Gripper
A gripper includes a body part, a finger base part coupled to the body part to be rotatable, the finger base part including a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part, and a finger part coupled to a first side of the body part or the finger base part to be reciprocal.
1 . A gripper comprising:
a body part;
a finger base part coupled to the body part to be rotatable, the finger base part comprising a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part; and
a finger part coupled to a first side of the body part or the finger base part to be reciprocal, wherein the finger part comprises:
a first finger part coupled to the body part; and
a second finger part coupled to the finger base part, the second finger part being configured such that the second finger part is moved toward an area in which the finger base part is coupled to the body part when the first finger part is moved toward the area, and the second finger part is moved toward the area when the first finger part is moved to become farther from the area.
2 . The gripper of claim 1 , wherein:
the body part comprises:
a first motor configured to rotate a first rotary shaft;
an input bevel gear coupled to the first rotary shaft; and
an output bevel gear engaged with the input bevel gear, wherein the output bevel gear comprises:
a first output bevel gear engaged with a first area of the input bevel gear; and
a second output bevel gear engaged to a second area opposite the first area of the input bevel gear in a state in which the second output bevel gear faces the first output bevel gear while the input bevel gear is interposed therebetween, the first finger base part is rotatable in conjunction with rotation of the first output bevel gear; and
the second finger base part is rotatable in conjunction with rotation of the second output bevel gear.
3 . The gripper of claim 2 , wherein:
the body part further comprises a coupler link having an interior space in which the output bevel gear is fixedly coupled,
the coupler link comprises:
a first coupler link to which the first output bevel gear is fixedly coupled; and
a second coupler link to which the second output bevel gear is fixedly coupled;
the first finger base part is coupled to the first coupler link; and
the second finger base part is coupled to the second coupler link.
4 . The gripper of claim 2 , wherein:
the body part further comprises:
a second motor configured to rotate a second rotary shaft;
a central gear rotatable in conjunction with the second rotary shaft; and
a peripheral gear engaged with the central gear,
the first finger part is coupled to be reciprocal with respect to the body part;
the second finger part is coupled to be reciprocal with respect to the finger base part; and
the first finger part and the second finger part are configured to receive power from the peripheral gear to be reciprocal.
5 . The gripper of claim 4 , wherein the peripheral gear comprises:
a first peripheral gear configured to receive power from the central gear and transmit the power to the first finger part; and
a second peripheral gear configured to receive power from the central gear and transmit the power to the second finger part.
6 . The gripper of claim 5 , wherein the body part further comprises:
a first pulley member coupled to be rotatable together with the first peripheral gear;
a first belt member surrounding an outer side of the first pulley member and configured to receive power from the first pulley member to be movable; and
a first finger mount member fixedly coupled to one side of the first belt member, wherein the first finger part is fixedly coupled to the first finger mount member.
7 . The gripper of claim 6 , wherein:
the body part further comprises a second pulley member coupled to be rotatable together with the second peripheral gear; and
the finger base part comprises:
a second belt member surrounding an outer side of the second pulley member and configured to receive power from the second pulley member to be movable; and
a second finger mount member fixedly coupled to one side of the second belt member, wherein the second finger part is fixedly coupled to the second finger mount member.
8 . The gripper of claim 7 , wherein the finger base part further comprises a third pulley member spaced apart from the second pulley member, the third pulley member being rotatable and being configured such that the second belt member surrounds an outer side thereof.
9 . The gripper of claim 8 , wherein the finger base part further comprises:
a base frame member on one side of the third pulley member;
a second rail member fixedly coupled to one surface of the base frame member; and
a second guide member configured to be movable along a lengthwise direction of the second rail member and to which the second finger mount member is fixedly coupled.
10 . The gripper of claim 7 , wherein:
the second finger mount member comprises:
a fixing area through which the second belt member passes and to which the second belt member is fixed relatively with respect to the second finger mount member; and
a through area through which the second belt member passes and in which the second belt member is provided to be movable with respect to the second finger mount member;
the second belt member has a closed curve shape; and
the fixing area and the through area face each other while being spaced apart from each other by a radius of the second pulley member.
11 . The gripper of claim 10 , wherein:
the finger base part further comprises a clamp member configured to fix the second belt member to the fixing area, the clamp member comprising:
an inner clamp fixedly coupled to the second finger mount member on an inside of the fixing area; and
an outer clamp fixedly coupled to the second finger mount member on an outside of the fixing area and facing the inner clamp while the second belt member is interposed therebetween.
12 . The gripper of claim 6 , wherein the body part further comprises a third pulley member spaced apart from the first pulley member, the third pulley member being rotatable and being configured such that the first belt member surrounds an outer side thereof.
13 . The gripper of claim 6 , wherein:
the first finger mount member comprises:
a fixing area through which the first belt member passes and to which the first belt member is fixed relatively; and
a through area through which the first belt member passes and in which the first belt member is provided to be movable with respect to the first finger mount member;
the first belt member has a closed curve shape; and
the fixing area and the through area face each other while being spaced apart from each other by a radius of the first pulley member.
14 . A gripper comprising:
a body part;
a finger base part coupled to the body part to be rotatable, the finger base part comprising a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part; and
a finger part coupled to a first side of the body part or the finger base part to be reciprocal;
wherein the finger part comprises a first finger part coupled to the body part and a second finger part coupled to the finger base part, the second finger part being configured such that the second finger part is moved toward an area in which the finger base part is coupled to the body part when the first finger part is moved toward the area, and the second finger part is moved toward the area when the first finger part is moved to become farther from the area;
wherein the body part comprises a first motor configured to rotate a first rotary shaft, an input bevel gear coupled to the first rotary shaft, and an output bevel gear engaged with the input bevel gear;
wherein the output bevel gear comprises a first output bevel gear engaged with a first area of the input bevel gear, and a second output bevel gear engaged to a second area opposite the first area of the input bevel gear in a state in which the second output bevel gear faces the first output bevel gear while the input bevel gear is interposed therebetween;
wherein the first finger base part is rotatable in conjunction with rotation of the first output bevel gear;
wherein the second finger base part is rotatable in conjunction with rotation of the second output bevel gear;
wherein the body part further comprises a second motor configured to rotate a second rotary shaft, a central gear rotatable in conjunction with the second rotary shaft, and a peripheral gear engaged with the central gear;
wherein the first finger part is coupled to be reciprocal with respect to the body part;
wherein the second finger part is coupled to be reciprocal with respect to the finger base part;
wherein the first finger part and the second finger part are configured to receive power from the peripheral gear to be reciprocal;
wherein the peripheral gear comprises a first peripheral gear configured to receive power from the central gear and transmit the power to the first finger part, and a second peripheral gear configured to receive power from the central gear and transmit the power to the second finger part;
wherein the body part further comprises a first pulley member coupled to be rotatable together with the first peripheral gear, a first belt member surrounding an outer side of the first pulley member and configured to receive power from the first pulley member to be movable, and a first finger mount member fixedly coupled to one side of the first belt member, wherein the first finger part is fixedly coupled to the first finger mount member; and
wherein the body part further comprises a body frame member on one side of the first motor, a first rail member fixedly coupled to one surface of the body frame member, and a first guide member configured to be movable along a lengthwise direction of the first rail member and to which the first finger mount member is fixedly coupled.
15 . The gripper of claim 14 , wherein:
the body part further comprises a body-side gear fixed to an area of the body frame member that faces the finger base part;
the finger base part further comprises:
a base frame member having at least a partial area facing the body-side gear; and
a base-side gear fixed to an area of the base frame member that faces the body part; and
the body-side gear and the base-side gear are engaged with each other.
16 . The gripper of claim 15 , wherein a central rotation axis of the body-side gear and a central rotation axis of the central gear correspond to each other.
17 . The gripper of claim 16 , wherein a size of a pitch circle of the body-side gear and a size of a pitch circle of the central gear correspond to each other.
18 . The gripper of claim 15 , wherein a central rotation axis of the base-side gear and a central rotation axis of the peripheral gear correspond to each other.
19 . The gripper of claim 18 , wherein a size of a pitch circle of the base-side gear and a size of a pitch circle of the peripheral gear correspond to each other.
20 . A gripper comprising:
a body part;
a finger base part coupled to the body part to be rotatable, the finger base part comprising a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part; and
a finger part coupled to a first side of the body part or the finger base part to be reciprocal;
wherein the finger part comprises:
a first finger part coupled to the body part; and
a second finger part coupled to the finger base part, the second finger part being configured such that the second finger part is moved toward an area in which the finger base part is coupled to the body part when the first finger part is moved toward the area, and the second finger part is moved toward the area when the first finger part is moved to become farther from the area; and
wherein the body part comprises:
a first motor configured to rotate a first rotary shaft;
an input bevel gear coupled to the first rotary shaft; and
an output bevel gear engaged with the input bevel gear.