Gripper device

Multi-Product Gripper Device Using Multi-Stage Gripping Links and Finger Stopper Interference

This technology features a gripper device that integrates first and second gripping units with rotation axes at different heights into a single finger unit. By utilizing interference with a finger stopper during finger movement, it adjusts the rotation angle of the gripping mechanism to handle objects of various sizes and heights.

Conventional grippers optimized for a single form factor often suffer from low operational efficiency, as they require frequent gripper changes or complex control systems to handle objects of diverse sizes and shapes.

This technology implements a structure that varies the posture of the gripping unit by utilizing the relative rotation between the finger stopper and the connection mount, allowing it to grasp objects of various shapes without changing the gripper. It can be applied to food and beverage service robots, logistics picking, and automated unmanned stores, significantly increasing throughput while reducing equipment replacement costs.

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Key Features:

• A finger moving unit configured to move the finger units in a gripper device that includes a plurality of finger units
• A finger stopper positioned along the movement path of the finger unit to interfere with and adjust the rotation angle of the gripping unit
• A first gripping unit having a pair of first gripping links rotatable about a first rotation axis located at a first height
• A second gripping unit having a second gripping link rotatable about a second rotation axis at a second height higher than the first height

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of service robot technology for collecting empty dishes after meals.