Gripper device for robot arm
According to an aspect of the disclosure, a robot arm gripper device includes a grip unit capable of gripping an object by a hinge movement, a power transmission unit coupled to the grip unit and transmitting power to the grip unit, and a buffer unit having one side connected to the power transmission unit and another side connected to a robot arm body, wherein the power transmission unit is movable on the buffer unit.
1 . A robot arm gripper device comprising:
a robot arm body;
a grip unit capable of gripping an object by a hinge movement;
a power transmission unit coupled to the grip unit and transmitting power to the grip unit; and
a buffer unit having one side connected to the power transmission unit and another side connected to the robot arm body,
wherein the power transmission unit is movable on the buffer unit,
wherein the buffer unit includes:
a buffer base connected to the robot arm body;
a moving unit coupled to the power transmission unit and capable of reciprocating in a direction of the buffer base; and
a buffer body arranged between the buffer base and the moving unit and elastically supporting the moving unit, and
wherein the buffer unit is rotatably coupled to the robot arm body with a longitudinal central axis of the robot arm body as a rotational center.
2 . The robot arm gripper device of claim 1 , wherein the grip unit includes:
a grip base coupled to the power transmission unit and fixed in position; and
a grip body hingeably connected to the grip base by receiving power from the power transmission unit.
3 . The robot arm gripper device of claim 2 , wherein the grip body includes at least one bent portion on another side facing one side connected to the grip base.
4 . The robot arm gripper device of claim 2 , wherein the grip body includes a first connection unit hinge-coupled to the grip base and a second connection unit arranged apart from the first connection unit and rotating the grip body by receiving power from the power transmission unit.
5 . The robot arm gripper device of claim 2 , wherein the grip unit further includes a grip shoe attached to the grip body.
6 . The robot arm gripper device of claim 2 , wherein the power transmission unit includes:
a power transmission base arranged to face the grip base and movable on the buffer unit; and
a driving unit coupled to each of the power transmission base and the grip body and adjustable in length.
7 . The robot arm gripper device of claim 6 , wherein the driving unit is adjusted in length by a hydraulic or pneumatic cylinder method and transmits power to the grip body.
8 . The robot arm gripper device of claim 7 , wherein the driving unit is hinge-coupled to the power transmission base.
9 . The robot arm gripper device of claim 6 , wherein the power transmission unit further includes a support unit connecting the grip base and the power transmission base and contacting and supporting the grip base and the power transmission base.
10 . The robot arm gripper device of claim 1 , wherein the buffer body includes:
a guide shaft coupled to the buffer base;
a shaft head coupled to the guide shaft; and
a third elastic member arranged between the buffer base and the moving unit.
11 . A robot arm gripper device comprising:
a robot arm body;
a grip unit capable of gripping an object by a hinge movement;
a power transmission unit coupled to the grip unit and transmitting power to the grip unit; and
a buffer unit having one side connected to the power transmission unit and another side connected to the robot arm body,
wherein the buffer unit is capable of relative rotation with respect to the robot arm body, the buffer unit includes a buffer base connected to the robot arm body, and
wherein the buffer base is relatively rotatably coupled to the robot arm body with a longitudinal central axis of the robot arm body as a rotational center, and includes a first elastic member arranged between the buffer base and the robot arm body and having an elastic restoration force.
12 . The robot arm gripper device of claim 11 , wherein the buffer unit further includes:
a moving unit coupled to the power transmission unit and capable of reciprocating in a direction of the buffer base; and
a buffer body arranged between the buffer base and the moving unit and elastically supporting the moving unit.
13 . The robot arm gripper device of claim 12 , further comprising a sensor unit installed in the buffer unit and measuring an elastic force of the buffer body.
14 . The robot arm gripper device of claim 11 , further comprising a second elastic member arranged between the power transmission unit and the grip unit and elastically supporting the grip unit.
15 . A robot arm gripper device comprising:
a robot arm body;
a grip unit capable of gripping an object by a hinge movement;
a power transmission unit coupled to the grip unit and transmitting power to the grip unit; and
a buffer unit having one side connected to the power transmission unit and another side connected to the robot arm body,
wherein the power transmission unit is movable on the buffer unit,
wherein the buffer unit includes:
a buffer base connected to the robot arm body;
a moving unit coupled to the power transmission unit and capable of reciprocating in a direction of the buffer base; and
a buffer body arranged between the buffer base and the moving unit and elastically supporting the moving unit,
wherein the grip unit includes:
a grip base coupled to the power transmission unit and fixed in position; and
a grip body hingeably connected to the grip base by receiving power from the power transmission unit, and
wherein the power transmission unit includes:
a power transmission base arranged to face the grip base and movable on the buffer unit; and
a driving unit coupled to each of the power transmission base and the grip body and adjustable in length.
16 . The robot arm gripper device of claim 15 , wherein the grip body includes at least one bent portion on another side facing one side connected to the grip base.
17 . The robot arm gripper device of claim 15 , wherein the grip body includes a first connection unit hinge-coupled to the grip base and a second connection unit arranged apart from the first connection unit and rotating the grip body by receiving power from the power transmission unit.
18 . The robot arm gripper device of claim 15 , wherein the grip unit further includes a grip shoe attached to the grip body.
19 . The robot arm gripper device of claim 15 , wherein the driving unit is adjusted in length by a hydraulic or pneumatic cylinder method and transmits power to the grip body.
20 . The robot arm gripper device of claim 15 , wherein the driving unit is hinge-coupled to the power transmission base.