KR101167238B1

KR101167238B1 - Robotic hand

Info

Publication number: KR101167238B1
Application number: KR20100031176A
Authority: KR
Inventors: 김성태; 임진환
Original assignee: 주식회사 로보멕
Priority date: 2010-04-06
Filing date: 2010-04-06
Publication date: 2012-07-23
Also published as: KR20110111872A

Abstract

The present invention relates to a robot hand capable of holding or releasing an object by rotating the robot finger according to the size of the object, the wrist connection member 1100; A first robot finger 1200 installed at the wrist connecting member 1100; A second robot finger 1300 installed on the wrist connection member 1100 to be located at one side of the first robot finger 1200; A third robot finger 1400 installed on the wrist connection member 1100 so as to be located at the other side of the first robot finger 1200; It is installed on the wrist connection member 1100 and consists of a finger driver 1500 that rotates the second robot finger 1300 and the third robot finger 1400 based on the first robot finger 1200, and thus the volume of the robot hand. To reduce the weight and to reduce the size of the palm member.

Description

Robot hand {Robotic hand}

The present invention relates to a robot hand, and more particularly, to a robot hand capable of holding or releasing an object by rotating the robot finger according to the size of the object.

Humanoid robots are being developed to have similar behavior to humans. Human-like robots have been developed for robotic hands for more precise movements to achieve human-like behavior, and these robotic hands require robotic fingers that can make sophisticated movements for more precise movements.

Referring to the accompanying drawings, a conventional robot finger as follows.

As shown in FIG. 1, a conventional robot finger is composed of a first node 1, a second node 2, a third node 160, and joint motion mechanisms 4a, 4b, 4c, 4d, and 4e.

The first node 110 has a hinge (not shown) on the upper side and a motor (not shown) generating a driving force for driving the joint is installed inside. The hinge portion is provided with a pin shaft (not shown), and a plurality of bevel gears 4a, 4b of the joint motion mechanisms 4a, 4b, 4c, 4d, and 4e are installed on the pin shaft and the motor. The plurality of bevel gears 4a and 4b are installed to cross each other to receive the driving force generated from the motor. Among the plurality of bevel gears 4a and 4b, the bevel gear 4a is connected to the motor to receive the driving force generated from the motor, and the bevel gear 4b is installed on the pin shaft of the first node 1 and is the first node. Rotate the pin shaft (1). When the pin shaft of the first node 1 is rotated, wire rings 2 provided on both sides of the pin shaft are rotated so as to be interlocked with the bevel gear 4b.

The second node 2 is installed on the pin axis of the first node 1 and the pin axis (not shown) of the third node 3 and rotates in conjunction with the rotation of the pin axis of the first node 1.

Rotating portions 4e are respectively installed on both sides of the pin shaft, and the third node 3 is connected to the wiring 4c by wires 4d, and the wires 4d transmit the rotational force in the correct direction. It is connected in a misaligned form to do so. The wire 4d is rotated by the rotation of the wiring 4c which rotates in conjunction with the bevel gear 4b to rotate the third node 3, which is the fingertip node. That is, the third node 3 is rotated in the direction in which the wire 4d connected to the rotating part 4e is pulled, and the second node 2 is installed on the pin shaft of the rotating part 4e and the hinge part, so that the third node 3 Following the rotation of), it moves dependently to bend and unfold to catch or release the object.

The robot hand is provided with a plurality of robot fingers for performing the above operation. Such a robot hand is provided with a motor for driving each robot finger to drive a plurality of robot fingers. That is, the conventional robot hand drives the motor provided in each robot finger in order to rotate between the robot fingers that are adjacent to each other in a direction that opens or narrows, so as to break or release an object.

When each motor is provided to drive a plurality of robot fingers as in the conventional robot hand, there is a problem that the volume is increased or the weight is increased due to the motor.

An object of the present invention is to solve the above-described problem, to provide a robot hand that can hold or release the object by rotating the robot finger according to the size of the object.

Another object of the present invention is to provide a robot hand that can reduce the volume and weight of the robot hand by driving a plurality of robot fingers using one drive source.

Still another object of the present invention is to provide a robot hand capable of reducing the size of a palm member by disposing each driving source for driving the robot finger and the node perpendicular to the wrist direction.

Still another object of the present invention is to provide a robot hand capable of adaptive motion in which nodes move differently according to whether or not contact with an object, that is, the size of a load.

Robot hand according to an embodiment of the present invention and wrist connection member; First robot finger installed in the wrist connection member; A second robot finger installed on the wrist connecting member so as to be located at one side of the first robot finger; A third robot finger installed on the wrist connecting member so as to be located at the other side of the first robot finger; And a finger driver installed on the wrist connecting member to rotate the second robot finger and the third robot finger based on the first robot finger.

Robot hand according to another embodiment of the present invention and the wrist connection member; A first robot finger installed on the wrist connecting member; A second robot finger installed on the wrist connecting member so as to be located at one side of the first robot finger; A third robot finger installed on the wrist connecting member so as to be located at the other side of the first robot finger; A finger driver installed in the wrist connecting member to rotate the second robot finger and the third robot finger based on the first robot finger; And a controller connected to the first robot finger, the second robot finger, the third robot finger, and the finger driving unit to control respective rotations, wherein the first robot finger, the second robot finger, and the first robot finger are controlled. The third robot finger has a first node, a second node connected to the first node and the pin axis, a third node connected to the second node and the pin axis and connected to the first node and the driven link, and the third node. An elastic link member which is connected to a third shaft and a pin shaft and is connected to the second node and an elastic link, and the elastic link is inserted into an elastic link guide protrusion formed on a support member of an adaptive exercise device; And an elastic member connected to the elastic link member and providing an elastic force so that the elastic link member is supported by the stopper. Rotate the third node about the pin axis or rotate the elastic link member so that the second node and the first node rotate around the pin axis, respectively, and the second robot finger and the third robot finger rotate the first node. The robot is rotated to be symmetrical with respect to the finger.

The robot hand of the present invention has the advantage of reducing the volume and weight of the robot hand by rotating the robot finger according to the size of the object by holding or releasing the object, each wrist driving the robot finger and the node wrist By placing it perpendicular to the direction, the size of the palm member can be reduced, and there is an advantage that an adaptive motion can be made in which the nodes move differently according to the contact with the object, that is, the size of the load.

1 is a perspective view of a conventional robot finger,
2 is a perspective view of the robot hand of the present invention;
3 is a partially exploded perspective view of the robot hand shown in FIG. 2;
4 is an exploded perspective view of the finger driving unit shown in FIG. 3;
5 is a partially exploded perspective view of the robot finger shown in FIG.
FIG. 6 is an exploded perspective view of the node driving unit shown in FIG. 5;
7 to 9 are each an operational state diagram of the robot hand of the present invention,
10 to 14 are each an operational state diagram of the robot finger of the present invention.

Hereinafter, an embodiment of the robot hand of the present invention will be described with reference to the accompanying drawings.

As shown in FIGS. 2 to 4, the robot hand of the present invention includes a wrist connecting member 1100, a first robot finger 1200, a second robot finger 1300, a third robot finger 1400, and a finger driver 1500. 2 to 4, FIG. 4 is an exploded perspective view of the finger driving unit 1500 illustrated in FIG. 3 as viewed from the X-axis direction.

The wrist connection member 1100 generally supports the robot hand of the present invention, and the first robot finger 1200 is installed at the wrist connection member 1100. The second robot finger 1300 is installed on the wrist connection member 1100 to be located at one side of the first robot finger 1200, and the third robot finger 1400 is located at the other side of the first robot finger 1200. The wrist connection member 1100 is installed. The finger driver 1500 is installed on the wrist connecting member 1100 to rotate the second robot finger 1300 and the third robot finger 1400 based on the first robot finger 1200.

Referring to the configuration of the robot hand of the present invention having the above configuration in more detail as follows.

Wrist connection member 1100 is composed of a wrist connection housing 1110, the support member 1120 and the palm member 1130. The wrist connection housing 1110 is installed to surround the wrist connection member 1100, and the support member 1120 is spaced apart from the upper support member 1121 at the lower side of the upper support member 1121 and the upper support member 1121. It consists of a lower support member 1122 fastened by a plurality of fastening members 1123, and is installed inside the wrist connection housing 1110. The support member 1120 is formed with a plurality of installation holes 1121a and 1122a in which the first robot finger 1200, the second robot finger 1300, the third robot finger 1400, and the finger driver 1500 are installed. do. The palm member 1130 is a connecting member 51 of the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 to be positioned above the support member 1120 (FIG. 5). And the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400. The wrist connecting member 1100 includes a first robot finger 1200, a second robot finger 1300, a third robot finger 1400, and a rotation driving source 52a of the finger driver 1500, respectively. By being arranged in the longitudinal direction of the) it is possible to configure the palm member 1130 smaller.

The first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 each have two node structures including the first node 10 and the second node 30. The finger driver 1500 for driving the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 includes a rotation driving source 1510, a driving gear 1520, and a first driven gear group. 1530 and the second driven gear group 1540.

Rotation drive source 1510 is a motor is used is installed in the wrist connection member 1100, the drive gear 1520 is connected to the rotation drive source 1510. The first driven gear group 1530 is connected to the driving gear 1520 and the second robot finger 1300 to receive the rotational force of the driving gear 1520 to rotate the second robot finger 1300, and the plurality of driven gears ( 1531, 1532, and 1533, each of which is a bevel gear, and the second driven gear group 1540 is connected to the driving gear 1520 and the third robot finger 1400 to transmit the rotational force of the driving gear 1520. The third robot finger 1400 is rotated to receive the plurality of driven gears 1541, 1542, 1543, and 1544, each of which is a bevel gear. The number of driven gears of the first driven gear group 1530 is configured to be smaller than the number of driven gears of the second driven gear group 1540.

The first driven gear group 1530 and the second driven gear group 1540 respectively transmit the rotational force generated by the rotational driving source 1510 to the second robot finger 1300 or the third robot finger 1400, respectively. This is to rotate the finger 1300 or the third robot finger 1400 to be left / right symmetrical with respect to the first robot finger 1200. For example, the first driven gear group 1530 consists of three driven gears 1531, 1532, and 1533, and the second driven gear group 1540 has one driven gear than the first driven gear group 1530. Is composed of four more driven gears (1541, 1542, 1543, 1544) so that the second robot finger (1300) or the third robot finger (1400) is left / right symmetric with respect to the first robot finger (1200). Each of the first driven gear group 1530 and the second driven gear group 1540 firmly supports the driven gears on the support member 1120 and rotates the bearings R2 and the washer (Rotating) to rotate. W) is further provided and installed.

The first driven gear group 1530 which transmits the rotational force for rotating the second robot finger 1300 includes a first driven gear 1531, a second driven gear 1532, a third driven gear 1533, and a pin member. (1534). The pin member 1534 is rotatably inserted into the installation holes 1121a and 1122a formed in the upper support member 1121 and the lower support member 1122 of the support member 1120, respectively, and the first driven gear 1531. Is installed on one side of the pin member 1534 and is connected to the drive gear 1520, when the drive gear 1520 is rotated to transmit this rotational force to the second driven gear (1532) through the pin member (1534). The second driven gear 1532 is installed on the other side of the pin member 1534 to receive the rotational force through the pin member 1534.

The fourth driven gear 1533 is connected to the second driven gear 1532 and coupled to the node driving unit 50 of the second robot finger 1300 to generate the rotational force generated by the driving gear 1520 to the second robot finger 1300. The second robot finger 1300 is rotated about the third driven gear 1533 as the central axis. The third driven gear 1533 has a coupling groove 1533a formed on an inner circumferential surface thereof, and further includes a protrusion member 1533b inserted into the coupling groove 1533a and a guide bush 1533c connected to the protrusion member 1533b. Is installed. The inclined member 52b provided in the node driving part 50 of the second robot finger 1300 is inserted inside the guide bush 1533c, and the third driven gear 1533 is rotated when the third driven gear 1533 is rotated. It is connected to the projection member 1533b and rotated. When the guide bush 1533c is rotated, the second robot finger 1300 is rotated by rotating the node driving unit 50 having the inclined member 52b about the third driven gear 1533 about its central axis. 52b) is rotated in conjunction with the guide bush 1533c. The third driven gear 1533 is further provided with a guide bush 1533d on the upper side.

The second driven gear group 1540 which transmits the rotational force for rotating the third robot finger 1400 is the pin member 1545, the first driven gear 1541, the second driven gear 1542, the third driven gear 1543 and fourth driven gear 1544.

The pin member 1545 is inserted into a hole (not shown) formed in the support member 1120, and the first driven gear 1541 is installed at one side of the pin member 1545 and is connected to the driving gear 1520. When the driving gear 1520 is rotated, the rotational force is transmitted to the second driven gear 1542 through the pin member 1545. The second driven gear 1542 is installed on the other side of the pin member 1545 to receive rotational force through the pin member 1545. The third driven gear 1543 is connected to the second driven gear 1542 and is installed on the other side of the pin member 1545 inserted into the support member 1120 to receive rotational force through the second driven gear 1542.

The fourth driven gear 1544 is connected to the third driven gear 1543 and is coupled with the node driving unit 50 of the third robot finger 1400 to transmit the rotational force generated by the driving gear 1520 to the third robot finger 1400. The third robot finger 1400 is rotated about the fourth driven gear 1544 as a central axis. The fourth driven gear 1544 has a coupling groove 1544a formed on an inner circumferential surface thereof, and further includes a protrusion member 1544b inserted into the coupling groove 1544a and a guide bush 1544c connected to the protrusion member 1544b. Is installed. The inclined member 52b provided in the node driving unit 50 of the third robot finger 1400 is inserted inside the guide bush 1544c, and the fourth driven gear 1544 is rotated when the fourth driven gear 1544 is rotated. It is connected to the projection member 1544b and rotated. When the guide bush 1544c is rotated, the third driver finger 1400 is rotated by rotating the node driving unit 50 having the inclined member 52b about the fourth driven gear 1544 about its central axis. 52b) is rotated in conjunction with the guide bush 1544c. The fourth driven gear 1544 is further provided with a guide bush 1544d on the upper side.

The third driven gear 1533 is connected to the second driven gear 1532 and is connected to the second robot finger 1300.

Another embodiment of the robot hand of the present invention having the above configuration is the wrist connection member 1100, the first robot finger 1200, the second robot finger 1300, the third robot finger 1400, finger drive unit 1500 ) And controller 1600.

The detailed configuration of the wrist connection member 1100, the first robot finger 1200, the second robot finger 1300, the third robot finger 1400, and the finger driver 1500 may be described in detail. Omit the same as However, the first robot finger 1200, the second robot finger 1300, the third robot finger 1400, and the finger driver 1500 are connected to control respective rotations. That is, the controller 1600 controls the rotation driving source 1510 to rotate the second robot finger 1300 and the third robot finger 1400 to be symmetrical with respect to the first robot finger 1200, and the elastic member ( Depending on the load applied to 55b), the second node 30 is rotated about the pin shaft R, or the elastic link 55 is driven so that the second node 30 and the first node 10 are pin shafts, respectively. Rotation around (R) enables adaptive movement.

The configuration of the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 configured to enable the adaptive movement will be described with reference to the accompanying drawings.

As shown in FIGS. 5 and 6, the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 may be configured of the first node 10, the second node 30, and the node, respectively. It is composed of a driving unit 50, each configuration will be described as follows.

The first node 10 is installed to be located at the end of the robot finger of the present invention is connected to the second node 30 by the pin shaft (R), the second node 30 is the first node 10 and the pin shaft It is connected by (R) and is rotated by the node drive part 50 with the pin shaft R as the center axis. The node driver 50 is connected to the second node 30 and the pin shaft R, and the first node 10 and the elastic link 55 are connected to the first node 10 and the second node 30, respectively. Rotate the pin axis (R) of the center axis. That is, the node driver 50 selectively rotates the second node 30 or the elastic link 55 according to the magnitude of the load applied to the elastic link 55. Here, the load represents a force supported by an object to be caught by the robot fingers 1200, 1300, and 1400.

Each configuration of the robot finger of the present invention having the above configuration will be described in detail as follows.

The first node 10 includes the first node member 11 and the first joint member 12. The first node member 11 is installed to be positioned at the end of the robot finger of the present invention, the first joint member 12 is formed to extend with the first node member (11). The first joint member 12 has a guide hole 12a into which the pin shaft R is inserted, and a connection hole 12b through which the elastic link 55 is connected to one side of the guide hole 12a. The first joint member 12 is rotated about the pin shaft R by the rotation when the second node 30 is rotated while being connected to the second node 30 by the pin shaft R. As shown in FIG.

The second node 30 is composed of a second node member 31 and a second cover member 32. The second node member 31 is connected to the node driving unit 50 and the pin shaft R, and the second cover member 32 is coupled to the second node member 31. The second node member 31 and the second cover member 32 are formed with guide grooves 31a and 32a and guide holes 31b and 32b into which the pin shaft R is inserted, respectively, and the guide grooves 31a, Cam grooves 31c and 32c for guiding the elastic link 55 are formed at one side of the 32a. The cam grooves 31c and 32c are formed in the second node member 31 and the second cover member 32 so as to correspond to the position where the first node 10 and the second node 30 are connected by the pin shaft R. When the elastic link 55 rotates to guide the end.

The node driving unit 50 is composed of a connecting ring member 51, the tilt movement mechanism 52, the drive link 53, the adaptive exercise mechanism 54 and the connecting housing 56.

The connecting ring member 51 is installed on the second node 30, and the tilt movement mechanism 52 is inserted into the connecting ring member 51 to generate a tilting motion. The drive link 53 is connected to the tilt movement mechanism 52 to move forward and backward, and the adaptive exercise mechanism 54 is installed inside the link member 51 and the drive link 53 and the first node. Connected with 10. The elastic link 55 is connected to the adaptive exercise mechanism 54 and the second node 30, the connecting housing 56 is connected to the tilt movement mechanism 52 and the pin shaft (R). The adaptive exercise device 54 rotates the second node 30 around the pin shaft R or drives the elastic link 55 according to the size of the load, thereby driving the first node 10 to the pin shaft R. Rotate to the center.

The tilt drive mechanism 52, the adaptive exercise mechanism 54, and the elastic link 55 of the node driving unit 50 will be described in detail as follows.

The tilt movement mechanism 52 is comprised by the rotation drive source 52a, the inclination member 52b, the tilt movement member 52c, and the movement direction switching member 52d. The rotary drive source 52a is used to generate a rotational force for driving the robot finger mechanism of the present invention. The inclined member 52b is connected to the rotation drive source 52a and rotated, and includes a rotating plate 111, a guide protrusion 112, and an inclined surface protrusion 113. The rotating plate 111 is rotated in the same direction as the rotational direction of the rotary drive source 52a, the guide protrusion 112 is formed to extend to the rotary plate 111 and is connected to the rotary drive source 52a and generated in the rotary drive source 52a. The transmitted rotational force is transmitted to the rotating plate 111. The inclined surface protrusion 113 is formed to be inclined to the rotating plate 111 and is formed with a guide groove 113a into which the tilt movement member 52c is inserted. The tilt movement member 52c is connected to the inclined member 52b and is inserted and installed to penetrate through the connecting ring member 51 to perform a tilt movement by the inclined member 52b. The guide protrusion 121 and the guide hole member 122 are provided. It consists of The guide protrusion 121 is inserted into the guide groove 113a formed in the inclined surface protrusion 113, and the guide hole member 122 is formed in the guide protrusion 121 and the guide hole 122a into which the pin shaft R is inserted is provided. Is formed.

The movement direction switching member 52d is connected to the tilt movement member 52c and the drive link 53, respectively, to restrain the tilt movement of the tilt movement member 52c so that the drive link 53 moves forward and backward, and is box-shaped. It consists of a member 131 and a yoke member 132.

The box-shaped member 131 has one end of the movement direction switching member 52d open and includes a plurality of side members 131b formed along the edge of the base member 131a and the base member 131a. The plurality of side members 132b are each formed with a plurality of guide holes 132c into which the pin shaft R to which the tilt movement member 52c and the connecting housing 56 are connected is inserted, and the plurality of guide holes 132c are Each of the plurality of side members 132b is formed in a direction crossing each other. The yoke member 132 is formed in the box-shaped member 131 and is formed with a guide hole 132a into which a pin shaft R is inserted to connect the driving link 53.

Four side members 131b formed at the edges of the base member 131a formed in the quadrangular of the box-shaped member 131 are provided, and each side member 131b has one guide hole 132a formed therein. As the base member 131a is formed in a quadrangle as described above, the guide holes 132a formed in the side member 131b are formed in a direction crossing each other. Two of the four guide holes 132a formed in the crossing direction as described above are connected to and constrained with the guide holes 56a formed in the connecting housing 56 through the pin shaft R. By the two guide holes 132a, the box-shaped member 131 restrains the cone motion of the tilt movement member 52c to change the direction of movement so that the drive link 53 connected to the yoke member 132 moves forward and backward. give.

The adaptive exercise device 54 is composed of a support member 54a and a stopper 54b. The support member 54a is installed inside the link member 51, and the driving link 53 and the elastic link 55 are connected to each other, and the stopper 54b is installed inside the link member 51 and supported. The member 54a is prevented from being moved by the elastic force of the elastic link 55. The support member 54a supported by the stopper 54b is provided with an elastic link guide protrusion 141, a second node guide protrusion 142, and a guide hole 143.

The elastic link guide protrusion 141 is connected to the elastic link member 55a, and the second node guide protrusion 142 is formed to be spaced apart from the elastic link guide protrusion 141, and the second node 30 is connected thereto. do. Between the guide link 141 for elastic link and the elastic link member 55a or between the guide tab 142 for the second node and the second node 30, each of the elastic link member 55a or the second node 30 is provided. The bearing (R2) is inserted and installed so that the rolling motion smoothly. The guide hole 143 is formed between the guide link 141 for the elastic link and the guide protrusion 142 for the second node, the pin shaft (R) to which the drive link 53 is connected is inserted. When the drive link 53 inserted into the pin shaft R moves forward or backward, the support member 54a rotates.

The support member 54a is connected to the second node guide protrusion 142 according to the forward or backward movement of the drive link 53 when there is no load, that is, when the robot hand of the present invention does not hold an object. 30) is rotated. The second node 30 is connected to the housing 56 by the pin shaft R and the washer W, and rotates the first node 10 by rotating the pin shaft R as a central axis.

On the contrary, when there is a load and the load is greater than the elastic force of the elastic member 55b of the elastic link 55, the supporting member 54a is guided for the second node according to the forward or backward movement of the drive link 53. 142 is rotated about the central axis. That is, the support member 54a moves in a direction away from the stopper 54b to rotate the elastic link member 55a connected to the elastic link guide protrusion 141 while the rotation of the second node 30 is stopped. The first node 10 is rotated.

The elastic link 55 is composed of an elastic link member 55a and an elastic member 55b. The elastic link member 55a is inserted into the elastic link guide protrusion 141 formed on the support member 54a of the adaptive exercise device 54, and the elastic member 55b is formed of the elastic link member 55a. It is connected to the three nodes 30 by a fastening member B such as a bolt to provide an elastic force so that the support member 54a is supported by the stopper 54d. The elastic member 55b is used by a compression spring to support the supporting member 54a to which the elastic link member 55a is connected by providing an elastic force in contact with the stopper 54d. When there is a load and the load is greater than the elastic force of the elastic member 55b, that is, when the third node 30 cannot rotate, the support member 54a is elastic member in accordance with the forward or backward movement of the drive link 53. The elastic force of 55b is overcome and rotated in a direction away from the stopper 54d to rotate the elastic link member 55a. As the washer W applied to the robot hand of the present invention, a thrust washer is used.

Referring to Figures 7 to 14 attached to the operation of the robot hand of the present invention having the above configuration as follows.

In the robot hand of the present invention, the second robot finger 1300 is positioned adjacent to one side of the first robot finger 1200 as shown in FIG. 7 so as to grip an object having a small cross-sectional area, that is, a small object. The third robot finger 1400 is adjacently located. This is because the object is gripped in proportion to the length of the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400.

In the state shown in FIG. 7, the robot hand of the present invention has a second robot finger 1300 and a third robot finger 1400 based on the first robot finger 1200 in order to hold an object having a large cross-sectional area, that is, a large object. ) Rotate it to be symmetrical. To this end, first, the finger driver 1500 (shown in FIG. 3) may move the second robot finger 1300 and the third robot finger 1400 on the basis of the first robot finger 1200 as shown in FIG. 8. Rotate left / right symmetry in a1, a2) direction. As shown in FIG. 8, when the second robot finger 1300 and the third robot finger 1400 are rotated, the finger driver 1500 continuously moves the second robot finger 1300 and the third robot finger 1400 to arrows a3. It is prepared to grip the object having a large cross-sectional area as shown in Figure 9 by rotating so as to be left / right symmetry in the, a4) direction.

As shown in FIGS. 8 and 9, the finger driver 1500 drives the second robot finger 1300 and the third robot finger 1400 to rotate left and right symmetrically. Rotate 1510). When the rotation drive source 1510 is rotated, the drive gear 1520 connected to the rotation drive source 1510 is rotated, and the first driven gear group 1530 and the second driven gear group 1540 are rotated by the rotation of the drive gear 1520. Each rotates the second robot finger 1300 and the third robot finger 1400.

The first driven gear group 1530 first receives the rotational force of the drive gear 1520 through the first driven gear 1531, and transmits the rotational force to the second driven gear 1532 through the pin member 1534. The second driven gear 1532 transmits rotational force to the third driven gear 1533 through the pin member 1534, and the third driven gear 1533 is attached to the inclined member 52b of the second robot finger 1300. The second robot finger 1300 is rotated by rotating the bearing R2 about a central axis due to being connected to the bearing R2 and the protrusion member 1533b to be installed. In addition, the second driven gear group 1540 receives the rotational force generated by the drive gear 1520 from the first driven gear 1541 and transmits the rotational force generated by the first driven gear 1541 to the second driven gear 1542 through the pin member 1545.

The second driven gear 1542 transmits the rotational force to the third driven gear 1543, and the third driven gear 1543 transfers the received rotational force to the fourth driven gear 1544 to the fourth driven gear 1544. And transmits a rotational force connected to the third robot finger 1400. That is, the fourth driven gear 1544 is connected to the bearing R2 and the protruding member 1533b installed on the inclined member 52b of the third robot finger 1400, thereby bearing the third robot finger 1400 ( Rotate R2) around the central axis. In this way, the first driven gear group 1530 sets the number of driven gears smaller than the second driven gear group 1540, thereby installing the second robot finger 1300 and the third robot finger 1400 in different directions. It is rotated to be left / right symmetric with respect to the first robot finger 1200.

When the second robot finger 1300 and the third robot finger 1400 are rotated as shown in FIG. 9, the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 are loaded or not. According to the action to grab or straighten the object.

In the robot hand of the present invention, the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400 of the node driving unit 50 are respectively provided in an initial state as shown in FIG. 10. It drives the rotation drive source (52a) provided in the tilt movement mechanism (52). When the rotation drive source 52a is rotated, the inclined member 52b connected to the rotation drive source 52a is rotated in the direction of the arrow b1 using the Z axis shown in FIG. 11 as the rotation center axis. When the inclined member 52b is rotated, the tilt movement member 52c is tilted in the direction of the arrow b2 by the rotation of the inclined member 52b due to being installed in the guide groove 113a formed in the inclined surface protrusion 113. The tilt movement member 52c is connected to the movement direction switching member 52d to move the drive link 53 forward and backward in the direction of the arrow b3. The movement direction switching member 52d restrains the tilt movement of the tilt movement member 52c so that the drive link 53 connected to the movement direction switching member 52d moves forward and backward. The drive link 53 is connected to the support member 54a of the adaptive exercise device 54 to rotate the second node 30 or the elastic link 55 according to the presence or absence of a load.

In the case of no load that does not hold an object, the support member 54a is supported by the stopper 54d by the elastic force of the elastic member 55b and is not rotated. That is, in the no-load state without a load, the second node 30 is connected to the connecting housing 56 by the pin shaft R, and thus shown in FIGS. 11 and 12, respectively, according to the moving direction of the drive link 53. It is rotated in the direction of arrows b4 and b5. That is, the second node 30 is rotated about the pin axis R, that is, the rotation center axis C, according to the moving direction of the drive link 53. When the drive link 53 moves in the reverse direction, the second node 30 rotates accordingly. When the second node 30 rotates, the elastic link member 55a is rotated by the rotation of the second node 30. The first node 10, which is connected and restrained by (), rotates. The second node 30 and the first node 10 are rotated around the pin shaft R, respectively, to perform the operation of pinching the robot fingers 1200, 1300, and 1400. On the contrary, when the movement of the driving link 53 moves forward, the second node 30 and the first node 10 are unfolded in the reverse order of the pinch operation.

When there is a load to catch an object, that is, when the second node 30 is stopped, the movable member 53b moves in the direction of reversing the elastic member 55b, respectively, as shown in FIGS. 9 and 10. It extends in the directions of arrows a6 and a8. As the elastic member 55b increases, the support member 54a overcomes the elastic force of the elastic member 55b and moves away from the stopper 54b in the directions of arrows a7 and a9 shown in FIGS. 9 and 10, respectively. Will be moved in the direction. When the supporting member 54a moves in the direction away from the stopper 54b and overcomes the elastic force of the elastic member 55b, that is, in the direction of the arrows b7 and b9 shown in FIGS. 13 and 14, respectively, the supporting member 54a is supported. Rotates the elastic link member 55a connected to the support member 54a by rotating the guide protrusion 142 for the second node about a central axis.

When the elastic link member 55a rotates, the first node 10 connected to the elastic link member 55a is constrained by the elastic link member 55a to rotate. The first node 10 is rotated. The second node 30 and the first node 10 are rotated around the pin shaft R, respectively, to grasp an object. On the contrary, when the movement of the driving link 53 moves forward, the third node 40, the second node 30, and the first node 10 are unfolded to release the object.

As described above, the robot hand of the present invention is generally controlled by the controller 1600 and according to the size of the cross-sectional area of the object, that is, the size of the object, based on the first robot finger 1200 and the second robot finger 1300. The first and second nodes 10 and 10, which rotate the third robot finger 1400 and are provided on the first robot finger 1200, the second robot finger 1300, and the third robot finger 1400, respectively. ) Provides the advantage of more precise motion by enabling adaptive movement according to the load of the object.

The robot hand of the present invention can be applied to an automated device or the humanoid robot industry.

10: first node 11: first node member
12: first joint member 30: second joint
31: second node member 32: third cover member
40: elastic link 50: node driving portion
51: connecting member 52: tilt movement mechanism
53: drive link 54: adaptive fitness equipment
55: elastic link 56: connecting housing
1100: wrist connecting member 1200: first robot finger
1300: second robot finger 1400: third robot finger
1500: finger driving unit 1600: controller

Claims

A wrist connecting housing, a supporting member installed inside the wrist connecting housing and having first to third robot fingers and a finger driving unit installed thereon, and the first to third robot fingers being installed so as to be positioned above the supporting member. Wrist connection member consisting of a palm member for supporting the first robot finger, the second robot finger and the third robot finger;
A first robot finger installed on the wrist connecting member;
A second robot finger installed on the wrist connecting member so as to be located at one side of the first robot finger;
A third robot finger installed on the wrist connecting member so as to be located at the other side of the first robot finger;
Is installed in the wrist connecting member is composed of a finger drive unit for rotating the second robot finger and the third robot finger based on the first robot finger,
Each of the first to third robot fingers includes a first node, a second node connected to the first node and the pin axis, and a node driver connected to the second node and the pin axis and connected to the first node and the elastic link, respectively. Consists of,
The node driving unit is a connecting ring member installed in the second node, the tilt movement mechanism is inserted into the connection ring member is installed, the drive link is connected to the tilt movement mechanism to move forward and backward, and the connection ring member It is installed in the interior of the adaptive linking the driving link and the first node and the adaptive movement mechanism, the elastic link connected to the second and the adaptive exercise mechanism, and the tilting movement mechanism and the connecting housing connected by the pin shaft,
The adaptive exercise device is a robot hand characterized in that the second node to be rotated about the pin axis or the first link is rotated around the pin axis according to the size of the load.

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The elastic link member of claim 1, wherein the elastic link of the node driving unit of the first to third robot fingers is inserted into an elastic link guide protrusion formed on a support member of the adaptive exercise device, and the elastic link member Is made of an elastic member connected to provide an elastic force so that the elastic link member is supported by the stopper, and according to the load applied to the elastic member to rotate the second node about the pin axis or by rotating the elastic link member A robot hand characterized in that the first node to be rotated about the pin axis.

4. The apparatus of claim 3, wherein the first node comprises: a first node member;
Consists of a first joint member formed to extend with the first node member,
The first joint member has a guide hole into which a pin shaft is inserted, and a connecting hole to which an elastic link is connected to one side of the guide hole is formed.

The method of claim 3, wherein the second node and the second node member and the pin driving shaft connected to the pin;
Consists of a second cover member that is fastened to the second node member,
The second node member and the second cover member are formed with a guide groove into which a pin shaft is inserted, respectively, and a cam groove for guiding an elastic link on one side of the guide groove.

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According to claim 1, The tilt movement mechanism and the rotary drive source;
An inclined member connected to the rotation driving source and rotating;
A tilt movement member connected to the inclined member and inserted to penetrate the connection ring member to perform a tilt movement;
The tilt movement member and the driving link are connected to each other to constrain the tilt movement of the tilt movement member is configured to the movement direction switching member to the forward and backward movement,
The rotating drive source is a motor is used, the inclined member is formed to extend to the rotating plate, the rotating plate and connected to the rotating drive source and the guide projection is installed bearing, the guide groove is formed to be inclined to the rotating plate and the tilt movement member is inserted It is formed of the inclined surface projection, wherein the tilt movement member is a robot hand, characterized in that consisting of a guide protrusion, and a guide hole member is formed in the guide projection and the guide hole is inserted into the pin shaft.

The method of claim 7, wherein the movement direction switching member and the box-shaped member is open at one end;
It is formed in the box-shaped member and consists of a yoke member formed with a guide hole for inserting the pin shaft for connecting the drive link,
The box-shaped member is composed of a base member and a plurality of side members formed along the edge of the base member, wherein the side member is formed with a guide hole for inserting the pin shaft is connected to the tilt movement member and the connecting housing, respectively A robot hand characterized by.

According to claim 1, The adaptive exercise device is installed on the inner side of the connecting member and the support member is connected to the drive link and the elastic link, respectively;
The stopper is installed inside the link member to prevent the support member from being moved by the elastic force of the elastic link.
The support member has an elastic link guide projection to which the elastic link member is connected, and a second projection guide connected to a second node so as to be spaced apart from the guide link for the elastic link, and the guide projection for the elastic link and the The robot hand, characterized in that the guide hole is inserted between the guide projection for the second node is inserted into the pin shaft connecting the drive link.

4. The robot hand according to claim 3, wherein the elastic member uses a compression spring.

The pin shaft of claim 3, wherein each of the pin shafts connecting the first and second nodes and the node driving unit comprises: a shaft member;
Robot hand, characterized in that consisting of a bearing is inserted into the shaft member is installed.

According to claim 1, wherein the finger drive unit and a rotation drive source installed in the wrist connecting member;
A drive gear connected to the rotation drive source;
A first driven gear group connected to the drive gear and the second robot finger to receive a rotational force of the drive gear to rotate the second robot finger;
A second driven gear group connected to the drive gear and the third robot finger to receive the rotational force of the drive gear to rotate the third robot finger;
And the number of driven gears in the first driven gear group is smaller than the number of driven gears in the second driven gear group.

The method of claim 12, wherein the first driven gear group and the pin member is inserted into the support member;
A first driven gear installed at one side of the pin member and connected to the drive gear; A second driven gear installed on the other side of the pin member;
The third driven gear is connected to the second driven gear and is coupled to the driving source of the second robot finger to transmit the rotational force transmitted through the driving gear to the second robot finger.
The third driven gear is a robot hand, characterized in that the coupling groove is formed on the inner peripheral surface, the projection member is inserted into the coupling groove and the guide bush connected to the projection member is further provided.

The method of claim 12, wherein the second driven gear group and the pin member is inserted into the support member;
A first driven gear installed at one side of the pin member and connected to the drive gear; A second driven gear installed on the other side of the pin member;
A third driven gear connected to the second driven gear and installed on the other side of the pin member inserted into the support member;
The fourth driven gear is connected to the third driven gear and is coupled to the driving source of the second robot finger to transmit the rotational force transmitted through the driving gear to the third robot finger.
The fourth driven gear has a coupling groove formed on an inner circumferential surface thereof, and a robot member comprising a projection member inserted into the coupling groove and a guide bush connected to the projection member.

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