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KR-102959847-B1 - ELECTRIC GRIPPER DEVICE CAPABLE OF HIGH-SPEED PICKING

KR102959847B1KR 102959847 B1KR102959847 B1KR 102959847B1KR-102959847-B1

Abstract

Some embodiments of the concept of the present invention include a gripping portion for gripping an object; and a driving portion disposed on the gripping portion and driving the gripping portion, wherein the gripping portion comprises: a plurality of fingers driven to converge to grip the object or to spread apart to release the object; a plurality of pads disposed at one end of each of the fingers; a plurality of gears disposed at the other end of each of the fingers; and a worm rotatably engaged with the gears. The worm rotates to rotate the gears, the fingers are driven by the rotation of the gears, and each of the pads includes protrusions.

Inventors

  • 박태형
  • 성수진

Assignees

  • 주식회사 에이트테크

Dates

Publication Date
20260511
Application Date
20250521

Claims (9)

  1. A gripping part for gripping an object; and It includes a driving unit disposed on the gripping part and driving the gripping part, The above gripping part is: A plurality of fingers driven to converge to grasp the object or to spread apart to release the object; A plurality of pads disposed at one end of each of the above fingers; A plurality of gears disposed at the other end of each of the above fingers; and It includes a worm that rotatably meshes with the above gears, and The above worm rotates while rotating the above gears, and The fingers are driven by the rotation of the gears, Each of the above pads includes protrusions and trenches arranged at regular intervals on one surface of each of the above pads, and The above protrusion has a V-shape, The above protrusions include first protrusions and second protrusions arranged in a vertical direction, and The second protrusions are spaced apart horizontally from the first protrusions, and The above trench is defined by a pair of the above first protrusions adjacent to each other, and The above trench improves gripping force by inserting a part of the object, and An electric gripper device in which the minimum width of the above trench is greater than the shortest distance between the first protrusion and the second protrusion.
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  4. In Article 1, The fingers include a first finger, a second finger, and a third finger arranged spaced apart from each other at regular intervals centered on the worm, and The above pads include a first pad disposed at one end of the first finger, a second pad disposed at one end of the second finger, and a third pad disposed at one end of the third finger, and The above gears are an electric gripper device comprising a first gear disposed at the other end of the first finger, a second gear disposed at the other end of the second finger, and a third gear disposed at the other end of the third finger.
  5. In Paragraph 4, The first finger comprises a pair of plates and a support member between the plates, and Each of the above plates includes a recess formed concavely inward, An electric gripper device in which the object is stably fixed by the recesses of the plates.
  6. In Article 5, The above plates are spaced apart from each other with the first gear and the support member in between, and An electric gripper device characterized in that each of the above plates is composed of a single member.
  7. In Article 6, Each of the above plates includes an inner surface in contact with the first gear and the support member and an outer surface opposite to the inner surface, and The inner surfaces of the above plates face each other in an electric gripper device.
  8. In Article 7, An electric gripper device characterized by the plates reducing the weight of the first finger by forming a void space between the inner surfaces of the plates.
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Description

Electric gripper device capable of high-speed picking The present invention relates to an electric gripper device capable of high-speed picking, and more specifically, to an electric gripper device capable of high-speed picking using a worm gear. With the proliferation of industrial robots and automation equipment, the demand for electric gripper devices capable of precise and rapid object manipulation in various work environments is surging. In particular, in application fields requiring high-speed and high-precision processing—such as logistics transfer, electronic component assembly, semiconductor handling, and biosampling—the performance of the gripper device mounted on the end of the robot arm acts as a critical factor determining the efficiency and productivity of the entire system. Electric grippers are generally configured to convert the rotational force of an electric motor through a reduction mechanism and transmit it to the fingers of the gripper to implement opening and closing operations. Among these reduction mechanisms, the worm gear structure has been widely adopted because it has the advantages of a simple structure, the ability to achieve a high reduction ratio, and the ability to stably maintain the position of the fingers even when the drive is stopped through a self-locking function. Worm gears consist of a worm (screw-type shaft) and a worm wheel (gear), and are generally used effectively when high torque output is required even in small precision devices. However, these conventional worm gear-based electric gripper devices have the following structural and functional limitations. First, during the process of repeatedly performing high-speed picking operations, continuous friction and load are concentrated on the contact area of the worm, which leads to rapid wear and reduces the overall lifespan of the device. In particular, in environments where forward and reverse operation is frequent, repeated impacts between the worm and the worm wheel accumulate, leading to the accumulation of microscopic damage, which can eventually result in gear disengagement or failure of power transmission. Second, conventional worm gears have a certain level of backlash, which can cause positional errors in operations requiring high-precision control. Backlash can be a critical limitation, especially in tasks involving small parts or delicate operations involving force control. For this reason, the use of worm gear-based grippers is sometimes avoided in industries where precision control is essential. Third, even if material strength or lubrication conditions are adjusted to improve durability, it is often difficult to fundamentally resolve wear and damage in conventional worm gears due to structural constraints. In particular, in the recent trend of robot systems that require both miniaturization and lightweighting, it is difficult to achieve substantial performance improvements by simply making existing metal-based worm gears larger or stronger. Accordingly, there is a growing technical demand for electric gripper devices capable of structurally precise control while ensuring high durability that enables repetitive picking even in high-speed driving environments. In particular, there is a demand for a new type of electric gripper with improved wear resistance, shock resistance, and precision driving performance by improving the shape, structure, and material of the worm gear itself. FIG. 1 is a schematic diagram of a waste sorting system using an artificial intelligence-based robot arm including an electric gripper device according to some embodiments. Figure 2 is a drawing of an electric gripper device of the robot arm of Figure 1. FIG. 3a is a drawing of an electric gripper device in a non-grabbing state. FIG. 3b is a bottom view of an electric gripper device in a non-gripping state. FIG. 4a is a drawing of an electric gripper device in a gripping state. FIG. 4b is a bottom view of an electric gripper device in a gripping state. Fig. 5a is an enlarged view of the pad of the electric gripper device. Figure 5b is a cross-sectional view along the line C-C' of Figure 5a. FIG. 6a is a perspective view of a worm of an electric gripper device according to some embodiments. FIG. 6b is a cross-sectional view of an electric gripper device according to some embodiments. FIG. 7a is a perspective view of a worm of an electric gripper device according to some embodiments. FIG. 7b is a cross-sectional view of an electric gripper device according to some embodiments. FIG. 7c is a cross-sectional view of an electric gripper device according to some embodiments. Hereinafter, an electric gripper device according to embodiments of the concept of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a waste sorting system using an AI-based robot arm including an electric gripper device according to some embodiments. FIG. 2 is a diagram relating to the electric gr