Robot gripper

Abstract

The present invention relates to a robot gripper which uses a driving tendon and a linking tendon to control a plurality of links to be linked and, due to the simplified configuration thereof, can reduce the overall system size and manufacturing costs.

Description

Robot gripper

[0001] The present invention relates to a robot gripper having a simplified configuration through the configuration of a driving force of a driving tendon and a linkage mechanism of a linkage tendon.

[0002] As research on robots becomes more active, research on robots that can mimic human movements is also becoming more active.

[0003] One of the human movements required for a robot is to mimic human finger movements.

[0004] Recently, robotic grippers that mimic human finger movements have been developed, and their applications are gradually expanding beyond simple tasks performed in industrial settings to complex assembly tasks and service robots.

[0005] Meanwhile, research and development are being conducted on robot grippers and systems for driving them to mimic the human hand with similar degrees of freedom, power, and size to those of a human hand capable of performing various tasks. The robot gripper comprises multiple links and configures joints between neighboring links so that gripping operations are performed through rotation of the links based on the joints.

[0006] At this time, the robot gripper system placed an actuator for each joint that required rotational movement of the link, thereby increasing the active degree of freedom of the joint and enabling direct control regardless of the shape of the object.

[0007] However, the above robot gripper system has a problem in that the system becomes large and complex because it must configure a driving unit, such as a motor, reducer, and electric unit, in each narrow space between links that constitute the robot gripper.

[0008] In addition, the above robot gripper system uses complex drive mechanisms and sensor systems, which can be difficult to maintain and repair, and there is a problem that requires specialized technical knowledge when parts break down or are damaged.

[0009] In addition, the above robot gripper system is expensive due to excessive use of electrical components, and there is a problem that additional costs may be incurred, especially when used in industrial robot systems.

[0010]

[0011] (Prior art literature)

[0012] (Patent Document)

[0013] Republic of Korea Registration No. 10-1778031

[0014]

[0015] An object of the present invention is to provide a robot gripper having a simplified configuration through a drive mechanism that connects tendons between neighboring links and engages neighboring links by pulling or pushing the tendons.

[0016] Another object of the present invention is to provide a robot gripper that can improve the convenience of maintenance through a simple configuration.

[0017] Another object of the present invention is to provide a robot gripper that can minimize product cost by reducing the number of parts required.

[0018] In order to achieve the object of the present invention, the present invention provides a robot gripper including a plurality of links arranged in a continuous manner with joints facing each other and formed to rotate around the joints; a tendon fixed to the lower side of the joint among the links on the other side adjacent to one link and formed to pull the link on the other side and rotate the link on the other side around the joint; and a driving unit that generates power to pull or push the tendon.

[0019] At this time, a tie line may be further included to form a fixed point on each of the links on one side and the links on the other side, and to tie the adjacent links on one side and the links on the other side together.

[0020] At this time, the total length of the above-mentioned binding line may be a length that can correspond to the maximum rotation angle of the above-mentioned link.

[0021] Additionally, the two fixing points of the above-mentioned tie-line can be formed at different positions vertically with the above-mentioned joint between them.

[0022] At this time, the binding line is formed along the outer surface of the link, and a groove corresponding to the thickness of the binding line may be formed on the outer surface of each facing link.

[0023] In addition, the binding lines are formed on both sides of the link, and the binding lines on both sides can be formed to cross each other.

[0024] Additionally, the joint may be formed round so that cloud rotation of the link can be achieved.

[0025] Additionally, the lower portion of the link based on the joint forms an inclined surface corresponding to the rotation angle of the link, and the inclined surface can be formed toward the opposite side of the neighboring link.

[0026] In addition, the tendons are formed in multiple numbers in the height direction of the link, and a breakaway prevention line may be further formed on the upper side of the tendon formed at the top to prevent breakaway due to excessive bending of the tendon formed at the top when the link rotates.

[0027] At this time, the anti-separation line forms a fixed point on each of the links on one side and the links on the other side, and is formed parallel to the tendon formed at the top, and when the link rotates, it bends together with the tendon, thereby preventing the tendon from protruding out of the rotation radius of the link.

[0028] At this time, a break-away groove is formed in the length direction of the break-away prevention line in the link, into which the break-away prevention line is inserted, and a compensation portion larger than the thickness of the break-away prevention line is formed in at least one side of the break-away prevention groove, so as to compensate for the bending space of the break-away prevention line.

[0029] In addition, the tendon may include a driving tendon that exerts a force to pull the link by the power of the driving unit; and an interlocking tendon that is connected between neighboring links and is formed so that when the driving tendon pulls the link, the link pulls and interlocks the neighboring link.

[0030] As another example for achieving the above object, a robot gripper is provided, including: a body; a first drive link formed at a joint in contact with one side of the body and formed to rotate around the joint; a second drive link formed at a joint in contact with one side of the first drive link and formed to rotate around the joint; a third drive link formed at a joint in contact with one side of the second drive link and formed to rotate around the joint; a first drive tendon connected to the first drive link through the body and formed to pull or push the first drive link; a second drive tendon connected to the second drive link through the body and the first drive link and formed to pull or push the second drive link; and an interlocking tendon connected to the third drive link through the first drive link and the second drive link, interlocking the third drive link while interlocking with the operation of the second drive link by the second drive tendon.

[0031] At this time, the body may include a driving unit that generates power to pull or push the first driving tendon and the second driving tendon.

[0032] Additionally, a tie line may be further formed between the body and the first driving link, the first driving link and the second driving link, and the second driving link and the third driving link, respectively.

[0033] In addition, the second driving tendon is formed on the upper side of the first driving tendon, and a separation prevention line is further formed on the upper side of the second driving tendon to prevent the second driving tendon from being separated when the first driving link rotates, and the separation prevention line forms a fixed point on each of the body and the first driving link and is formed parallel to the second driving tendon in the upper and lower directions, and when the first driving link rotates, it can be bent together with the second driving tendon to prevent the second driving tendon from being protruded out of the rotation radius of the first driving link.

[0034] In addition, the lower portions of the first, second, and third drive links based on the joint form an inclined surface corresponding to the rotation angles of the first, second, and third drive links, and the inclined surface can be formed toward the opposite side of the neighboring first, second, and third drive links.

[0035] Additionally, one side of the linkage tendon may be fixed to the upper side of the joint between the first driving link and the second driving link, and the other side of the linkage tendon may be fixed to the lower side of the joint between the second driving link and the third driving link.

[0036] Additionally, the joint may be formed round so that the cloud rotation of the first, second, and third driving links can be achieved.

[0037] As another example for achieving the above object, a driving link including a body; a first driving link formed at a joint in contact with one side of the body and formed to rotate around the joint, a second driving link formed at a joint in contact with one side of the first driving link and formed to rotate around the joint, and a third driving link formed at a joint in contact with one side of the second driving link and formed to rotate around the joint; a driving tendon including a first driving tendon connected to the first driving link through the body and formed to pull or push the first driving link, and a second driving tendon connected to the second driving link through the body and the first driving link and formed to pull or push the second driving link; a linkage tendon connected to the third driving link through the second driving link with the first driving link as a fixed point; a driven link coupled to both sides of the driving link and formed to be linked to the rotation of the driving link; And a robot gripper including a body and a driven link, and a tie line connected between adjacent driven links is provided.

[0038] At this time, the binding line can be formed on both sides of the driven link.

[0039] At this time, a tendon groove through which the driving tendon and the linkage tendon pass is formed on the side of the driving link, and an interference prevention link may be further provided between the side of the driving link and the driven link to prevent the tendon and the binding line from interfering with each other.

[0040] The effects of the present invention obtained through the above-described solution are as follows.

[0041] The present invention connects tendons between a plurality of drive links and enables the drive links to rotate using the linear motion of the tendons. At this time, the tendons are composed of a drive tendon that performs linear motion by a drive unit and a linkage tendon that links adjacent links, thereby enabling the drive links to perform a rotational motion. Therefore, the present invention eliminates the need to install a complex drive unit at each joint to rotate the links.

[0042] Accordingly, the present invention has the effect of simplifying the configuration.

[0043] In addition, the present invention can increase the convenience of maintenance through simplification of the configuration as described above, and in particular, has the effect of enabling maintenance to be conveniently performed even by unskilled persons with low skill levels.

[0044] In addition, the present invention can simplify the configuration, thereby reducing manufacturing costs and, when constructing a robot system in an industrial site, reducing the cost of constructing the system.

[0045] FIG. 1 is a side view of a robot gripper according to a preferred embodiment of the present invention.

[0046] Fig. 2 is a perspective view showing an exploded view of a main part of a robot gripper according to a preferred embodiment of the present invention.

[0047] Fig. 3 is a perspective view showing a driving link of a robot gripper according to a preferred embodiment of the present invention.

[0048] Figure 4 is a perspective view of the “A” portion of Figure 2 enlarged from the bottom.

[0049] Figures 5a to 5c are operational diagrams showing the operation of a robot gripper according to a preferred embodiment of the present invention.

[0050] FIG. 6 is a side view of a robot gripper according to another embodiment of the present invention.

[0051] Below, the robot gripper is described in more detail with reference to the drawings.

[0052] In describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiments disclosed in this specification, the detailed description is omitted.

[0053] The attached drawings are only intended to facilitate understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

[0054] In the following description, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0055] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0056] Hereinafter, a robot gripper according to a preferred embodiment of the present invention will be described with reference to the attached drawings 1 to 5c.

[0057] The robot gripper may include a driving unit (100), a link (200), a tendon (300), and a binding line (400), as shown in FIGS. 1 and 2.

[0058] The driving unit (100) generates power to push or pull the tendon (300) and constitutes one side of the robot gripper.

[0059] The driving unit (100) may be composed of a body (110) and a linear actuator (120).

[0060] The body (110) constitutes one side of the robot gripper and is configured for installing a linear actuator (120). At this time, the body (110) may further include electrical components and cables for supplying power to the linear actuator (120).

[0061] Additionally, the body (110) can further form a fixing member (111) at the tip.

[0062] The fixed member (111) provides a reference for the rotational movement of the link (200) described later, and can be fixed to the front end of the body (110).

[0063] The fixed member (111) is formed so that the link (200) can rotate by contacting it, and can form a joint (J1) with the first driving link described in detail below.

[0064] A linear actuator (120) generates power to pull or push a tendon (300) and may be formed in the body (110).

[0065] The linear actuator (120) may be formed as a cylinder. At this time, the linear actuator (120) is not limited to a cylinder, and any configuration capable of linearly moving the tendon (3000) in a reciprocating manner may be used. In this specification, for the convenience of explanation, the linear actuator (120) will be described as an example of a cylinder.

[0066] The cylinder (120) includes a piston rod (R) that reciprocates by electric power. A fixed holder (H) for fixing a tendon (300) described later may be provided at the end of the piston rod (R).

[0067] At this time, the cylinder (120) corresponds to the number of driving tendons described later, and in this specification, the first cylinder (121) and the second cylinder (122) are provided as examples to explain.

[0068] The links (200) are arranged in a continuous manner in contact with each other and are formed so that they can rotate based on the joints that are in contact with each other.

[0069] Links (200) mimic the joints of a finger and may be formed in multiples. In this specification, an example of three links (200) will be described.

[0070] Meanwhile, the link (200) may be composed of a driving link (210) that is substantially moved by the power of the tendon (300), and a driven link (220) that is coupled to the driving link (210) and is linked to the movement of the driving link (210).

[0071] At this time, for convenience of explanation, the driving links (210) are referred to as the first driving link (211), the second driving link (212), and the third driving link (213) in the order in which they contact the fixed member (111) of the body (110).

[0072] The drive link (210) forms a tendon groove (214) through which the tendon (300) passes, and the tendon groove (214) can be formed on the side of the drive link (210) as shown in FIGS. 2 and 3.

[0073] At this time, the tendon grooves (214) can be formed in three pieces for inserting the first driving tendon, the second driving tendon, and the linkage tendon, which will be described later, respectively, and the three tendon grooves (214) can be formed on the sides of the first driving link, the second driving link, and the third driving link.

[0074] At this time, the tendon groove (214) formed at the lower portion of the first driving link and the second driving link and into which the first driving tendon described later is inserted is called a first tendon groove (214a), the tendon groove (214) formed at the upper portion of the first tendon groove (214a) and into which the second driving tendon is inserted is called a second tendon groove (214b), and the tendon groove (214) into which the linkage tendon is inserted is called a linkage tendon groove (214c).

[0075] The first tendon groove (214a) may be formed across the fixed member (111) and the first driving link, and the second tendon groove (214b) may be formed across the fixed member (111), the first driving link, and the second driving link.

[0076] Additionally, the linkage tendon groove (214c) can be formed across the first driving link, the second driving link, and the third driving link.

[0077] Meanwhile, a detachment prevention line (215) may be formed on the upper side of the second tendon groove (214b).

[0078] The anti-separation line (215) is configured to prevent the second driving tendon on the upper side of the first driving tendon from being excessively bent and protruding outside the rotation radius of the first driving link (211) when the first driving link (211) rotates due to the pulling of the first driving tendon. A detailed description thereof will be provided later.

[0079] At this time, one side of the anti-separation line (215) is fixed to the fixing member (111), and the other side of the anti-separation line (215) is fixed to the first driving link (211).

[0080] At this time, the anti-separation line (215) is inserted into the side of the fixed member (111) and the side of the first driving link (211). For this purpose, an anti-separation groove (215a) for inserting the anti-separation line (215) is formed in the side of the fixed member (111) and the side of the first driving link (211).

[0081] The detachment prevention groove (215a) is formed in the longitudinal direction of the detachment prevention line (215), and a compensation part (215b) having a size larger than the thickness of the detachment prevention line (215) may be formed in the detachment prevention groove (215a) formed on at least one side of the fixing member (111) and the first driving link (211).

[0082] The compensation part (215b) plays a role in compensating for the bending space when the anti-separation line (215) is bent.

[0083] If the compensation part (215b) is not formed in the anti-separation groove (215a) and the bending space of the anti-separation line (215) is not provided with room, the anti-separation line (215) may be repeatedly subjected to tension and compression due to continuous bending of the first driving link (211), and fatigue failure may occur.

[0084] Accordingly, the compensation part (215b) can minimize the fatigue damage by providing a gap between the detachment prevention groove (215a) and the detachment prevention line (215).

[0085] Additionally, a coupling projection (216) for coupling with a driven link (220) may be formed on both sides of the driving link (210).

[0086] At this time, a coupling protrusion (216) may be formed for each driving link (210) to ensure smooth linkage of the driven link (220).

[0087] Meanwhile, the joints where the neighboring drive links (210) are in contact are formed in a straight line to ensure close contact between the drive links (210), and the lower part of the drive link (210) forms an inclined surface (217) based on the joint.

[0088] The inclined surface (217) is formed to be inclined toward the opposite side of the adjacent driving link (210), and the inclination angle of the inclined surface (217) can correspond to the rotation angle of the driving link (210).

[0089] At this time, the corner formed by the joint and the inclined surface (217) can be formed round for cloud rotation of the driving link (210).

[0090] The driven link (220) can be coupled to both sides of the driving link (210) and can be linked to the rotation of the driving link (210). In addition, the driven link (220) can shield and protect the tendon (300) exposed in the driving link (210).

[0091] The driving link (220) is composed of a plurality of driving links (210), each corresponding to a plurality of driving links, and is called a first driving link (221), a second driving link (222), and a third driving link (223) in the order of contact with the fixed member (111).

[0092] A coupling groove (224) is formed on the inner surface of each driven link (220) into which the coupling projection (216) of the driving link (210) is inserted and coupled.

[0093] The tendon (300) is a means for pulling or pushing the driving link (210) by receiving power from the driving unit (100), and may include a driving tendon (310) that receives power from the driving unit (100) and a linkage tendon (320) that rotates an adjacent driving link (210) by linkage with the rotational movement of the driving link (210).

[0094] The driving tendon (310) may include a first driving tendon (311) that pulls or pushes the first driving link (211) by linear movement of the cylinder (120), and a second driving tendon (312) that pulls or pushes the second driving link (212).

[0095] At this time, one end of the first driving tendon (311) is fixed to the fixed holder (H) of the first cylinder (121), and the other end of the first driving tendon (311) can be fixed to the first driving link (211) through the fixed member (111).

[0096] Additionally, the second driving tendon (312) is formed on the upper side of the first driving tendon (311) and can be fixed to the second driving link (212) through the fixing member (111) and the first driving link (211).

[0097] At this time, the fixing points of the first driving tendon (311) and the second driving tendon (312) can be formed on the lower side of the joint.

[0098] Meanwhile, the second driving tendon (312) section between the fixed member (111) and the first driving link (211) is formed on the lower side of the above-described anti-separation line (215).

[0099] That is, the anti-separation line (215) and the second driving tendon (312) are formed in parallel in the vertical direction, and the anti-separation line (215) can block the second driving tendon (312) from the upper side even if the bending of the second driving tendon (312) is excessive, thereby preventing it from protruding out of the space between the fixed member (111) and the first driving link (211).

[0100] Unlike the driving tendon (310), the linkage tendon (320) is not configured to rotate the driving link (210) by receiving power from the driving unit (100), and when the second driving tendon (312) pulls and rotates the second driving link (212), it rotates the third driving link (213) by linking with the second driving link (212).

[0101] That is, the linkage tendon (320) is configured to link the third drive link (213) only when the second drive link (212) rotates.

[0102] At this time, one end of the linkage tendon (320) can form a fixed point on the first driving link (211), and the other end of the linkage tendon (320) can pass through the second driving link (212) to form a fixed point on the third driving link (213).

[0103] At this time, one end of the linkage tendon (320) may be formed on the upper side based on the joint, and the other end of the linkage tendon (320) may be formed on the lower side based on the joint.

[0104] Meanwhile, it is preferable that the material of the tendon (300) be a flexible material with high durability. For example, the tendon (300) may be a thin plate spring like a spring, but is not limited thereto.

[0105] The tie rope (400) serves to tie together the plurality of driven links (220).

[0106] The length of the tie rope (400) may correspond to the rotational length of the driven link (220) so as not to interfere with the rotation of the neighboring driven link (220).

[0107] At this time, one end of the tie rope (400) may form a fixing point on the fixed member (111) or the driven link (220) on one side, and the other end of the tie rope (400) may form a fixing point on the driven link (220) on the other side.

[0108] At this time, the two fixing points of the tie rope (400) can be formed on the upper and lower sides with the joint between them.

[0109] At this time, the binding line (400) is formed on each side of the driven link (220) and can be inserted into the binding groove (410) formed on each side of the driven link (220).

[0110] Additionally, the binding lines (400) on both sides of the driven link (220) can be formed to cross each other.

[0111] That is, the tie rope (400) forms fixed points on opposite sides of the driven link (220). Accordingly, the tie rope (400) can form an 'X' shape based on the joint of the driven link (220).

[0112] Meanwhile, the tie rope (400) must have a length corresponding to the rotational length of the driven link (220), and can be formed along the outer circumference of the driven link (220).

[0113] At this time, the outer surface of the driven link (220) refers to a portion of the joint and a portion of the inclined surface (217) of the driven link (220). That is, the tendon (300) described above is formed by penetrating each driving link (210) in a straight line, while the binding line (400) is fixed to the neighboring driven link (220) along the outer surface of the neighboring driven link (220).

[0114] At this time, a groove (225) corresponding to the thickness of the binding line (400) can be formed on the outer surface of the driven link (220).

[0115] The groove (225) accommodates a tie line (400) formed along the outer surface of the driven link (220), thereby allowing adjacent driven links (220) to be brought into close contact with each other. That is, the groove (225) prevents adjacent driven links (220) from being separated from each other due to the thickness of the tie line (400). Accordingly, the groove (225) can maintain a close contact between adjacent driven links (220) even when the driven link (220) rotates in a rolling manner.

[0116] Meanwhile, an interference prevention link (230) may be interposed between the driving link (210) and the driven link (220).

[0117] An interference prevention link (230) is interposed between the driving link (210) and the driven link (220) to prevent the tendon (300) from interfering with the binding line (400) of the driven link (220).

[0118] Since the tendon (300) of the drive link (210) is inserted into the tendon groove (214) with one side open, as shown in FIG. 3, it is exposed toward one side of the drive link (210), and the binding line (400) is exposed on one side of the driven link (220) facing the drive link (210), so the interference prevention link (230) serves to prevent the tendon (300) and the binding line (400) from coming into contact with each other when they move.

[0119] The interference prevention link (230) is formed in multiple numbers corresponding to the driving link (210) and the driven link (220) which are formed in multiple numbers, and forms a through hole (231) through which the coupling protrusion (216) of the driving link (210) passes.

[0120] An interference prevention link (230) of this configuration can smoothly operate each tendon (300) and binding line (400).

[0121] Hereinafter, the operation of the robot gripper having the above-described configuration will be examined with reference to the attached drawings 5a to 5c.

[0122] Figure 5a is a side view showing only the operation of the first driving tendon (311).

[0123] The control unit (not shown) operates the first cylinder (121) to rotate the first drive link (211) and pull the first drive tendon (311).

[0124] At this time, as the first cylinder (121) pulls in the piston rod (R), the first driving tendon (311) is pulled into the body (110), and the first driving tendon (311) pulls the first driving link (211), so that the first driving link (211) rotates toward the lower side of the fixed member (111) with respect to the joint (J1).

[0125] At this time, the first driven link (221) coupled to the first driving link (211) rotates toward the lower side of the fixed member (111) while being linked to the first driving link (211).

[0126] At this time, the first driving link (211) and the first driven link (221) rotate along the joint (J1) formed with the fixed member (111), and the inclined surface (217) of the first driving link (211) and the first driven link (221) are in close contact with the inclined surface (217) of the fixed member (111).

[0127] Meanwhile, the binding line (400) on one side of the first driven link (221), which was in close contact with the outer surface of the first driving link (211), moves along the outer surface of the fixed member (111) and comes into close contact with the outer surface of the fixed member (111), and the binding line (400) on the other side of the first driven link (221) moves along the outer surface of the first driven link (221) and comes into close contact with the outer surface of the first driven link (221).

[0128] At this time, the binding line (400) on one side of the first driven link (221) is secured to the groove (225) formed on the outer surface of the fixed member (111), and the binding line (400) on the other side of the first driven link (221) is secured to the groove (225) formed on the outer surface of the first driven link (221), so that the first driven link (221) can be flexibly attached to the fixed member (111) without any gap.

[0129] Figure 5b is a drawing showing only the operation of the second driving tendon (312), in which the second cylinder (122) pulls the second driving tendon (312) to rotate the second driving link (212).

[0130] At this time, the second driving tendon (312) pulls the second driving link (212) to rotate the second driving link (212) around the joint (J2) with the first driving link (211).

[0131] At this time, the linkage tendon (320) connected between the second driving link (212) and the third driving link (213) pulls the third driving link (213) and rotates it toward the lower side of the second driving link (212).

[0132] That is, as the second drive link (212) rotates by the second drive tendon (312), the second drive link (212) changes the position of the fixed point of the linkage tendon (320) fixed to the third drive link (213), and thus the linkage tendon (320) generates the effect of pulling the third drive link (213), so that the third drive link (213) can rotate based on the joint (J3) with the second drive link (212) in conjunction with the rotation of the second drive link (212).

[0133] Meanwhile, the operation of the second and third driven links (222, 223) formed on both sides of the second driving link (212) and the third driving link (213) is the same as the operation of the first driven link (221) according to the operation of the fixed member (111) and the first driving link (211) described above, so a detailed description thereof will be omitted.

[0134] FIG. 5c is a drawing showing the operation of the first driving tendon (311) and the second driving tendon (312), wherein the first cylinder (121) and the second cylinder (122) generate power to pull the first driving tendon (311) and the second driving tendon (312), respectively.

[0135] At this time, the first driving tendon (311) pulls the first driving link (211) to rotate the cloud based on the joint (J1) with the fixed member (111), and the second driving tendon (312) pulls the second driving link (212) to rotate the cloud based on the joint (J2) with the second driving link (212) in the rotated state.

[0136] At this time, the third driving link (213) is linked to the second driving link (212) by the linkage tendon (320) and rotates in a cloud based on the joint (J3) with the second driving link (212).

[0137] Meanwhile, in order to restore the rotated drive link (210) to its original position, the control unit (not shown) causes the first cylinder (121) and the second cylinder (122) to pull out the piston rod (R), so that the first drive tendon (311) and the second drive tendon (312) can return the first drive link (211) and the second drive link (212) to their original positions, respectively.

[0138] FIG. 6 is a side view of another robot gripper according to another embodiment of the present invention, in which the upper surface of the fixing member (111) can be formed to be inclined upward.

[0139] Accordingly, the robot gripper can arrange the driving link (210) and the driven link (220) to be inclined upward along the inclination angle of the fixed member (111).

[0140] By configuring the robot gripper in this way, the grip torque can be maximized, and various other design changes are also possible.

[0141] As described so far, the robot gripper according to the present invention can reduce the number of parts, thereby reducing the size of the entire system and reducing the manufacturing cost by simplifying the configuration through the design for the driving mechanism of the driving tendon (310) and the linkage tendon (320).

[0142] Furthermore, since the present invention has a simple configuration, it can minimize the occurrence of failures and increase the convenience of maintenance when failures occur.

Claims

1. A plurality of links arranged in a row with joints facing each other and formed to rotate around the joints; A tendon that is fixed to the lower side of the joint among the links of the adjacent other side passing through the link of one side and is formed to pull the link of the other side and rotate the link of the other side around the joint; and Including a driving unit that generates power to pull or push the tendon, Robot gripper.

2. In paragraph 1, Further comprising a tie rope forming a fixed point on each of the links on the one side and the links on the other side and connecting the links on the adjacent one side and the links on the other side to each other. Robot gripper.

3. In paragraph 2, The total length of the above-mentioned tie-line is characterized in that it is a length that can correspond to the maximum rotation angle of the above-mentioned link. Robot gripper.

4. In paragraph 2, The above-mentioned fixing points of the above-mentioned tie rope are characterized in that they are formed at different positions in the upper and lower directions with the above-mentioned joint between them. Robot gripper.

5. In paragraph 4, The above-mentioned binding line is formed along the outer surface of the link, and a groove corresponding to the thickness of the binding line is formed on the outer surface of each facing link. Robot gripper.

6. In paragraph 2, The above-mentioned tie rope is formed on both sides of the above-mentioned link, and the tie ropes on both sides are formed to cross each other, Robot gripper.

7. In paragraph 1, The above joint is characterized in that it is formed round so that the cloud rotation of the link can be achieved. Robot gripper.

8. In paragraph 1, The lower part of the link based on the above joint forms an inclined surface corresponding to the rotation angle of the link, and the inclined surface is formed toward the opposite side of the neighboring link. Robot gripper.

9. In paragraph 1, The above tendons are formed in multiples in the height direction of the above link, On the upper side of the tendon formed at the top, a detachment prevention line is further formed to prevent detachment of the tendon formed at the top due to excessive bending when the link rotates. Robot gripper.

10. In paragraph 9, The above-mentioned anti-separation line forms a fixed point on each of the links on one side and the links on the other side, and is formed parallel to the tendon formed at the top. characterized in that, when the link rotates, it bends together with the tendon, thereby preventing the tendon from protruding out of the rotation radius of the link. Robot gripper.

11. In paragraph 10, In the above link, a detachment prevention groove is formed in the length direction of the detachment prevention line into which the detachment prevention line is inserted. It is characterized in that at least one side of the detachment prevention groove is formed with a compensation portion that is larger than the thickness of the detachment prevention line, so as to compensate for the bending space of the detachment prevention line. Robot gripper.

12. In paragraph 1, The above tendon, A driving tendon that exerts a force to pull the link by the power of the above driving unit; A linkage is characterized by including a linkage tendon which is connected between adjacent links and is formed so that when the drive tendon pulls the link, the link pulls and links the adjacent link. Robot gripper.

13. Body; A first driving link formed to form a joint in contact with one side of the body and formed to rotate around the joint; A second driving link formed to form a joint that is in contact with one side of the first driving link and is formed to rotate around the joint; A third driving link forming a joint that contacts one side of the second driving link and is formed to rotate around the joint; A first driving tendon connected to the first driving link through the body and formed to pull or push the first driving link; A second driving tendon connected to the second driving link through the body and the first driving link and formed to pull or push the second driving link; and A linkage tendon is connected to the third driving link through the first driving link and the second driving link, and links the third driving link while being linked to the operation of the second driving link by the second driving tendon. Robot gripper 14. In paragraph 13, The above body is characterized by including a driving unit that generates power to pull or push the first driving tendon and the second driving tendon. Robot gripper.

15. In paragraph 13, It is characterized in that a tie rope is further formed between the body and the first driving link, the first driving link and the second driving link, and the second driving link and the third driving link, respectively. Robot gripper.

16. In paragraph 13, The above second driving tendon is formed on the upper side of the above first driving tendon, On the upper side of the second driving tendon, a detachment prevention line is further formed to prevent detachment of the second driving tendon when the first driving link rotates. The above-mentioned anti-separation line is, A fixed point is formed in each of the above body and the first driving link, and is formed vertically parallel to the second driving tendon. It is characterized in that when the first driving link rotates, the second driving tendon is bent together with the second driving tendon, thereby preventing the second driving tendon from protruding out of the rotation radius of the first driving link. Robot gripper.

17. In paragraph 13, Based on the above joint, the lower portion of the first, second, and third driving links forms an inclined surface corresponding to the rotation angle of the first, second, and third driving links, and the inclined surface is formed toward the opposite side of the neighboring first, second, and third driving links. Robot gripper.

18. In paragraph 13, One side of the linkage tendon is fixed to the upper side of the joint between the first driving link and the second driving link, and the other side of the linkage tendon is fixed to the lower side of the joint between the second driving link and the third driving link. Robot gripper.

19. In paragraph 13, The above joint is characterized in that it is formed roundly so that the cloud rotation of the first, second, and third driving links can be achieved. Robot gripper.

20. Body; A driving link including a first driving link that forms a joint that contacts one side of the body and is formed to rotate around the joint, a second driving link that forms a joint that contacts one side of the first driving link and is formed to rotate around the joint, and a third driving link that forms a joint that contacts one side of the second driving link and is formed to rotate around the joint; A driving tendon including a first driving tendon connected to the first driving link through the body and formed to pull or push the first driving link, and a second driving tendon connected to the second driving link through the body and the first driving link and formed to pull or push the second driving link; A linkage tendon connected to the third driving link through the second driving link with the first driving link as a fixed point; A driven link coupled to both sides of the driving link and formed to be linked to the rotation of the driving link; and Including the above body and the driven link, and the tying line connected between the adjacent driven links, Robot gripper.

21. In paragraph 20, The above-mentioned tie-line is characterized in that it is formed on both sides of the above-mentioned driven link. Robot gripper.

22. In paragraph 21, On the side of the above driving link, a tendon groove is formed through which the driving tendon and the linkage tendon pass. An interference prevention link is further provided between the side of the above driving link and the above driven link to prevent the tendon and the binding line from interfering with each other. Robot gripper.

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