Gripper Modules and Robot Systems

Detachable gripper module for handling tools and workpieces via a fingertip coupling interface

This technology provides a mechanical mechanism for a gripper module mounted on the end of a multi-jointed robot arm to attach or detach a rod-type coupling aid on a device module, or to grip workpieces such as bolts, using a coupling interface and gripping groove formed on two fingertips.

Previously, manual tool changes were required for every task, resulting in low efficiency, while the use of tool changers led to excessive downtime during changeovers.

This technology features a mechanical interface structure designed with a concave coupling section on the inner side of the fingertips and a gripping groove crossing it. By inserting the protruding rod-type coupling aid of a device module into the coupling section, the module is secured, while the gripping groove allows for the handling of objects like bolts. Applicable to manufacturing automation, assembly processes, and service robots, it increases task transition efficiency by enabling device tool changes without the need for a tool changer.

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Key Features:

• A gripper module comprising a gripper body with a preset volume and a device module detachably coupled to it
• Finger bodies with one end rotatably connected to the gripper body, positioned on both sides in the width direction
• A coupling section formed with a structure that is recessed from the inner surface where the fingers face each other toward the outer surface
• A coupling aid protruding from the device module, designed to be inserted into the coupling section

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This invention was developed with support from the Grand ICT Research Center funded by the Ministry of Science and ICT.