Gripper

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.

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.