion is performed toward a gripping target (P) by relative rotation between the inner sub-link (141a) and the inner sub-link (141b) centered on the inner sub-joint (Jsi) through a kinematic behavior through another link portion of the gripper linkage (100), a force greater than a preset value set in the inner link support portion (500) must be applied to the inner sub-link (141a) and the inner sub-link (141b) so that deformation of the inner link support portion (500) occurs, thereby performing the second stage operation of the gripper linkage (100) through the relative rotation between the inner sub-link (141a) and the inner sub-link (141b).

[0137] This inner link support part (500) can be of various types, such as a plate spring or a torque spring placed on the inner sub-joint (Jsi).

[0138] Meanwhile, the inner link support portion (500) may have a configuration in which physical restraint is performed. That is, at least a portion of the inner link support portion (500) may be a magnetic material.

[0139] The inner link support part (500) includes an inner link support fixed part (510) and an inner link support movable part (520). The inner link support fixed part (510) is located on one of a plurality of inner sub-links (141), and the inner link support movable part (520) is located on another of the plurality of inner sub-links (141) at a position corresponding to the inner link support fixed part (510). The inner link support movable part (520) has a structure that is detachable from the inner link support fixed part (510).

[0140] That is, as shown in the drawing, when the non-operation or first-stage operation is performed, the inner link support fixed part (510) and the inner link support movable part (520) do not perform relative rotation, and the inner link support movable part (520) and the inner link support fixed part (510) form an arrangement state in which they are in contact with each other or maintain a constant distance from each other by magnetic force. Thereafter, a second-stage operation in which relative rotation occurs between the inner sub-links (141, 142) can be performed by transmitting a force greater than a preset value through another component of the gripper linkage (100).

[0141]

[0142] FIG. 16 and FIG. 17 illustrate the state of the gripper link body extension (153) of the gripper finger unit (10) before and after contact with an external object. The gripper finger unit (10) of FIG. 16 forms a state in which the gripper link body extension (153) comes into contact with the external object (OBS). At this time, the positional change of the gripper transfer module (600) of the gripper finger unit (10) of FIG. 16 and FIG. 17 does not occur, and only a positional change of the size indicated by the drawing symbol T is formed from the point indicated by the drawing symbol Po1 to the point indicated by the drawing symbol Po2. That is, when a pressing force for causing the positional change of the gripper finger unit (10) is formed in the gripper link body extension (153), the rigid state between the inner sub-links (141) is maintained by the inner link support portion (500). Then, when the pressurized state due to the position movement continues to exceed the preset holding force of the inner link support part (500), a predetermined deformation or buckling state is formed in the inner link support part (500). Accordingly, when the gripper linkage (100) moves in a straight line or vertically in the drawing, relative rotation is allowed between the plurality of inner sub-links (141), thereby preventing damage due to the reaction force applied to other mechanical parts, i.e., the gripper linkage (100) and the gripper transfer module (600).

[0143] FIGS. 18 and 19 illustrate changes in response to pressurization due to contact from the side. First, after contact with an external object (OBS) from the outside of the side, a relative displacement formation process in which the external object (OBS) moves or moves in the direction of the external object (OBS) occurs, but in this embodiment, no change in the position of the gripper transfer module (600) occurs. At this time, when an external force is continuously formed on the outer link part (120) by continuous pressing and an external force greater than the initial preset value of the inner link support part (500) located on the inner sub-link (141) side that is mechanically connected is applied, the inner link support part (500) buckles or deforms, causing rotation of the inner sub-link (141) and ultimately causing rotation of the outer link part (120), thereby forming a kinematic deformation of the gripper linkage (100).

[0144] FIGS. 20 to 24 illustrate the operational state of the gripper cam unit (700) in the case of vertical and lateral contact as in FIGS. 16 to 19. In this case, the gripper cam unit (700) includes a plurality of cam rollers (710), and each cam roller (710; 710i, 710o) is arranged in both the outer link portion (120) and the inner link portion (140). FIG. 20 illustrates the state of the cam roller (710; 710i, 710o) in a state in which no external force is generated due to contact with an external object (OBS). In the case of Fig. 21, when the applied external force due to a side collision or contact as in Figs. 18 and 19 deviates from the initial setting value of the inner link support portion (500), the kinematic position of the outer link portion (120) changes, thereby forming a displacement of the cam roller (710o) located in the outer link portion (120), thereby releasing the contact state with the cam profile (710). In the case of Fig. 22, as in Figs. 16 and 17, a folding buckling state of the inner sub-link located in the inner sub-link (141) due to vertical pressure is formed, thereby changing the kinematic behavior of the gripper linkage (100), and releasing the contact state between the cam roller (710i) located in the inner sub-link (141) and the cam profile (720).

[0145] FIG. 23 and FIG. 24 illustrate a fully released state and a partially contacted state of the cam roller (710) and the cam profile (720). As in FIG. 23, in the case of a fully released state of the cam roller (710) and the cam profile (720), even if the gripper linkage (100) undergoes a kinematic change due to an external force to form a contact state between the gripper linkage (150) and the gripping object (P), a supporting force is not formed, making it impossible to implement a gripping motion of the gripping object (P). On the other hand, as in FIG. 24, when at least a partial contact state is formed between the cam roller (710) and the cam profile (720), a supporting force is formed, making it possible to implement a gripping motion of the gripping object (P) when a contact state is formed between the gripper linkage (150) and the gripping object (P).

[0146]

[0147] On the other hand, in the previous embodiments, in the contact structure of the cam roller (710) and the cam profile (720), the cam profile (720) took a structure in which a substantial negative shape was formed on the base body (2a), but the cam profile (720) of the present invention can be variously modified within the range of contact with the cam roller (710).

[0148] Figures 25 and 26 illustrate a structure in which a cam profile (720) formed of individual elements is positionally mounted on a base body (2a). In this embodiment, the cam profile (720) is implemented in a loop type, a cam profile contact surface (721) is formed on the inner surface of the cam profile (720), and a contact structure is formed between the cam profile contact surface (721) and the cam roller (710).

[0149] The position of the cam profile (720) can be selected in various shapes according to the design specifications, and various changes in the behavioral structure of the gripper link part (150) are possible according to the change in position.

[0150] In addition, the cam profile of the present invention may form a variable structure rather than a fixed structure. That is, as illustrated in FIGS. 27 and 28, the cam profile (720) includes a cam profile variable element (723), and the cam profile variable element (723) has a cam profile variable hinge (7231) on the base body (2a), and a cam profile variable element contact portion (7235) is disposed on one side of the cam profile variable hinge (7231). A separate motor is provided in the cam profile variable hinge (7231) of the cam profile variable element (723), so that the rotational state of the cam profile variable element (723) through the cam profile variable hinge (7231) can be adjusted. Various modifications of the cam profile contact structure are possible depending on the rotation angle of the cam profile variable element (723), and although the cam profile variable element (723) in the present embodiment is illustrated as a straight simple link structure, the present invention is not limited thereto, and various selections are possible, such as a curved structure.

[0151] Through continuous deformation of the cam profile variable element contact portion (7235) and the cam profile contact surface (721), it is possible to form a cam profile continuous structure that meets the design specifications.

[0152] Fig. 29 shows a grip operation state diagram for a grip target (P) in a parallel grip operation state, and Fig. 30 shows an adaptive variable structure formed through relative rotation between a plurality of inner sub-links of an inner link part along with a parallel grip operation, thereby enabling a smoother grip state implementation of the grip target (P).

[0153]

[0154] Meanwhile, the gripper finger unit (10) of the present invention has a structure having a plurality of inner sub-links in the inner link portion (120) in the previous embodiment, but the present invention is not limited thereto, and the outer link portion (120) may also have a plurality of link structures.

[0155] FIG. 31 illustrates a detailed configuration of a gripper finger unit, and FIG. 31a (a) to (d) illustrate operation states from an open state to a closed state of a gripper finger unit (10) having an outer link portion (120) including a plurality of outer sub-links (121, 122) in the gripper finger unit of FIG. 31. The same components as in the previous embodiments are given the same drawing reference numerals, and any duplicate descriptions are replaced with those described above, focusing on components of the outer link portion (120) that have differences. In this embodiment, two gripper linkages (100) are arranged to face each other, and the gripper link portion (150) of the gripper linkage (100) includes a gripper link body (151), a gripper link body extension (153), and a gripper link body extension pad (155). The mutual spacing of the gripper link body extension pads (155) arranged to face each other reaches a closed state of (d) through a state indicated by the drawing symbol wo of (a) through wmi, wm2 of (b) and (c), forming a relationship of wo>wm1>wm2>0.

[0156] Here, the outer link portion (120) is composed of outer sub-links (121, 122), and among the outer sub-links (121, 122), the outer sub-link (122) indicated by the drawing symbol 122 takes the form of a triangular link, which is in accordance with the requirements of the mechanical configuration in order to form a practical 6-section link type linkage structure, and various configurations are possible according to the design specifications. In the present embodiment, the outer sub-link (122) of the triangular link structure has a portion corresponding to one vertex of the triangle shape connected to the outer base joint (JOB) of the base link (110), a portion corresponding to the other vertex is connected to another outer sub-link (121) at the outer sub-joint (Jso), and the other end of the outer sub-link (121) is connected to the gripper link portion (150) at the gripper outer joint (JGO).

[0157] At this time, the outer link part (120) of the present invention may further include a separate component that restricts the operation of the outer sub-links (121, 122) under certain conditions. The outer link part (120) may include an outer link support part (800). The outer link support part (800) prevents the relative rotation of a plurality of outer sub-links (121, 122) with a preset supporting force. In the drawing, the outer link support part (800) is illustrated as being arranged on the opposite side of the gripping target (P), but the arrangement position may be selected in various ways within a range that excludes interference during the gripping operation of the gripping target (P).

[0158] In one embodiment of the present invention, the outer link support member (800) may be composed of an elastic body. That is, one end of the outer link support member (800) is connected to the outer sub-link (121), and the other end of the outer link support member (800) is connected to the outer sub-link (122).

[0159] When a second stage operation of a link bending gripping motion is performed toward a gripping target (P) by relative rotation between the outer sub-link (121) and the outer sub-link (122) centered on the outer sub-joint (Jso) through a kinematic behavior through another link portion of the gripper linkage (100), a force greater than a preset value set in the outer link support portion (800) must be applied to the outer sub-link (121a) and the outer sub-link (121b) so that deformation of the outer link support portion (800) occurs, thereby performing the second stage operation of the gripper linkage (100) through the relative rotation between the outer sub-link (121a) and the outer sub-link (121b).

[0160] This outer link support part (800) can be of various types, such as a plate spring or a torque spring placed on the outer sub-joint (Jso).

[0161] Figures 32 and 33 show a partially enlarged front view and a partially enlarged perspective view of the configuration of the inner sub-links (121, 122) and the outer link support portion (800). Through the simultaneous structure of the inner sub-links (141, 142) and the outer sub-links (121, 122), the gripper linkage (100) adopts a six-section link structure.

[0162] In addition, the outer link portion (120) may include an outer link stopper (125), which allows only one-way rotation between a plurality of outer sub-links (121). The outer link stopper (125) includes an outer link stopper protrusion (1251) and an outer link stopper protrusion corresponding portion (1253) among a plurality of interconnected outer sub-links (121). The outer link stopper protrusion (1251) is formed on one side, and the outer link stopper protrusion corresponding portion (1253) is formed on the other side and is capable of engaging with the outer link stopper protrusion (1251) within a preset angle range. Through such a configuration, an angle limiting structure between the outer sub-links (121) can be formed.

[0163]

[0164] Of course, the gripper finger unit (10) of the present invention may also have a combination as in the previous case, in addition to the 6-section link in which the outer link portion or the inner link portion has a plurality of sub-links. That is, as shown in FIGS. 34 and 35, only the outer link portion (120) may have a sub-link structure, or it may have a selective 5-section link structure in which only the inner link portion (140) has a sub-link structure. In particular, in the case of FIG. 35, a configuration is possible in which the outer link portion (120) returns to its original position when an external force is removed to remove the limitation of the movable range of the inner sub-joint (Jsi), but has flexibility, thereby enabling the implementation of a bending path (dotted line), and thus various implementations are possible depending on the design specifications.

[0165]

[0166] Meanwhile, in the previous embodiments, the base link portion (100) was described mainly in the case where it was integrated with the transfer shaft counterpart (620) of the gripper transfer module (600), but the base link portion (100) is formed as a separate component from the transfer shaft counterpart (620). As illustrated in FIG. 36, the base link portion (110), the outer link portion (120), and the inner link portion (140) are connected to each other at the outer base joint (JOB) and the base inner joint (JBI) so as to be relatively rotatable. In the present embodiment, the outer base joint (JOB) and the base inner joint (JBI) formed in the base link portion (110) are spaced apart from each other to form a linkage structure that is relatively rotatable. At this time, only one of the outer base joint (JOB) and the base inner joint (JBI) is positioned at the transfer shaft counterpart (620). That is, in the present embodiment, the base inner joint (JBI) is located at the transfer shaft counterpart (620), the base link portion (110) and the inner link portion (140) are coaxially connected with the base inner joint (JBI) as the center, and the outer base joint (JOB) is formed as a free joint and is spaced apart from the transfer shaft counterpart (620) in an unconstrained state.

[0167] When such a configuration is adopted, various configurations of constraint conditions can be selected depending on the kinematic behavior of the gripper linkage (100). For example, in FIGS. 37 and 38, a gripper linkage (100) similar to that in FIG. 36 is provided. At this time, two cam rollers (710) are provided, but in order to maintain a stable grip state for smooth gripping of the gripping object, the cam rollers (710) of the gripper cam unit (700) may be configured to have only a single cam roller (710o) depending on the kinematic behavior of the gripper linkage (100). As in FIG. 38, cam rollers (710; 710i, 710o) may be provided in the outer link portion and the inner link portion at the same time, but an angular limiting structure such as the base link portion (110) may be required to prevent interference. Of course, as in the previous embodiments, in the case of a structure for implementing an operation that prevents damage or strengthens a gripping operation through buckling or deformation of the sub-joint when taking a structure of multiple sub-links of the inner link portion and the outer link portion, it is preferable that cam rollers are provided in both the outer link and the inner link.

[0168] In addition, the gripper finger unit (10) of the present invention includes a plurality of gripper linkages (100) that are operated simultaneously through a single gripper transfer module (600), and includes an individual gripper cam unit (700) for each gripper linkage (100), which may have different left and right cam profiles (720; 720L, 720R) as shown in FIGS. 37 and 39. Through such a configuration, it may be possible to implement a gripping operation of various gripping objects.

[0169]

[0170] Meanwhile, as partially described above, the gripper finger unit (10) of the present invention may have a single gripper linkage (100) or may have a plurality of gripper linkages (100).

[0171] That is, as illustrated in FIG. 40, the gripper finger unit (10) may have a configuration including two gripper linkages (100; 100L, 100R) that are simultaneously connected to a single gripper cam unit (700). Of course, in this case, the cam profile provided in the gripper cam unit (700) may be selected in various ways, such as being individual or symmetrical for the gripper linkages on both sides.

[0172] In addition, as illustrated in FIG. 41, the gripper finger unit (10) may be configured to include a single gripper linkage (100) connected to a single gripper cam unit (700), but a dummy gripper linkage (100D) that cannot perform link operation implementation is provided at a position corresponding to the gripper linkage (100).

[0173] In addition, as illustrated in FIG. 42, the gripper finger unit (10) may be configured to have a plurality of pairs of single gripper linkages (100) connected to a single gripper cam unit (700), thereby allowing for various selections and configurations, such as a configuration in which the gripper finger unit (10) operates individually.

[0174] In addition, the gripper module (2) of the present invention may be provided with the gripper finger units (10) described above, and may be provided with a control unit (20) for controlling the operation of a gripper actuator (200) for providing driving force to each of them, or may be provided with a separate sensor (30) for each gripper finger unit (10), and various modifications are possible.

[0175] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

[0176] The present invention can be applied to various fields requiring gripping motions, such as medical assistance devices, in addition to the field of industrial facility robots, general household life, and service industry sites.

Claims

1. Base (2) and, A gripper transfer module (600) which is positioned on the base (2) so that at least some of it is operable and to which driving force is input, First, a gripper linkage (100) having a multi-link structure that is connected to the gripper transfer module (600) and can be in contact with the gripping target at the other end, A gripper finger unit (10) characterized in that it includes a gripper cam unit (700) in which some are arranged on the base (2) side and other parts are arranged on the gripper linkage unit (100) to engage with the parts and allow the movement of the gripper linkage unit (100) to be performed within a preset range.

2. In paragraph 1, The above gripper linkage (100) is: A base link part (110) movably positioned on the above base (2), First, an outer link part (120) that is rotatably connected to the above-mentioned base link part (110), First, an inner link part (140) that is rotatably connected to the base link part (110), A gripper finger unit (10) characterized in that it includes a gripper link portion (150) which is connected at one end to the outer link portion (120) and at the other end to the inner link portion (140), and at least a portion of which can come into contact with a gripping target.

3. In paragraph 2, A gripper finger unit (10), characterized in that the connection points between the base link portion (110) and each of the outer link portions (120) and the inner link portion (140) are spaced apart from each other.

4. In paragraph 2, A gripper finger unit (10), characterized in that the base link portion (110) is integrally formed with at least a portion of the gripper transfer module (600).

5. In paragraph 2, It further comprises a gripper actuator unit (200) that is placed on the above base (2) and generates a driving force input to the gripper transfer module (600).

6. In paragraph 2, The above gripper transfer module (600) is: A transfer shaft (610) that transmits driving force, A transfer shaft counterpart (620) arranged on the base link portion (110) and interlocked with the transfer shaft (610) so as to be relatively movable, A gripper finger unit (10) including a transfer guide (630) that guides the operation of the above base link unit (110).

7. In paragraph 6, The above transfer guide (630): A transfer guide rail (631) located on the above base (2), A gripper finger unit (10) characterized by including a transfer guide rail counterpart (633) positioned on the base link portion (110) and movably engaged with the transfer guide rail (631).

8. In paragraph 2, The above gripper cam unit (700) is: A cam profile (710) formed on the above base (2) side, A gripper finger unit (10) characterized by including a cam follower (720) positioned on the gripper linkage (100) and capable of contacting the cam profile (710).

9. In paragraph 8, A gripper finger unit (10) characterized in that the above cam follower (720) is provided in multiple numbers for the corresponding cam profile (710).

10. In paragraph 8, A gripper finger unit (10) characterized in that the above cam profile (710) includes a straight operating profile.

11. In paragraph 10, The above straight line operating profile is: A vertical movable sub-profile formed in the longitudinal direction toward the target object, A gripper finger unit (10) characterized by including a horizontal movable sub-profile formed perpendicular to the above vertical movable sub-profile.

12. In paragraph 8, A gripper finger unit (10) characterized in that the above cam profile (710) includes a curved movable profile.

13. In paragraph 8, A gripper finger unit (10), characterized in that the cam profile (710) includes an approaching movable profile that guides the gripper link portion (150) to approach the gripper target object.

14. In paragraph 8, A gripper finger unit (10), characterized in that the cam profile (710) includes an open and retraction movable profile that guides the gripper link portion (150) away from the longitudinal center line and away from the gripping object.

15. In paragraph 1, The inner link portion (140) is a gripper finger unit (10) characterized by having a plurality of link structures.

16. In paragraph 15, The above inner link part (140): A plurality of inner sub links (141), and A gripper finger unit (10) characterized by including an inner sub-joint (Jsi) connecting the plurality of inner sub-links (141).

17. In paragraph 16, The above inner link part (140) is A gripper finger unit (10) characterized in that it further comprises an inner link support portion (500) that prevents the relative rotation of the plurality of inner sub-links (141) with a preset support force.

18. In paragraph 17, A gripper finger unit (10) characterized in that the inner link support portion (500) is made of elastic material.

19. In paragraph 17, A gripper finger unit (10) characterized in that the inner link support portion (500) is a magnetic body.

20. In paragraph 2, The above outer link portion (120) is a gripper finger unit (10) characterized by having a multiple link structure.

21. In paragraph 20, The above outer link portion (120): Multiple outer sub links (121), and A gripper finger unit (10) characterized by including an outer sub-joint (Jso) connecting the plurality of outer sub-links (121).

22. In paragraph 21, The above outer link part (120) is A gripper finger unit (10) characterized in that it further comprises an outer link support portion (800) that prevents the relative rotation of the plurality of outer sub-links (121) with a preset support force.

23. In paragraph 22, A gripper finger unit (10) characterized in that the outer link support portion (800) is made of elastic material.

24. In paragraph 22, A gripper finger unit (10) characterized in that the inner link support portion (800) is a magnetic body.

25. In paragraph 20, The above gripper cam unit (700) is: A cam profile (710) formed on the above base (2) side, A cam follower (720) positioned on the gripper linkage (100) and capable of contacting the cam profile (710) is included. A gripper finger unit (10), characterized in that at least a portion of the cam follower (720) is arranged on one of the outer sub-links (121).

26. In paragraph 25, The above base link part (110) and the above outer link part (120) are connected with the outer base joint (JOB) as the center, At least a part of the cam follower (720) arranged on any one of the above outer sub links (121), A gripper finger unit (10) characterized in that it is spaced apart by a preset distance or more on a length line connecting the outer base joint (JOB) and the outer sub-joint (Jso).

27. In paragraph 2, The base link portion (110) is characterized in that one end of the gripper finger unit (10) is rotatably connected to at least a part of the gripper transfer module (600).

28. In paragraph 1, The above gripper linkage (100) is provided in single pieces, A gripper module (1) characterized in that a gripper fixing part (20) is provided at an opposite position of the gripper linkage (100).

29. In paragraph 1, The above gripper linkage (100) is provided in multiple numbers, A gripper finger unit (10), characterized in that at least one of the plurality of gripper linkages (100) is arranged opposite to at least another one of the plurality of gripper linkages (100).

30. In paragraph 1, The above gripper linkage (100) is provided in multiple numbers, A gripper finger unit (10), characterized in that the number of the gripper actuators (200) is less than or equal to the number of the gripper transfer modules (600).

Images