US 12,459,138 B2
Gripper
Seok Woo Lee, Seoul (KR); Byung Ho Yoon, Seoul (KR); Gi Tae Kang, Suwon-si (KR); Hwa Woong Yoo, Gunpo-si (KR); Seok Won Lee, Nonsan-si (KR); and Seung Jun Woo, Yongin-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Jun. 2, 2022, as Appl. No. 17/831,111.
Claims priority of application No. 10-2021-0179076 (KR), filed on Dec. 14, 2021.
Prior Publication US 2023/0182324 A1, Jun. 15, 2023
Int. Cl. B25J 15/10 (2006.01); B25J 9/10 (2006.01)
CPC B25J 15/10 (2013.01) [B25J 9/102 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gripper comprising:
a palm module; and
a finger module coupled to one side of the palm module,
wherein the palm module comprises:
a first power unit comprising a first rotary shaft, the first power unit configured to rotate the first rotary shaft;
a screw member configured to rotate in conjunction with a rotation of the first rotary shaft;
a nut member coupled to the screw member by bolt-nut coupling;
a first member fixedly coupled to the nut member and configured to be movable in a vertical direction in conjunction with a vertical motion of the nut member caused by a rotation of the screw member, the first member having a groove extending in one direction and having a recessed shape; and
a connection member having a first side coupled to the finger module and a second side inserted into the groove, wherein the connection member is configured to be moved away from or toward the screw member by restriction between the connection member and an inner surface of the groove when the first member moves in the vertical direction.