KR101187599B1

KR101187599B1 - Finger drive device of robot

Info

Publication number: KR101187599B1
Application number: KR20100087541A
Authority: KR
Inventors: 이용권; 조창현
Original assignee: 한국과학기술연구원
Priority date: 2010-09-07
Filing date: 2010-09-07
Publication date: 2012-10-04
Also published as: KR20120025255A

Abstract

The present invention relates to a device for driving a finger of a robot, and more particularly to a robot finger driving device for providing an additional rotational force of a finger member when a strong gripping force is required while providing fast movement of a finger member. A finger member rotatably coupled to the base, an actuator providing rotational force such that the finger member rotates with respect to the base, and a finger member rotated by the operation of the actuator. Disclosed is a finger driving apparatus of a robot including an additional rotational force providing means for providing an additional rotational force in a rotational direction.

Description

Finger drive of robot {FINGER DRIVE DEVICE OF ROBOT}

The present invention relates to a device for driving a finger of a robot, and more particularly to a robot finger driving device that provides an additional rotational force of the finger member when a strong grip force is required while providing a fast movement of the finger member.

The robot finger includes a plurality of links forming a finger joint, a plurality of motors for driving each joint, and a reducer. In general, actuators are attached to each of the joints connecting the links. These reducers and motors must be miniaturized due to size constraints. Therefore, the holding force of a finger becomes remarkably small with size reduction of a reducer and a motor. If a small motor and a reducer are used to increase the holding force, there is a problem that the response speed of the joint of the finger is very low due to the high reduction ratio. In addition, when the reduction ratio of the reducer is high, a very large load is applied during reverse rotation, and there is a high risk of damage when the robot hand collides.

In order to reduce the risk of breakage, an impact relief member made of rubber or the like may be mounted between the fingers, a spring may be installed, or an elastic joint may be applied. However, it is difficult to estimate the exact position of the finger due to its repulsive tendency, such as impact relief member and spring, and there is a problem that an additional sensor such as a deflection measuring sensor is required for the position estimation.

If a power transmission using wires and pulleys is used in place of a speed reducer, there is a limit to being able to withstand collisions only in certain directions. In addition, because of the nature of the power transmission it is difficult to accurately estimate the position of the finger, it is impossible to grip the object.

An object of the present invention is to provide a finger driving apparatus of a robot capable of supplying additional force when a large gripping force is required while driving a finger precisely and quickly using a plurality of actuators.

In addition, since a finger is driven by an actuator without a separate reducer, it is possible to lower the reduction ratio, thereby providing a finger driving device of a robot capable of fast movement and reverse driving.

In order to achieve the above object, the present invention comprises a base, a plurality of rotating members, a finger member rotatably coupled to the base, an actuator for providing a rotational force to rotate the finger member relative to the base, It provides a finger drive of the robot including an additional rotational force providing means for providing an additional rotational force in the direction of rotation of the finger member after the finger member is rotated by the operation of the actuator.

The plurality of rotating members constituting the finger member are rotatably coupled to the base and adjacent rotating members in a bent or extended direction, and the plurality of rotating members are further pitched inwardly as the rotating members are farther from the base. It is desirable to.

The base and the plurality of rotating members are respectively connected by a link with an adjacent base and the rotating member, the first end of each link is rotatably coupled to the base or a rotating member close to the base, the second of the link An end is rotatably coupled to a rotating member adjacent to the rotating member to which the first end is coupled, and the first end of the link is spaced apart in a direction in which the finger member extends from a pitching rotation axis of the rotating member to which the first end is coupled. The second end of the link is preferably coupled to be spaced apart in the direction in which the finger member is bent in the pitching rotation axis of the rotating member coupled to the second end.

The base and the rotating member adjacent to the base are connected by a base connecting member, the rotating member adjacent to the base is rotatably connected to the base connecting member, and the base connecting member is parallel to the base on the base. It can be connected to the yawing rotation on the plane.

The actuator may include a first rod rotatably coupled to a ball-socket joint at one end in the width direction of the finger member, and a first rod for moving the first rod toward the finger member or away from the finger member. A body, a second rod rotatably coupled with a ball-socket joint to the other end in the width direction of the finger member, and a second body for moving the second rod in a direction toward the finger member or away from the finger member It may include.

The additional rotational force providing means may be a wire actuator for adjusting the length of the wire and the wire connected to the finger member, wherein one end of the wire may be connected to any one of the link of the finger member, otherwise, The wire may pass through all of the plurality of rotating members of the finger, and one end may be fixed to the rotating member furthest from the base among the plurality of rotating members.

The wire actuator may include a plurality of shape memory springs that are arranged in a direction orthogonal to the wire, a fixed shaft parallel to the drive shaft and fixed to the base, and connecting the drive shaft and the fixed shaft and contracting when an electric field is applied. A member and a wire fixing part which is formed on the drive shaft and is fixed to the end of the wire. In this case, the shape memory spring member may be a shape enterprise alloy that shrinks when an electric field is applied, or may be a piezoelectric body.

A first coupling portion having a first hollow portion is formed at one end of the shape memory spring member, and the driving shaft penetrates through the first hollow portion, and has a second hollow portion at the other end of the shape memory spring member. The coupling part may be formed, the fixed shaft may be penetrated through the second hollow part, and a first electrode may be formed on the first coupling part, and a second electrode may be formed on the second coupling part.

The wire actuator may include a wire grip part including a plurality of segments through which the wire passes through a center part, pressing means for pressing the wire grip part to hold the wire grip part, and the pressing means pressing the wire grip part. If not, at least one leaf spring for securing a space between the plurality of segments so that the wire is free from the wire grip portion, and a moving portion for moving the wire grip portion when the wire grip portion grips the wire It may include.

The pressing means may include a shape enterprise alloy wire which is contracted when an electric field is applied and is wound around the wire grip portion several times, and an electrode for applying the shape memory alloy wire three electric field.

The moving part includes a first spring member connected to a front end of the wire grip part and a second spring member connected to a rear end of the wire grip part and formed of a shape memory alloy that contracts when an electric field is applied. It is preferable to be connected to the base by a spring.

The additional rotational force providing means may be a shape memory alloy wire having one end connected to the finger member and the other end fixed to the base, and contracting when an electric field is applied.

In addition, the additional rotational force providing means, the pressing member having a protrusion extending from the finger member and formed protruding in the width direction, a linear actuator disposed on the base to extend or contract a third rod, the third rod And a pressure block rotatably coupled to the finger member, wherein the pressure block rotates toward the pressure member when the third rod is extended, and presses while contacting with the protrusion of the pressure member to rotate the finger member. Can be provided. The pressing block may be rotated by a rotary actuator instead of the linear actuator to press the contact block while contacting the protrusion of the pressing member to provide a rotational force to the finger member.

In addition, the additional rotational force providing means, the crank one end is rotatably coupled to the finger member, and formed on the other end of the crank, the crank guide for guiding the linear movement of the crank, and the linear movement of the crank guide It may be provided with a guide shaft for inducing, and a pressure actuator for pressing and moving the crank guide.

The crank guide is formed in a cylindrical shape having a hollow portion, the guide shaft passes through the hollow portion of the crank guide, the crank guide and the crank may rotate about the guide shaft.

The pressurizing actuator includes a pressurizing portion having an inclined surface and a stretchable pressurizing rod. When the pressurizing rod is extended, the inclined surface of the pressurizing portion presses while being in contact with the crank guide to linearly move the crank guide, and the crank is the finger. Additional rotational force can be provided to the member.

In addition, the additional rotational force providing means may be an actuator pressing member for pressing and moving the actuator to the finger member side. In this case, the actuator pressing member may press the rear ends of the first and second rods toward the finger member side.

As described above, according to the present invention, by using an actuator having a high reduction ratio, the finger member can be quickly rotated to control the posture quickly, and when a strong rotational force is required, such as gripping an object using the finger member, additional rotational force is provided. A strong gripping force may be realized by providing an additional rotational force to the finger member using the means, that is, the pitching rotational power providing means.

In addition, since the posture is controlled by the actuator until the additional rotational force is supplied, the position of the finger member can be accurately determined.

1 is a schematic diagram showing the configuration of a first embodiment of a finger drive device of a robot according to the present invention;
2 is a perspective view illustrating a finger driving device of the robot of FIG. 1;
Figure 3 is a schematic diagram showing the configuration of a second embodiment of the finger drive device of the robot according to the present invention,
4 is a perspective view illustrating an example of a pitching rotational power supply unit of a finger driving apparatus of a robot according to the present invention;
5 is a conceptual diagram schematically showing an apparatus for gripping and moving a wire in an actuator providing an additional pitching rotation in the finger driving apparatus of FIGS. 1 to 4;
6 is a side view showing the configuration of a third embodiment of a finger drive device of a robot according to the present invention;
FIG. 7 is a side view illustrating a process of providing an additional inward pitching rotation to a finger member in the embodiment of FIG. 6;
8 is a side view showing the configuration of the fourth embodiment of the finger drive device of the robot according to the present invention;
FIG. 9 is a side view illustrating a process in which the finger driving device of the robot of FIG. 8 supplies an additional inward pitching rotational force to a finger member;
10 is a perspective view showing an example of a pressurized actuator that provides an additional pitching rotation in the finger drive of the robot according to the present invention.

Hereinafter, a finger driving apparatus of a robot according to the present invention will be described in detail with reference to FIGS. 1 to 9.

1 and 2, a first embodiment of the present invention is a finger consisting of a base 101 forming a palm, and a plurality of rotating members rotatably attached to the base 101 and forming a plurality of nodes. And an actuator 110 for rotating the member and the finger member. In this embodiment, the finger member is composed of three finger nodes, the first rotation member 120 forming the first node of the finger, and rotatably attached to the end of the first rotation member 120, the second finger A second rotating member 122 to form a node and a third rotating member 124 rotatably attached to an end of the second rotating member 122 to form a third node of the finger.

The actuator 110 may include first and second bodies 111 and 112 mounted on the base 101 and a first body moving from the first body 111 toward the first rotating member 120 or moving in the opposite direction. The rod 113 and the second rod 114 to move from the second body 112 to the first rotating member 120 side or in the opposite direction. The first rotating member 120 is provided with an actuator connecting member 130, the first and second rods 113, 114 are rotatably connected to the actuator connecting member 130 by a ball socket joint 115, respectively. do. Therefore, as the rod moves, the first rotating member 120 may rotate in another direction.

The first rotating member 120 is connected to the base 101 by the base connecting member 140. The first rotating member 120 is rotatably coupled to the base connecting member 140 by the first coupling shaft 141 to allow pitching rotation (rotation in the direction in which the finger member is bent or extended). The base connecting member 140 is coupled to the base 101 so as to be rotatable about a normal line (A axis) of the base 101. Thus, yawing about the base 101 of the finger member is possible. The second rotating member 122 is rotatably coupled to the first rotating member 120 in the bending direction by the first coupling shaft 121, and the third rotating member 124 is connected to the third coupling shaft 123. By the second rotation member 122 is rotatably coupled to the bending direction. Here, the pitching rotation (pitching) refers to the rotation in the direction in which the first to third rotating members 120, 122, 124 is rotated about an axis parallel to the surface of the base 101 and bent or extended like a finger node. Yawing means that the finger member rotates on a plane parallel to the surface of the base 101 with respect to the normal of the base 101 as an axis.

The first rotating member 120 and the second rotating member 122 are connected to the first link 150. One end 151 of the first link 150 is rotatably coupled to an end close to the base 101 of the first rotating member 120, and the other end 152 of the first link 150 is the second rotating member. It is rotatably coupled to an end close to the first rotating member 120 of (122). The first link 150 is disposed to intersect a line connecting the first coupling shaft 141 and the second coupling shaft 121. In this embodiment, one end 151 of the first link 150 is spaced apart from the first coupling shaft 141 in the outward direction (the direction in which the finger member is extended) and rotatably coupled to the first rotating member 120. The other end 152 is spaced apart from the second coupling shaft 121 in an inward direction (a direction in which the finger member is bent) and rotatably coupled to the second rotation member 122. Similarly, the second link 160 having the same shape is coupled between the second rotating member 122 and the third rotating member 124. The second link 160 is also disposed to intersect the line connecting the second coupling shaft 121 and the third coupling shaft 123, and one end 161 of the second link member 160 on the second rotating member 122 side. Is spaced outward with respect to the second coupling shaft 121 to be rotatably coupled to the second rotating member 122, and the other end 162 is spaced inward from the third coupling shaft 123 to allow the third rotating member ( 124 is rotatably coupled.

The first rotating member 120 connected to the actuator connecting member 130 rotates according to the expansion and contraction of the first rod 113 and the second rod 114 of the actuator 110. When the first and second rods 113 and 114 move toward the finger member by the same length in the same direction, the first rotating member 120 pitches inwardly. At this time, the second rotating member 122 is further pitched inward with respect to the first rotating member 120 by the first link 150, the third rotating member 124 by the second link 160. Is pitched and rotated further inward with respect to the second rotating member 122 to move, such as bending a finger. On the contrary, when the first rod 113 and the second rod 114 simultaneously move in the same length in a direction away from the finger member, the first to third members 120, 122, and 124 rotate in the opposite direction to the above-described directions. Move like unfolding.

As shown in FIG. 2, when the first rod 113 and the second rod 114 move in opposite directions, the base connecting member 140 may rotate based on the normal line A of the base 101. The first rotating member 120 coupled thereto may also rotate based on the normal line A of the base 101. Therefore, the finger member consisting of the first to third rotating members 120, 122, and 124 can yaw-rotate on a plane parallel to the base 101.

When the first to the third rotation member 120, 122, 124 as described above by pitching rotation to grasp the object occurs. Depending on the mass of the object or its shape, it may be difficult to hold the object only by the force of the first and second rods 113 and 114 of the actuator 110. The wire 170 and wire actuator 172 of FIG. 1 are for providing additional inward pitching rotational force of the finger member.

As shown in FIG. 1, one end of the wire 170 is attached to the first link 150 and the other end is attached to the wire actuator 172. The wire actuator 172 is in the form of a rotating drum. When the wire actuator 172 rotates, the wire 170 is wound or wound around the outer circumferential surface of the wire actuator 172 according to the rotation direction thereof. Therefore, when a strong gripping force is required, referring to FIG. 1, when the wire actuator 172 rotates in the counterclockwise direction to wind the wire 170, the first link 150 receives the pitching rotational power inward. Therefore, sequentially, the first rotating member 120, the second rotating member 122, the second link 160, the third rotating member 124 receives the pitching rotational power in the inward direction. Accordingly, it is possible to provide additional inward pitching rotational power as well as inward pitching rotation by the movement of the first and second rods 113 and 114 of the actuator 110.

When the wire actuator 172 rotates in a clockwise direction and the wire 170 is unwound from the wire actuator 172 to increase its length, the wire 170 rotates the first to third rotating members 120, 122, and 124. Does not affect. In this case, rotation of the first to third rotating members 120, 122, and 124 is controlled by the first and second rods 113 and 114.

The high speed reduction gear is applied to the wire actuator 172, and the actuator 110 driving the first and second rods 113 and 114 may be directly connected to a linear motor, or a speed reducer and a motor combination having a low reduction ratio may be applied. have. In this case, reverse driving is possible and rapid movement is possible. That is, the actuator 110 may be used to implement a fast movement of the finger member, and at the same time, the necessary grip force may be supplied through the wire actuator 172 and the wire 170.

3 is a second embodiment in which the wire connection structure is changed in the above embodiment. As shown in FIG. 3, the wire 270 is sequentially connected to the first to third rotating members 120, 122, and 124 through the base 101 like a tendon of a hand, and the third rotating member 124. ), One end 271 of the wire 270 is fixed by the screw 272, and the other end 272 is fixed to the base 101. Other configurations are the same as those of the first embodiment and thus will not be described in detail. When the wire 270 is pulled downward in the drawing by a wire actuator (not shown), the first to third rotating members 120, 122, and 124 are pitched inwardly. Therefore, inward pitching rotational force may be provided in addition to the inward pitching rotation by the movement of the first and second rods 113 and 114 of the actuator 110.

In the first and second embodiments, it is possible to use a shape memory wire that contracts when an electric field is applied instead of the wire and the wire actuator. That is, when the electrode is connected to both ends of the wire to apply an electric field, the length of the shape memory wire may be changed to provide the inward pitching rotational power of the first to third rotating members 120, 122, and 124.

4 illustrates one embodiment of a wire actuator used to vary the length of the wire. The wire actuator of FIG. 4 is a wire actuator 280 having a plurality of shape memory alloy springs 284. The shape memory alloy spring 284 may be a shape memory alloy that contracts when an electric field is applied, or may be a piezoelectric body. In this embodiment, the wire actuator 280 connects the drive shaft 281 and the fixed shaft 282 parallel to the drive shaft 281 and fixed to the base 101, and connecting the drive shaft 281 and the fixed shaft 282. A plurality of shape memory alloy springs 284 are included.

At both ends of the shape memory alloy spring 284, a coupling portion 285 formed of a ring or ring shape having a hollow portion is formed, and a driving shaft 281 and a fixed shaft 282 are respectively formed through the hollow portions of both coupling portions 285. The drive shaft 281, the fixed shaft 282, and the shape memory alloy spring 284 are coupled therethrough. Caps 286 are screwed to both ends of the drive shaft 281 and the fixed shaft 282 so that the coupling portion 285 of the shape memory alloy spring 284 does not fall out. The cap 286 is provided with an electrode so that a current can be applied to the shape memory alloy spring 284. As shown in Fig. 4, the engaging portions 285 of adjacent shape memory alloy springs 284 are in contact with each other and thus are electrically connected in parallel. Therefore, when the electric field is applied to the electrode of the cap 286, the same voltage and current are applied to each of the shape memory alloy springs 284, so that all the shape memory alloy springs are contracted by the same length.

A wire fixing part 283 is formed on the drive shaft 281 so that the end of the wire 170 is fixed. Accordingly, when the electric field is applied to the shape memory alloy spring 284 and contracted, the wire 170 is pulled, thereby providing additional gripping force by providing rotation and force in the bending directions of the first to third rotating members 120, 122, and 124. Can provide.

The fixed shaft 282 is provided with a bracket 287 for fixing the fixed shaft 282 to the base 101.

Figure 5 schematically shows another embodiment of a wire actuator which is a pitching rotational power providing means using a wire. As shown in Fig. 5, this embodiment is intended to provide additional inward pitching rotational power using wires as in the first and second embodiments.

One end of the wire 670 is connected to the first link of the first rotating member as in the first embodiment described above, or the third rotation is sequentially connected to the first to third rotating members as in the second embodiment described above. One end thereof may be fixed to the member.

The wire actuator 600 includes a wire grip portion 610 consisting of two segments through which the wire 670 passes through the center portion. If not fixed with the wire but additional inward pitching rotational force is required, the two segments are pressed against and gripped by the wire 670 as they approach each other. The moving part (described below) moves the wire grip part 610 when the wire grip part 610 grips the wire 670 so that the wire 670 provides additional inward pitching rotational force to the first to third rotating members. To provide.

The wire grip part 610 is wound around the shape company alloy wire 620 that shrinks when an electric field is applied, and a plate spring 612 is mounted between two segments. Therefore, two segments of the wire grip portion are spaced apart from each other by the leaf spring 612, so that the electric wire 670 is separated from the wire grip portion 610 when no electric field is applied to the shape-alloy alloy wire 620. When an additional inward pitching rotational force is required, an electric field is applied to the electrodes 621 and 622 connected to the shape memory alloy wire 620 so that when the shape memory alloy wire 620 contracts, the elastic force of the plate spring 612 is overcome and the wire is applied. The two segments of grip 610 contact and grip while pressing the wire 670 passing through its center portion. Thereafter, when the moving unit moves, wires may move together to provide an inward pitching direction rotational force of the first to third rotating members.

The moving part includes a first spring member 630 connected to the front end of the wire grip part 610 and a second spring member 640 connected to the rear end of the wire grip part 610. When the external force is not applied by the first and second spring members 640, the position of the wire grip part 610 may be maintained. The second spring member 640 is formed of a shape memory alloy that contracts when an electric field is applied while the wire grip part 610 grips the wire 670. Accordingly, when additional inward pitching rotational force is required, the wire 670 may be pulled by applying an electric field to the second spring 640 to shrink it.

The end 672 of the wire 670 is connected to the wire spring 673, it is preferable that the wire maintains a tension of a certain size or more.

The third embodiment of the present invention uses hydraulic cylinders instead of wires to provide additional bending turns and forces. As shown in FIG. 6, in this embodiment, the first to third rotating members 120, 122, and 124 rotate as the first and second rods 113 and 114 of the actuator 110 expand and contract. Are the same, so detailed description is omitted. In this embodiment, the method of providing additional inward pitching rotational power is different from the above embodiments.

The pressing member 340 extends from the first rotating member 120. A protrusion 341 is formed in the width direction of the pressing member 340. The hydraulic cylinder 310 is provided on the base. The cylinder 310 extends or contracts by adjusting the length of the cylinder rod 320. The cylinder rod 320 is rotatably coupled to the pressure block 330. One end of the pressure block 330 is rotatably coupled to the first rotating member 120. Therefore, the pressure block 330 is rotated according to the expansion and contraction of the cylinder rod 320, as shown in Figure 7, when the pressure block 330 is rotated by a predetermined angle or more the pressing portion 332 of the pressure block 330 ) Contacts the protruding portion 341 of the pressing member 340 and presses the pressing member 340, thereby providing rotation and force in the bending direction. Thus, in addition to the force by the first and second rods 113 and 114, additional inward pitching rotational force can be provided.

The hydraulic cylinder 310 of this embodiment may be replaced by a linear actuator such as a pneumatic cylinder, and may be equipped with a rotary drive means such as a rotary actuator directly on the pressure block 330.

8 and 9 show a fourth embodiment of the present invention. This embodiment also includes a base 401, an actuator 410, a first rotating member 420, a second rotating member 422, and a third rotating member 422. Since their configuration and operation are the same as those of the above-described embodiments, a detailed description thereof will be omitted.

As shown in FIGS. 8 and 9, this embodiment discloses a crank structure connected to press the first rotating member to provide additional inward pitching rotational force. In this embodiment, one end 421 is formed at the other end of the crank 430 and the crank 430 rotatably coupled to the first rotating member 420, the cylindrical of the linear guide to guide the linear movement of the crank 430 And a crank guide 431, a guide shaft 433 for causing the crank guide 431 to linearly move, and a pressure actuator 450 for pressing and moving the crank guide 431. The crank 430 and the crank guide 431 is rotatably coupled by the rotation shaft 432. The center of the guide shaft 433 is the same as the yawing rotation axis A of the first rotating member 420. Accordingly, the crank guide 431 may linearly move on the guide shaft 433, and rotate the crank 430 by rotating about the A axis. Therefore, when the first rotating member 420 yaw rotates, the crank 430 may also yaw rotate together.

The pressurizing actuator 450 includes a pressurizing portion 452 having an inclined surface and a stretchable pressurizing rod 451. In the state where the pressure rod 451 is contracted, the pressure unit 452 does not press the crank guide 431. Therefore, the first to third rotating members 420, 422, and 424 pitch rotate only by the actuator 410. When additional inward pitching rotational force is required, the pressure rod 451 is extended so that the inclined surface of the pressure unit 452 contacts the crank guide 431. When the extension of the pressure rod 451 is continued, the pressing portion 452 presses the crank guide 431 to linearly move along the guide shaft 433. The linear movement of the crank guide 431 increases the rotational force of the crank 430, and provides an additional inward pitching rotational force to the first rotating member 420.

The pressurized actuator 450 may be formed of a hydraulic cylinder, and may be a shape memory sum actuator or a piezoelectric actuator. That is, a high speed linear actuator can be used.

Fig. 10 shows another pitching rotational power supply means as a fifth embodiment of the present invention. As shown in FIG. 10, the first and second rods 513 and 514 of the actuator 510 extend to the rear of the first and second bodies 511 and 512, respectively. The pressing member 551 may press the rear ends 516 and 517 of the first and second rods 513 and 514 toward the finger member while linearly moving by the pressing actuator 550. As the pressure actuator 550 for moving the pressure member 551, a high-speed linear actuator may be used as in the fourth embodiment.

When the pressing member 551 does not contact the rear ends 516 and 517 of the first and second rods 513 and 514 of the actuator 510, the first rotating member 520 may be driven only by the actuator 510. Pitching can be rotated. When additional inward pitching rotational force is required, such as gripping an object, the pressing member 551 is moved to the finger member side by the pressurizing actuator 550 to push the rear ends of the first and second rods 513 and 514 to push the first and second rods. By pressing the second rods 513 and 514 toward the finger member side, the inward pitching rotational force of the first rotating member 520 can be increased.

In this embodiment, the pressing member presses the rear ends of the first and second rods 513 and 514 of the actuator 510, but presses the rear ends of the first and second bodies 511 and 512 of the actuator to the finger member side. This may provide additional gripping force.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the spirit of the present invention. It will be apparent to those who have knowledge.

101: base
110: actuator
111, 112: the body of the actuator
113, 114: rod of actuator
120, 122, 124: rotating member
130: actuator connection member
140: base connecting member
150, 160: link
170, 270, 670: wire
172, 280, 600: wire actuator
310: hydraulic cylinder
320: cylinder rod
330: pressure block
332: pressurization
340, 551: pressure member
341: protrusion
430 crank
431 crank guide
433: guide shaft
450, 550: pressurized actuator
452 pressurization

Claims

Bass,
Comprising a plurality of rotating members, the finger member rotatably coupled to the base,
An actuator providing rotational force such that the finger member rotates with respect to the base;
And additional rotational force providing means for providing an additional rotational force in the rotational direction of the finger member after the finger member is rotated by the operation of the actuator,
The plurality of rotating members constituting the finger member is rotatably coupled to the base and the adjacent rotating member in a bent or extended direction,
The plurality of rotating members rotate more pitching inwardly as the rotating member is farther from the base.
Robot finger drive.

delete

The method of claim 1,
The base and the plurality of rotating members are connected to the adjacent base and the rotating member, respectively, by a link,
A first end of each link is rotatably coupled to the base or a rotating member close to the base,
A second end of the link is rotatably coupled to a rotating member adjacent to the rotating member to which the first end is coupled;
The first end of the link is coupled to be spaced apart in the direction in which the finger member extends from the pitching rotation axis of the rotating member coupled to the first end,
The second end of the link is coupled to be spaced apart in the direction in which the finger member is bent in the pitching rotation axis of the rotating member coupled to the second end
Robot finger drive.

The method according to claim 1 or 3,
The base and the rotating member adjacent to the base is connected by a base connecting member,
The rotating member adjacent to the base is rotatably connected to the base connecting member,
The base connecting member is rotatably connected to the base on a plane parallel to the base
Robot finger drive.

The method of claim 4, wherein
The actuator is,
A first rod rotatably coupled to a ball-socket joint at one end in the width direction of the finger member;
A first body for moving the first rod toward the finger member or away from the finger member;
A second rod rotatably coupled to a ball-socket joint at the other end in the width direction of the finger member, and
And a second body configured to move the second rod toward the finger member or away from the finger member.
Robot finger drive.

The method of claim 3,
The additional rotational force providing means is a finger actuator of the robot which is a wire actuator for adjusting the length of the wire and the wire connected to the finger member.

The method according to claim 6,
One end of the wire is a finger drive of the robot connected to any one of the link of the finger member.

The method according to claim 6,
The wire passes through all of the plurality of rotating members of the finger, the finger driving device of the robot one end is fixed to the rotating member furthest from the base of the plurality of rotating members.

The method according to claim 6,
The wire actuator is,
A drive shaft disposed in a direction orthogonal to the wire;
A fixed shaft parallel to the drive shaft and fixed to the base;
A plurality of shape memory spring members connecting the drive shaft and the fixed shaft and contracting when an electric field is applied;
Is formed on the drive shaft, the wire fixing portion is fixed to the end of the wire
Finger drive device of the robot comprising a.

10. The method of claim 9,
The shape memory spring member is a finger drive device of the robot made of a shape enterprise alloy that contracts when an electric field is applied.

10. The method of claim 9,
The shape memory spring member is a finger driving device of the robot consisting of a piezoelectric body that contracts when an electric field is applied.

10. The method of claim 9,
One end of the shape memory spring member is formed with a first coupling portion having a first hollow portion, the drive shaft is coupled through the first hollow portion,
A second coupling part having a second hollow part is formed at the other end of the shape memory spring member, and the fixed shaft penetrates and is coupled through the second hollow part.
A first electrode is formed on the first coupling portion, and a second electrode is formed on the second coupling portion.
Robot finger drive.

The method according to claim 6,
The wire actuator is,
A wire grip part including a plurality of segments through which the wire passes through a center part;
Pressing means for pressing the wire grip part to hold the wire grip part;
At least one leaf spring for securing a space between the plurality of segments so that the wire is free from the wire grip portion when the pressing means does not press the wire grip portion;
A moving part which moves the wire grip part when the wire grip part grips the wire
Finger drive device of the robot comprising a.

The method of claim 13,
Wherein,
When the electric field is applied and shrinks and is wound around the wire grip portion, the corporate alloy wire,
An electrode for applying an electric field to the shape memory alloy wire
Finger drive device of the robot comprising a.

The method of claim 13,
The moving unit,
A first spring member connected to a tip of the wire grip part;
A second spring member connected to a rear end of the wire grip part and formed of a shape memory alloy that contracts when an electric field is applied;
Finger drive device of the robot having a.

The method of claim 13,
An end of the wire is a finger drive of the robot is connected to the base by a spring.

The method of claim 1,
The additional rotational force providing means is a finger memory driving device of the robot is a shape memory alloy wire, one end is connected to the finger member, the other end is fixed to the base, and contracts when an electric field is applied.

The method of claim 5,
The additional rotational power providing means,
A pressing member having a protrusion extending from the finger member and protruding in the width direction;
A linear actuator disposed on the base and extending or contracting a third rod;
And a pressure block rotatably coupled to the cylinder rod and the finger member, respectively.
The pressure block is rotated toward the pressing member when the third rod is extended to press the contact with the protrusion of the pressing member to provide a rotational force to the finger member
Robot finger drive.

The method of claim 5,
The additional rotational power providing means,
A pressing member having a protrusion extending from the finger member and protruding in the width direction;
Press blocks each rotatably coupled to the finger member,
It is provided with a rotary actuator for rotating the pressure block,
The pressing block rotates to the pressing member side by the rotary actuator, and presses while contacting the protrusion of the pressing member to provide a rotational force to the finger member.
Robot finger drive.

The method of claim 5,
The additional rotational power providing means,
A crank having one end rotatably coupled to the finger member;
A crank guide formed at the other end of the crank and guiding a linear movement of the crank;
A guide shaft for inducing linear movement of the crank guide;
Pressurized actuator to pressurize and move the crank guide
Finger drive device of the robot having a.

21. The method of claim 20,
The crank guide is made of a cylindrical shape having a hollow portion,
The guide shaft penetrates the hollow portion of the crank guide, and the crank guide and the crank can rotate about the guide shaft.
Robot finger drive.

21. The method of claim 20,
The pressurized actuator has a pressurizing portion having an inclined surface and a stretchable pressurizing rod,
When the pressing rod is extended, the inclined surface of the pressing unit is pressed while contacting the crank guide to move the crank guide linearly, the crank provides additional rotational force to the finger member
Robot finger drive.

The method of claim 5,
The additional rotational force providing means is a finger driving device of the robot is an actuator pressing member for pressing and moving the actuator to the finger member side.

24. The method of claim 23,
The actuator pressing member is a finger driving device of the robot for pressing the rear end of the first and second rod toward the finger member side.