Servo module for multi-joint gripper

Abstract

The servo module for a multi-joint gripper of the present invention comprises: a first housing having an inner space provided therein and having a first through-hole provided at one side thereof to enable a rotation shaft to be formed therein; a second housing having a seating groove in which a driving part can be seated; and a third housing coupled to the upper portion of the first housing and having a third through-hole provided at one side thereof to enable the rotation shaft to be formed therein, wherein the second housing is inserted into the first housing, and the first housing and the third housing are coupled after the second housing is inserted into the first housing.

Description

Servo module of a multi-joint gripper

[0001] The present invention relates to a servo module of a multi-joint gripper, and more specifically, to a servo module of a multi-joint gripper in which the drive unit of the multi-joint gripper is mounted by manufacturing the servo module through the structural combination of a first housing, a second housing, and a third housing while minimizing bolting fastening, thereby enabling the servo module to be designed in a minimum size while improving the productivity and durability of the servo module.

[0002] Robot arms equipped with grippers can be used in manufacturing production lines or logistics transfer lines in industries such as semiconductors, food, automobiles, and ships, and are utilized in various industrial fields.

[0003] A gripper capable of grasping an item may be provided at the tip of a robot arm equipped with a gripper. The robot arm may be equipped with multiple joints connecting the grippers, and the grippers of the robot arm can grasp an item by rotating around the multiple joints as axes.

[0004] The robot arm may include a servo module for rotating the gripper around a joint as an axis. The servo module is a drive module including a fluid collector, gears, motor drives, etc., and through the servo module, the gripper can be rotated around the joint as an axis.

[0005] Prior art Korean Registered Patent Publication No. 10-2553914 (July 5, 2023) discloses a robot arm equipped with a gripper (finger device of a robot arm). Referring to Korean Registered Patent Publication No. 10-2553914 (July 5, 2023), a multi-joint frame and a finger frame (servo module) for coupling a finger holder (gripper) can be coupled to the main body (base) of the robot arm.

[0006] A plurality of multi-joint frames and finger frames (servo modules) may be combined with the main body (base) of the robot arm, and actuators may be provided in the multi-joint frames and finger frames (servo modules).

[0007] However, such conventional servo modules have the following problems. Conventional servo modules can be manufactured using various types of bolts connected to the inside and outside of the servo module.

[0008] However, manufacturing servo modules using such a variety of bolts limits the ability to minimize their size and leads to reduced productivity. Additionally, using diverse bolts may result in reduced durability at the bolt joints.

[0009] The present invention aims to solve the aforementioned problems, and more specifically, relates to a servo module of a multi-joint gripper that can improve the productivity and durability of the servo module while designing the servo module to a minimum size by manufacturing a servo module in which the drive unit of the multi-joint gripper is mounted through the structural combination of a first housing, a second housing, and a third housing while minimizing bolting fastening.

[0010] A servo module of a multi-joint gripper according to one embodiment comprises: a first housing having an internal space and a first through hole on one side capable of forming a rotation axis; a second housing having a seating groove on which a driving unit can be seated; and a third housing coupled to the upper part of the first housing and having a third through hole on one side capable of forming a rotation axis, wherein the second housing is inserted into the interior of the first housing, and the first housing and the third housing are coupled after the second housing is inserted into the first housing.

[0011] According to one embodiment, the second housing of the servo module of the multi-joint gripper is press-fitted into the inner side of the first housing, and the inner side of the first housing is provided with a fitting projection that protrudes outward, and the outer side of the second housing may be provided with a fitting groove formed in a shape corresponding to the fitting projection.

[0012] According to one embodiment, the second housing of the servo module of the multi-joint gripper is press-fitted into the inner side of the first housing, the second housing is provided with a fitting projection protruding outward, and the inner side of the first housing may be provided with a fitting groove having a shape corresponding to the fitting projection.

[0013] In the third housing of the servo module of the multi-joint gripper according to one embodiment, a plurality of connecting pins protruding downward are provided, and the first housing may be provided with a connecting groove into which the connecting pins are inserted.

[0014] One or more of the plurality of connecting pins of the servo module of the multi-joint gripper according to one embodiment can press the upper surface of the second housing while contacting the upper surface of the second housing.

[0015] According to one embodiment, the third housing of the servo module of the multi-joint gripper is press-fitted into the first housing, and the first housing may be provided with a first fastening projection and the third housing may be provided with a third fastening groove.

[0016] According to one embodiment, the third housing of the servo module of the multi-joint gripper is press-fitted into the first housing, and the third housing may be provided with a third fastening projection and the first housing may be provided with a first fastening groove.

[0017] According to one embodiment, the first housing of the servo module of the multi-joint gripper is provided with a first bolt connection hole into which a bolt can be inserted, and the second housing is provided with a second bolt connection hole into which a bolt can be inserted, and the second housing can be fixed to the first housing by fastening a bolt to the first bolt connection hole and the second bolt connection hole.

[0018] A servo module of a multi-joint gripper according to one embodiment may include a fastening clip that is simultaneously fastened to one side of the first housing and one side of the third housing.

[0019] The fastening clip of the servo module of a multi-joint gripper according to one embodiment includes a main body portion extending in a bar shape and a fastening portion bent at both sides of the main body portion, and a first insertion groove into which the fastening portion is inserted is provided in the lower part of the first housing, and a third insertion groove into which the fastening portion is inserted may be provided in the upper part of the third housing.

[0020] In one embodiment, the interior of the third housing of the servo module of the multi-joint gripper is provided with a wire connection work section into which a wire can be inserted, and the third housing may be provided with a wire connection work hole that is open to the outside and communicates with the wire connection work section.

[0021] The second housing of the servo module of the multi-joint gripper according to one embodiment may be provided with a connecting hole that is open to the outside and communicates with the seating groove.

[0022] A servo module of a multi-joint gripper according to one embodiment further includes a rotating frame coupled to the other side of the first housing and the third housing, and the rotating frame may be bolted to the first housing and the third housing.

[0023] The rotating frame of the servo module of the multi-joint gripper according to one embodiment is composed of two separated members and can be bolted to the first housing and the third housing.

[0024] A servo module of a multi-joint gripper according to one embodiment further includes a gripper frame connected to one side of the first housing and the third housing, and the gripper frame can be rotatably connected to the first housing and the third housing through a rotation axis inserted into the first through hole of the first housing and the third through hole of the third housing.

[0025] The present invention relates to a servo module of a multi-joint gripper, and has the advantage of minimizing bolting by manufacturing a servo module in which the driving part of the multi-joint gripper is mounted through the structural combination of a first housing, a second housing, and a third housing.

[0026] In addition, the present invention has the advantage of being able to design a servo module with the minimum size by manufacturing a servo module in which the drive unit of a multi-joint gripper is mounted through the structural combination of a first housing, a second housing, and a third housing while minimizing bolting fastening.

[0027] In addition, the present invention has the advantage of improving the productivity of the servo module by manufacturing a servo module in which the drive unit of the multi-joint gripper is mounted through the structural combination of the first housing, the second housing, and the third housing while minimizing bolting fastening.

[0028] In addition, the present invention has the advantage of improving the durability of the servo module by combining the first housing, the second housing, and the third housing through structural connection while minimizing bolting fastening.

[0029] In addition, the present invention has the advantage of being able to restrict vertical movement on one side and the other side of the first housing and the third housing by connecting a fastening clip to one side of the first housing and the third housing and bolting a rotating frame to the other side of the first housing and the third housing.

[0030] FIG. 1 is a drawing showing a servo module of a multi-joint gripper according to an embodiment of the present invention.

[0031] FIG. 2 is a perspective view showing a first housing, a second housing, and a third housing combined according to an embodiment of the present invention.

[0032] Figure 3 is an exploded perspective view of Figure 2.

[0033] FIG. 4 is a drawing showing a third housing according to an embodiment of the present invention.

[0034] FIG. 5 is a second perspective view showing the first housing, the second housing, and the third housing combined according to an embodiment of the present invention.

[0035] Fig. 6 is an exploded perspective view of Fig. 5.

[0036] FIG. 7 is a drawing showing that, according to an embodiment of the present invention, a second housing is inserted into the first housing and the first housing and the third housing are combined.

[0037] FIG. 8 is a drawing showing a first housing according to an embodiment of the present invention.

[0038] FIG. 9 is a drawing showing a fastening clip according to an embodiment of the present invention being coupled to one side of a first housing and a third housing.

[0039] FIG. 10 is a drawing showing a fastening clip according to an embodiment of the present invention coupled to one side of a first housing and a third housing.

[0040] FIG. 11 is a drawing showing the coupling of a rotating frame according to an embodiment of the present invention to a first housing and a third housing.

[0041] FIG. 12 is a drawing showing the connection of a gripper frame according to an embodiment of the present invention to a first housing and a third housing.

[0042] This specification clarifies the scope of the present invention and explains the principles of the present invention and discloses embodiments so that those skilled in the art can practice the present invention. The disclosed embodiments may be implemented in various forms.

[0043] Expressions such as "comprising" or "may comprise" that may be used in various embodiments of the present invention indicate the existence of the disclosed corresponding function, operation, or component, and do not limit one or more additional functions, operations, or components. Furthermore, in various embodiments of the present invention, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0044] When it is stated that a component is "connected or coupled" to another component, it should be understood that the component may be directly connected or coupled to the other component, but that a new component may also exist between the component and the other component. On the other hand, when it is stated that a component is "directly connected" or "directly coupled" to another component, it should be understood that no new component exists between the component and the other component.

[0045] The terms "first," "second," etc., as used in this specification may be used to describe various components, but the components should not be limited by these terms. The terms are used solely for the purpose of distinguishing one component from another.

[0046] The present invention relates to a servo module of a multi-joint gripper, and more specifically, to a servo module of a multi-joint gripper in which the drive unit of the multi-joint gripper is mounted by manufacturing the servo module through the structural combination of a first housing, a second housing, and a third housing while minimizing bolting fastening, thereby enabling the servo module to be designed with a minimum size while improving the productivity and durability of the servo module.

[0047] A servo module of a multi-joint gripper according to an embodiment of the present invention can be coupled to a main body (base) of a robot arm. Specifically, the other side of the servo module according to an embodiment of the present invention can be coupled to the main body (base) of the robot arm through various parts, and a plurality of servo modules can be coupled to the main body (base) of the robot arm.

[0048] In addition, a gripper may be coupled to the servo module of the multi-joint gripper according to an embodiment of the present invention. Specifically, a gripper may be coupled to one side of the servo module according to an embodiment of the present invention through various parts.

[0049] A servo module of a multi-joint gripper according to an embodiment of the present invention may be equipped with a driving module for providing driving force to the multi-joint gripper. Specifically, a driving module including an actuator, a gear, a motor, etc. may be equipped in the servo module according to an embodiment of the present invention. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0050] Referring to FIGS. 1 and 2, the servo module of a multi-joint gripper according to an embodiment of the present invention includes a first housing (110), a second housing (120), and a third housing (130).

[0051] Referring to FIG. 3, the first housing (110) is provided with an internal space and a first through hole (111) into which a rotation axis (161) can be inserted on one side. A driving module for providing driving force to a multi-joint gripper may be disposed in the internal space of the first housing (110).

[0052] Specifically, components of a driving module, such as an actuator, gear, motor, etc., may be placed in the internal space of the first housing (110). A first through hole (111) forming the rotation axis (161) may be provided on one side of the first housing (110). The first through hole (111) may be a hole penetrating the lower surface of the first housing (110), and the rotation axis (161) may be formed in the first through hole (111).

[0053] Referring to FIG. 3, the second housing (120) is provided with a mounting groove (122) in which a driving unit can be seated. A driving unit, such as a motor, that provides driving force to a multi-joint gripper can be seated in the mounting groove (122) of the second housing (120), and the second housing (120) can be inserted into the first housing (110).

[0054] The second housing (120) may be a bracket capable of supporting a component such as a motor, and through the second housing (120), a component such as a motor can be securely placed inside the first housing (110).

[0055] Referring to FIG. 3, a second through hole (121) capable of forming the rotation axis (161) may be provided on one side of the second housing (120). The second through hole (121) may be a hole penetrating the second housing (120), and the rotation axis (161) may be formed through the second through hole (121).

[0056] Referring to FIGS. 4 and 5, the third housing (130) is coupled to the upper part of the first housing (110) and is provided with a third through hole (131) that can form a rotation axis (161) on one side.

[0057] The third housing (130) is coupled to the upper part of the first housing (110), and the third housing (130) can be coupled to the first housing (110) after a driving module for providing driving force of a multi-joint gripper is placed in the internal space of the first housing (110).

[0058] A third through hole (131) capable of forming the rotation axis (161) may be provided on one side of the third housing (130). The third through hole (131) may be a hole penetrating the upper surface of the third housing (130), and the rotation axis (161) may be formed in the third through hole (131).

[0059] Referring to FIGS. 6 and 7, the second housing (120) according to an embodiment of the present invention can be inserted into the first housing (110), and after the second housing (120) is inserted into the first housing (110), the first housing (110) and the third housing (130) can be combined.

[0060] Referring to FIGS. 3, 6, and 7, the second housing (120) can be press-fitted into the inner side of the first housing (110). To this end, a fitting projection (112) protruding outwardly may be provided on the inner side of the first housing (110), and a fitting groove (123) having a shape corresponding to the fitting projection (112) may be provided on the outer side of the second housing (120).

[0061] When the second housing (120) is inserted into the first housing (110), the second housing (120) can be forcibly fitted into the inside of the first housing (110) as the fitting groove (123) is fitted into the fitting projection (112).

[0062] In this way, as the second housing (120) is press-fitted into the inner side of the first housing (110) through the fitting projection (112) and the fitting groove (123), the second housing (120), which can support a driving part such as a motor, can be firmly inserted into the first housing (110) while minimizing bolting.

[0063] In the above description, it was explained that the first housing (110) is provided with the fitting projection (112) and the second housing (120) is provided with the fitting groove (123), but it is not limited thereto.

[0064] According to an embodiment of the present invention, the second housing (120) may be provided with a fitting projection protruding outward, and the inner side of the first housing (110) may be provided with a fitting groove having a shape corresponding to the fitting projection. According to an embodiment of the present invention, the second housing (120) may be provided with a fitting projection and the first housing (110) may be provided with a fitting groove, and the second housing (120) may be press-fitted into the inner side of the first housing.

[0065] Referring to FIG. 3, the first housing (110) according to an embodiment of the present invention is provided with a first bolt connection hole (116) into which a bolt can be inserted, and the second housing (120) is provided with a second bolt connection hole (124) into which a bolt can be inserted.

[0066] According to an embodiment of the present invention, the second housing (120) can be fixed to the first housing (110) by fastening bolts to the first bolt connection hole (116) and the second bolt connection hole (124).

[0067] As described above, the second housing (120) is forcibly fitted into the first housing (110), thereby allowing the second housing (120) to be fixed inside the first housing (110).

[0068] However, in order to more firmly secure the second housing (120) to the first housing (110), bolts may be fastened to the first bolt connection hole (116) and the second bolt connection hole (124). However, as the second housing (120) is press-fitted into the first housing (110), the second housing (120) can be secured inside the first housing (110) while minimizing bolt fastening.

[0069] Referring to FIGS. 6 and 7, the third housing (130) according to an embodiment of the present invention may be provided with a plurality of connecting pins (132) protruding downward, and the first housing (110) may be provided with a connecting groove (113) into which the connecting pins (132) are inserted.

[0070] By inserting the connecting pin (132) provided in the third housing (130) into the connecting groove (113) provided in the first housing (110), the first housing (110) and the third housing (130) can be combined.

[0071] Specifically, by providing a plurality of the connecting pins (132) in the third housing (130) and a plurality of the connecting grooves (113) in the first housing (110), the first housing (110) and the third housing (130) can be combined while minimizing bolt fastening.

[0072] Referring to FIG. 7, one or more of the plurality of connecting pins (132) provided in the third housing (130) may press the upper surface of the second housing (120) while in contact with the upper surface of the second housing (120).

[0073] The above connecting pin (132) may be used to connect the first housing (110) and the third housing (130), but at least one of the plurality of connecting pins (132) may be used to press the upper surface of the second housing (120).

[0074] Specifically, at least one of the plurality of connecting pins (132) may not be inserted into the connecting groove (113) but may press the upper surface of the second housing (120) while in contact with the upper surface of the second housing (120).

[0075] By pressing the upper surface of the second housing (120) through the connecting pin (132), the vertical movement of the second housing (120) can be restricted, thereby allowing the second housing (120) to be firmly placed in the first housing (110).

[0076] Referring to FIGS. 3 and 6, the third housing (130) can be press-fitted into the first housing (110). To this end, the first housing (110) may be provided with a first fastening projection (114), and the third housing (130) may be provided with a third fastening groove (134).

[0077] Referring to FIGS. 4 and 8, the third fastening groove (134) may be formed in a shape corresponding to the first fastening projection (114), and when the first housing (110) and the third housing (130) are combined, the third housing (130) may be forcibly fitted into the first housing (110) as the first fastening projection (114) is fitted into the third fastening groove (134).

[0078] In this way, as the third housing (130) is forcibly fitted into the first housing (110) through the first fastening projection (114) and the third fastening groove (134), the first housing (110) and the third housing (130) can be firmly joined while minimizing bolting.

[0079] Additionally, according to an embodiment of the present invention, the third housing (130) may be provided with a third fastening projection (133) and the first housing (110) may be provided with a first fastening groove (115), so that the third housing (130) may be forcibly fitted into the first housing (110).

[0080] Referring to FIGS. 4 and 5, the interior of the third housing (130) according to an embodiment of the present invention may be provided with a wire connection work section (136) into which a wire can be inserted. The wire connection work section (136) is a space formed inside the third housing (130), and a wire for operating a drive unit may be placed in the wire connection work section (136).

[0081] In addition, the third housing (130) according to an embodiment of the present invention may be provided with a wire connection work hole (137) that is open to the outside and communicates with the wire connection work part (136).

[0082] The above wire connection work hole (137) may be a hole that is open to the outside from the other side of the third housing (130), and the above wire connection work hole (137) is connected to the above wire connection work part (136). A wire can be inserted into the above wire connection work part (136) through the above wire connection work hole (137).

[0083] Referring to FIG. 6, the second housing (120) according to an embodiment of the present invention may be provided with a connecting hole (125) that is open to the outside and communicates with the seating groove (122). A driving unit, such as a motor, may be placed in the seating groove (122), and the connecting hole (125) may be a hole that is open to the outside and communicates with the seating groove (122).

[0084] A wire can be connected to a drive unit, such as a motor, through the above-mentioned connection hole (125). Specifically, the wire introduced into the wire connection work unit (136) through the above-mentioned wire connection work hole (137) can pass through the above-mentioned connection hole (125) and be connected to the drive unit.

[0085] Referring to FIGS. 9 and 10, the servo module of a multi-joint gripper according to an embodiment of the present invention may include a fastening clip (140) that is simultaneously fastened to one side of the first housing (110) and one side of the third housing (130).

[0086] The above fastening clip (140) can be fastened simultaneously to one side of the first housing (110) and one side of the third housing (130) to restrict the vertical movement of the first housing (110) and the third housing (130).

[0087] Referring to FIG. 9, the fastening clip (140) may include a main body (141) formed in a bar shape and a fastening part (142) bent at both sides of the main body (141). Additionally, a first insertion groove (117) into which the fastening part (142) is inserted may be provided in the lower part of the first housing (110), and a third insertion groove (135) into which the fastening part (142) is inserted may be provided in the upper part of the third housing (130).

[0088] Referring to FIG. 10, the fastening portion (142) of the fastening clip (140) is inserted into the first insertion groove (117) of the first housing (110) and the third insertion groove (135) of the third housing (130), thereby fastening the fastening clip (140) to one side of the first housing (110) and one side of the third housing (130).

[0089] As the above fastening clip (140) is fastened to one side of the first housing (110) and one side of the third housing (130), vertical movement can be restricted on one side of the first housing (110) and one side of the third housing (130) through the fastening clip (140).

[0090] Referring to FIGS. 1 and FIGS. 11, the servo module of a multi-joint gripper according to an embodiment of the present invention may further include a rotating frame (150) coupled to the other side of the first housing (110) and the third housing (130).

[0091] The above-mentioned rotating frame (150) may be a frame that can be directly or indirectly coupled to the main body (base) of the robot arm, and the above-mentioned rotating frame (150) may be rotatably coupled to the main body (base) of the robot arm.

[0092] According to an embodiment of the present invention, the rotating frame (150) may be bolted to the first housing (110) and the third housing (130). Specifically, the first housing (110) and the third housing (130) may be provided with housing bolt holes (118), and the rotating frame (150) may be provided with bolt holes (152).

[0093] By fastening bolts to the housing bolt holes (118) provided in the first housing (110) and the third housing (130) and the bolt holes (152) provided in the rotating frame (150), the rotating frame (150) can be connected to the first housing (110) and the third housing (130).

[0094] In this way, by connecting the rotating frame (150) to the other side of the first housing (110) and the third housing (130), vertical movement can be restricted on the other side of the first housing (110) and the third housing (130).

[0095] Specifically, by connecting the fastening clip (140) to one side of the first housing (110) and the third housing (130), vertical movement can be restricted on one side of the first housing (110) and the third housing (130), and by connecting the rotating frame (150) to the other side of the first housing (110) and the third housing (130), vertical movement can be restricted on the other side of the first housing (110) and the third housing (130).

[0096] The servo module of the multi-joint gripper according to an embodiment of the present invention can firmly connect the first housing (110) and the third housing (130) while minimizing bolt fastening by restricting the vertical movement of one side and the other side of the first housing (110) and the third housing (130) through the fastening clip (140) and the rotating frame (150).

[0097] According to an embodiment of the present invention, the rotating frame (150) is composed of two separated members (151) and can be bolted to the first housing (110) and the third housing (130).

[0098] Specifically, the rotating frame (150) can be bolted to the first housing (110) and the third housing (130) by joining the two separating members (151) together. When the rotating frame (150) is bolted to the first housing (110) and the third housing (130) by joining the two separating members (151) together, the vertical movement on the other side of the first housing (110) and the third housing (130) can be more firmly restrained by the force of the two separating members (151) joining together.

[0099] Referring to FIGS. 1 and FIGS. 12, the servo module of a multi-joint gripper according to an embodiment of the present invention may further include a gripper frame (160) connected to one side of the first housing (110) and the third housing (130).

[0100] The above gripper frame (160) is a frame to which a gripper capable of gripping an object is directly or indirectly connected, and the gripper frame (160) can be rotatably connected to one side of the first housing (110) and the third housing (130).

[0101] Specifically, the gripper frame (160) can be rotatably connected to the first housing (110) and the third housing (130) through a rotation axis (161) formed in the first through hole (111) of the first housing (110) and the third through hole (131) of the third housing (130).

[0102] According to an embodiment of the present invention, the gripper frame (160) may be able to rotate by receiving power from a drive module disposed inside the first housing (110) and the third housing (130).

[0103] Specifically, power can be transmitted to the gripper frame (160) through an actuator, a plurality of gears, a motor, etc., disposed inside the first housing (110) and the third housing (130), thereby allowing the gripper frame (160) to rotate relative to the first housing (110) and the third housing (130).

[0104] Referring to FIG. 12, when the gripper frame (160) is rotatably connected through a rotation axis (161) formed in the first through hole (111) of the first housing (110) and the third through hole (131) of the third housing (130), a bearing (162) may be provided between the rotation axis (161) and the gripper frame (160).

[0105] In addition, according to an embodiment of the present invention, the gripper frame (160) may be composed of two separated members, and the gripper frame (160) may be rotatably connected to one side of the first housing (110) and the third housing (130) by combining the two members.

[0106] The servo module of the multi-joint gripper according to the embodiment of the present invention described above has the following effects.

[0107] The servo module of the multi-joint gripper according to an embodiment of the present invention has the advantage of minimizing bolting fastening by manufacturing a servo module in which the driving part of the multi-joint gripper is seated through the structural combination of a first housing, a second housing, and a third housing.

[0108] In addition, the servo module of the multi-joint gripper according to an embodiment of the present invention has the advantage of being able to be designed in a minimum size by manufacturing a servo module in which the driving part of the multi-joint gripper is mounted through the structural combination of the first housing, the second housing, and the third housing while minimizing bolting fastening.

[0109] In addition, the servo module of the multi-joint gripper according to an embodiment of the present invention has the advantage of improving the productivity of the servo module by manufacturing a servo module in which the driving part of the multi-joint gripper is mounted through the structural combination of the first housing, the second housing, and the third housing while minimizing bolting fastening.

[0110] In addition, the servo module of the multi-joint gripper according to an embodiment of the present invention has the advantage of improving the durability of the servo module by combining the first housing, the second housing, and the third housing through structural coupling while minimizing bolting fastening.

[0111] In addition, the servo module of the multi-joint gripper according to an embodiment of the present invention has the advantage of being able to restrict vertical movement on one side and the other side of the first housing and the third housing by connecting a fastening clip to one side of the first housing and the third housing and bolting a rotating frame to the other side of the first housing and the third housing.

[0112] As such, the present invention has been described with reference to an embodiment illustrated in the drawings; however, this is merely illustrative, and those skilled in the art will understand that various modifications and variations of the embodiment are possible therefrom. Accordingly, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. In a servo module of a multi-joint gripper, A first housing having an internal space and a first through hole on one side capable of forming a rotation axis; A second housing provided with a mounting groove on which a driving unit can be seated; It includes a third housing that is coupled to the upper part of the first housing and has a third through hole on one side capable of forming a rotation axis, and A servo module of a multi-joint gripper characterized in that the second housing is inserted into the first housing, and after the second housing is inserted into the first housing, the first housing and the third housing are combined.

2. In Paragraph 1, The second housing is press-fitted into the inner side of the first housing, and The inner side of the first housing is provided with a fitting projection that protrudes outward, and A servo module of a multi-joint gripper characterized by having a fitting groove formed in a shape corresponding to the fitting projection on the outer side of the second housing.

3. In Paragraph 1, The second housing is press-fitted into the inner side of the first housing, and The second housing is provided with a fitting projection that protrudes outward, and A servo module of a multi-joint gripper characterized by having a fitting groove formed in a shape corresponding to the fitting projection on the inner side of the first housing.

4. In Paragraph 1, The third housing is provided with a plurality of connecting pins protruding downward, and A servo module of a multi-joint gripper, characterized in that the first housing is provided with a connecting groove into which the connecting pin is inserted.

5. In Paragraph 4, A servo module of a multi-joint gripper characterized in that one or more of the plurality of connecting pins contact the upper surface of the second housing and press the upper surface of the second housing.

6. In Paragraph 1, The third housing is press-fitted into the first housing, and A servo module of a multi-joint gripper characterized in that the first housing is provided with a first fastening projection and the third housing is provided with a third fastening groove.

7. In Paragraph 1, The third housing is press-fitted into the first housing, and A servo module of a multi-joint gripper characterized in that the third housing is provided with a third fastening projection and the first housing is provided with a first fastening groove.

8. In Paragraph 1, The first housing is provided with a first bolt connection hole into which a bolt can be inserted, and the second housing is provided with a second bolt connection hole into which a bolt can be inserted. A servo module of a multi-joint gripper characterized by fastening a bolt to the first bolt connection hole and the second bolt connection hole to fix the second housing to the first housing.

9. In Paragraph 1, A servo module of a multi-joint gripper characterized by including a fastening clip that is simultaneously fastened to one side of the first housing and one side of the third housing.

10. In Paragraph 9, The above fastening clip is, It includes a main body portion extending in a bar shape and a fastening portion bent at both sides of the main body portion, and A servo module of a multi-joint gripper characterized in that the lower part of the first housing is provided with a first insertion groove into which the fastening part is inserted, and the upper part of the third housing is provided with a third insertion groove into which the fastening part is inserted.

11. In Paragraph 1, The interior of the third housing is provided with a wire connection section into which a wire can be inserted, and A servo module of a multi-joint gripper characterized in that the third housing is provided with a wire connection work hole that is open to the outside and communicates with the wire connection work part.

12. In Paragraph 1, A servo module of a multi-joint gripper characterized in that the second housing is provided with a connecting hole that is open to the outside and communicates with the seating groove.

13. In Paragraph 1, It further includes a rotating frame coupled to the other side of the first housing and the third housing, and A servo module of a multi-joint gripper characterized in that the rotating frame is bolted to the first housing and the third housing.

14. In Paragraph 13, A servo module of a multi-joint gripper, characterized in that the rotating frame is composed of two separated members and is bolted to the first housing and the third housing.

15. In Paragraph 1, It further includes a gripper frame connected to one side of the first housing and the third housing, and A servo module of a multi-joint gripper, characterized in that the gripper frame is rotatably connected to the first housing and the third housing through a rotation axis inserted into the first through hole of the first housing and the third through hole of the third housing.

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