KR101731326B1 - Spatial adaptive finger module and Gripper using the same - Google Patents

Spatial adaptive finger module and Gripper using the same Download PDF

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Publication number
KR101731326B1
KR101731326B1 KR1020150033652A KR20150033652A KR101731326B1 KR 101731326 B1 KR101731326 B1 KR 101731326B1 KR 1020150033652 A KR1020150033652 A KR 1020150033652A KR 20150033652 A KR20150033652 A KR 20150033652A KR 101731326 B1 KR101731326 B1 KR 101731326B1
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KR
South Korea
Prior art keywords
finger
rotation axis
bending
link
node
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KR1020150033652A
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Korean (ko)
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KR20160109376A (en
Inventor
오용환
김태욱
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한국과학기술연구원
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Priority to KR1020150033652A priority Critical patent/KR101731326B1/en
Priority to PCT/KR2016/002202 priority patent/WO2016144057A1/en
Publication of KR20160109376A publication Critical patent/KR20160109376A/en
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Publication of KR101731326B1 publication Critical patent/KR101731326B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The finger module includes a frame, a finger structure rotatable in two directions with respect to the frame with respect to a bending axis of rotation and an opening rotation axis extending in different directions, and a motor for operating the finger structure, The bending operation is performed by driving the motor, and when the bending operation is restricted, the bending operation is performed by the driving force of the motor, The opening operation is performed. The gripper includes the finger module.

Description

[0001] Spatial Adaptive Finger Module and Gripper Using the Same [

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finger module and a gripper having the same, and more particularly, to a finger module and a gripper having the finger module.

In the past, the tasks required in the industrial sector were the tasks requiring a relatively simple sequence. In such a work environment, the robot can perform a desired operation with a simple structure.

However, as the industrial field is diversified, robots are being used for services and medical applications, and the structure of robots is also diversified.

In the case of the end-effector provided at the end of the arm of the robot according to the development of the robot, the function is changed in appearance.

An end effector of a robot arm is designed to perform a gripping operation to perform more various and sophisticated functions.

A gripper applying a finger structure is used as a form capable of performing a gripping operation. However, since the finger operation of the conventional gripper is restrained on a one-dimensional plane, there are many restrictions on the gripping function.

In order to compensate for this, a humanoid robot hand mimicking the structure of the human hand has been developed. However, in the case of an anthropomorphized robot hand, too many actuators and systems are required to perform the gripping operation, which is more complicated and costly than necessary.

There is a demand for an end effector of the type that can compensate for the disadvantages of the conventional hand gripper and the robot hand.

Korea Patent No. 10-1454779

SUMMARY OF THE INVENTION It is an object of the present invention to provide an end effector capable of applying a finger module operating in accordance with a space to a gripper, The purpose is to provide.

In order to achieve the above object, according to one aspect of the present invention, there is provided a finger structure comprising a frame, a finger structure rotatable in two directions with respect to the frame on the basis of a bending rotation axis and an opening rotation axis extending in different directions, Wherein the finger structure is capable of performing a bending operation to rotate about the bending rotation axis and a bending operation to rotate about the bending rotation axis, wherein the bending operation is performed first by driving the motor, And when the operation is restricted, the opening operation is performed by the driving force of the motor.

According to one embodiment, when the finger structure is brought into contact with an object, the opening operation and the bending operation are simultaneously performed, so that the finger structure moves along the curved surface of the object, and the contact state with the object can be maintained.

According to one embodiment, the finger module includes: a joint structure that receives a driving force of the motor and exerts a force to cause the finger structure to rotate simultaneously with respect to the bending rotation axis and the opening rotation axis; and a finger structure, Further comprising a braking rigidity imparting device for imparting rigidity that restrains rotation about the center, and when the finger module is brought into contact with an object and the motor provides a driving force capable of overcoming the rigidity imparted by the braking rigidity imparting device The finger structure rotates around the opening rotation axis.

According to one embodiment, the joint structure is a spherical link structure including a plurality of links rotatably connected to each other about a plurality of spherical link rotation shafts, wherein the plurality of spherical link rotation shafts meet at one intersection point, And the input shaft of the joint structure is disposed in a straight line with the opening rotation axis.

According to one embodiment, the bending rotation axis and the opening rotation axis are orthogonal to each other.

According to one embodiment, the finger structure includes a plurality of nodes connected in series, and the plurality of nodes are relatively rotatably connected about a nodal rotation axis.

According to one embodiment, in a state in which the finger structure does not restrict the bending rotation, the entire finger structure rotates about the bending rotation axis without relative rotation between the plurality of nodes, The second node connected to the first node is rotated about the first node rotation axis formed at the connection portion between the first node and the second node.

According to one embodiment, the opening operation can be performed when the rotational movement of the knob is restricted at the end of the finger structure.

According to an embodiment of the present invention, the finger structure includes a crank rotatably connected to the first nodal rotary shaft, a second crankshaft rotatably coupled to the crank about a first crank rotation axis, A first nodal link that applies a force to rotate the crank about the first nodal axis of rotation, and a first bend stiffness imparting device that constrains the crank to rotate freely relative to the first nod, Applies a force to rotate the crank about the first nip rotation axis, the crank applies force to the first nip and the first nip is rotated around the bending rotation axis.

According to one embodiment, the finger structure includes a second nodal link, one end of which is rotatably connected to the crank at a second crank rotation axis and the other end is connected to force the second nodule, When the first node comes into contact with the object and the bending operation of the first node is restricted, the crank rotates around the first bending stiffness axis by overcoming the first bending stiffness imparted by the first bending stiffness imparting device , The rotation of the crank causes the second nodal link to apply force to the second nod and the second nod is rotated about the first nod about the first nodal axis of rotation.

According to another aspect of the present invention, there is provided a finger module including a base and a first finger module fixed to the base, wherein the first finger module is the finger module, and the frame of the first finger module is a gripper Is provided.

According to one embodiment, the gripper further includes a second finger module fixed to the base, and the second finger module is coupled to the first finger module and the mirror so that the opening direction of the first finger module is opposite to that of the first finger module, And is formed in a symmetrical structure.

According to one embodiment, the gripper further includes a third finger module fixed to the base, and the third finger module is bent in a direction opposite to the bending direction of the second finger module, Mirror symmetrical structure.

According to an embodiment of the present invention, the third finger module may be fixed with an opening rotation axis so that the opening operation is not performed.

1 to 5 illustrate finger modules according to an embodiment of the present invention in various angles.
FIG. 6 is a conceptual diagram illustrating the configuration of a finger structure according to an embodiment of the present invention.
7 shows a fifth-order spherical link structure according to an example.
8 illustrates a joint structure according to an embodiment of the present invention.
FIG. 9 is a conceptual diagram of a configuration of a finger module according to an embodiment of the present invention.
10 is a perspective view of a gripper according to an embodiment of the present invention.
11 is a view showing the opening operation of the first finger module and the second finger module of the gripper of Fig.
12 is a view showing a bending operation of the second finger module and the third finger module of the gripper of FIG.
Fig. 13 shows a state in which a cylindrical object is gripped using the gripper of Fig.
Fig. 14 shows a state in which a spherical object is gripped using the gripper of Fig.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and action are not limited by this embodiment.

1 to 5 show the finger module 1 according to an embodiment of the present invention in various angles.

1 to 5, the finger module 1 includes a frame 40 and a finger structure 10, a motor, and a joint structure 30 which are fixed to the frame 40. As shown in Fig.

The frame 40 is composed of a top frame 41, a side frame 42 and a bottom frame 43 and is formed in a substantially "C" shape.

A motor 20 is inserted into the lower frame 43 of the frame 40 and the motor 20 is fixed to extend in the same direction as the side frame 42.

The side frame 42 of the frame 40 includes a joint structure 30 extending vertically at one end of the upper frame 41 and the lower frame 43 and connected to the upper frame 41 and the lower frame 43, And the like.

In the middle of the upper frame 41, a rotary connector 120 is coupled. The rotary connector 120 includes a connecting bundle 121 extending from the upper end of the upper frame 41 in the longitudinal direction of the upper frame 41 and a connecting rod 121 extending through the upper frame 41 And includes a shaft 122.

The connecting shaft 122 is rotatably connected to the upper frame 41 at the opening joint 114. Beolrim rotary shaft (axis) extending in the longitudinal direction of went by the center of beolrim joint 114 connected to the shaft (122) (S 1) (see Fig. 8) are defined, the rotation connection member 120 beolrim rotation axis (S 1 And is rotatable with respect to the upper frame 41 about the center.

FIG. 6 is a conceptual diagram of the finger structure 10 according to an embodiment of the present invention.

1 to 6, a first flange 161 is formed at one end of the first joint 101 of the finger structure 10 so as to surround a side of the joint bundle 121, The fourth link 34 passes through the first flange 161 and the connection bundle 121 to connect the two members.

The first node 101 is free-rotatably connected to the fourth link 34 at the bending joint 111. A bending rotation axis S 5 (see FIG. 8) extending in the longitudinal direction of the fourth link 34 passing through the center of the bending joint 111 is defined, and the first joint 101 rotates the bending rotation axis S 5 And is rotatable with respect to the rotating connector 120 about its center.

Since the rotary joint 120 is connected to the frame 40, the first joint 101 can be said to be rotatable with respect to the frame 40 about the bending rotation axis S 5 . In addition, when the rotary connector 120 rotates about the frame 40 about the opening rotation axis S 1 , the first knob 101 also rotates about the opening rotation axis S 1 with respect to the frame 40 Rotate.

A first flange 162 is formed at the other end of the first barrel 101 and a first barrel shaft 135 is formed to pass through the two second flanges 162. The first nodal shaft 135 is fixedly connected to the first nodal 101 in the first nodal joint 112.

A third flange 163 extending inward of the second flange 162 is formed at one end of the second node 102 connected in series with the first node 101, And is rotatably connected to the one-joint shaft 135 in a freely rotatable manner.

A first and a first joint axis of rotation (S 6) define extending bars went by the center of the joint 112 in the longitudinal direction of the first joint shaft 135, a second segment 102 has a first joint axis of rotation (S 6 The first node 101 can be rotated with respect to the first node 101.

A fourth flange 164 is formed at the other end of the second node 102 and a second nodal shaft 136 is formed to pass through the two fourth flanges 164. The second nodal shaft 136 is fixedly connected to the second nodal 102 at the second nodal joint 113.

A fifth flange 165 extending inwardly of the fourth flange 164 is formed at one end of the third node 103 connected in series with the second node 102, And is freely rotatably connected to the two-joint shaft 136. [

A second nodal rotary axis S 7 extending through the center of the second nodal joint 113 and extending in the longitudinal direction of the second nodal shaft 136 is defined and the third nodal axis 103 is defined by a second nodal rotary axis S 7 Of the first and second nodes 102, 102, respectively.

The gripping surfaces 104, 105 and 106 are formed at the upper ends of the first to third nodes 101 to 103. The gripping surfaces 104, ) To the third node 103 are laid out in the same plane.

The first node 101 to the third node 103 are operated by a plurality of node links and a crank connected to a lower end of the first node 101 to the third node 103,

As shown in the figure, one corner of the substantially triangular crank 142 is connected to the first nod shaft 135. A second torsion spring 132 is connected between the crank 142 and the first nodal shaft 135 as a first bending stiffness imparting device.

The crank 142 is freely rotatably connected to the first nod shaft 135, but free rotation is restrained by the stiffness provided by the second torsion spring 132. [

The stiffness provided by the torsion spring refers to the force by which the torsion spring can maintain its shape without being elastically deformed.

When the second torsion spring 132 is greater than the rigidity that provides the force to the crank 142 is applied, the crank 142 rotates about the first joint shaft 135 about the first joint axis of rotation (S 6) .

One end of the first nodal link 141 is connected to the first crank joint 152 corresponding to the other corner of the triangular corner of the crank 142.

The first center of the first joint axis of rotation (S 6) and parallel to the first and the defined crankshaft axis of rotation (S 9) extending in a first node link 141 has a first crank rotation axis (S 9 of the crank joint 152 And is freely rotatable about the crank 142.

The other end of the first node link 141 is connected to the end of the third link 33 of the joint structure 30 at the first node link joint 151. The first node the center of the link joint (151) has a first and a first joint link rotation axis (S 8) is defined, extending parallel to the joint axis of rotation (S 6), the first joint link 141 is the first node link rotation axis Focusing on the (S 8) is rotatable freedom about a third link (33).

One end of the second nodal link 142 is connected to the second crank joint 153 corresponding to another corner of the triangular corner of the crank 142.

A second crank rotation axis S 10 extending parallel to the first axis rotation axis S 6 is defined in the center of the second crank joint 153 and a second crank rotation axis S 10 is defined in parallel with the second crank rotation axis S 10 And is freely rotatable about the crank 142.

The other end of the second node link 143 is rotatably connected to the second node link joint 154 formed on the rear surface of the third node 103. [

Second segment center of the link joint (154) has a first and a second node link rotation axis (S 11) is defined, which extends parallel with the joint axis of rotation (S 6), the second joint link 142, the second joint link rotation axis Focusing on (S 11) is rotatable freedom about a third node (103).

As shown in the figure, a third torsion spring 133 is connected to the second nodal shaft 136 as a second bending stiffness imparting device.

The third joint 103 is freely rotatably connected to the second joint shaft 136, but free rotation is restricted by the rigidity provided by the third torsion spring 133.

When a force exceeding the rigidity provided by the third torsion spring 133 is applied to the third node 103, the third node 103 is moved to the second node 102 around the second node rotation axis S 7 .

Referring to FIG. 6, when the third link 33 rotates counterclockwise about the bending rotational axis S 5 , the first nodal link 141 moves to the right side of the figure and pushes the crank 142.

At this time, the second because it is a state where the free rotation is constrained to a first bar rotation axis (S 6) of the crank 142 by the torsion spring 132, the relative movement of the first joint 101 of the crank 142 Is not generated. When the first nodal link 141 pushes the crank 142, the crank 142 pushes the second nodal link 143 and the second nodal link 143 exerts a force on the third nodal 103 .

3, so the torsion spring while by 133 are free to rotate is bound to a second bar rotation axis (S 7) of the third node 103, the first to the second node 102 of the third node 103, Relative motion does not occur.

The force applied to the third node 103 by the first node link 141 is applied to the second node 102 as it is.

The links are constrained to each other so that no relative rotation occurs between the structures due to the restraint force of the second torsion spring 132 and the third torsion spring 133 due to the rigidity of the finger structure 10 according to the present embodiment It is in a state of moving integrally.

Thus, when the third link 33 rotates counterclockwise about the bending rotation axis S 5 , the entire finger structure 10 is rotated in the direction of the bending rotation axis S 5 in the counterclockwise direction (see FIG. 11).

This bending operation enables a so-called "pinch grip" operation in which a small and thin object such as a needle is held by the third node 103 at the first end.

However, the bending operation of the finger structure 10 according to the present embodiment is not limited to the bending operation in which the nods 101, 102, and 103 are unfolded in a straight line.

A bending operation very similar to a finger of a human being is possible by the relative rotation between the nodes 101, 102, and 103.

Finger structure 10 during the whole rotation in a counterclockwise direction around the bending axis of rotation (S 5), the first node 101 is in contact with the object to be gripped or reaches the rotation limit to the structure 10 allows, The first node 101 can not rotate any more and the movement is restricted.

At this time, when the third link 33 continues to rotate counterclockwise with a rotational force greater than the torsion of the second torsion spring 132, the first nodal link 141 is rotated by the crank 142 ) is rotated about the first joint axis of rotation (S 6) yigimyeo the rigidity of the second torsion spring 132.

As a result, the crank 142 pushes the second nodal link 143 to the right and the second nodal link 143 exerts a force on the third nodal 103.

3, so the torsion spring while by 133 are free to rotate is bound to a second bar rotation axis (S 7) of the third node 103, the first to the second node 102 of the third node 103, Relative motion does not occur.

The force applied to the third node 103 by the first node link 141 is applied to the second node 102 as it is.

With this operation, the second nail 102 rotates counterclockwise with respect to the first nail 101 in a state in which the rotation of the first nail 101 is restrained. At this time, the third node 103 moves along with the second node 102 while maintaining the state that the third node 103 is disposed in a line with the second node 102.

When the second nerve 102 is also in contact with an object or reaches the allowed rotation limit, the second nerve 102 can not rotate anymore, and movement is restricted.

At this time, if the third link 33 continues to rotate in the counterclockwise direction with a rotational force equal to or greater than the resultant rigidity provided by the second torsion spring 132 and the third torsion spring 133, a crank 142, a second yigimyeo the rigidity of the torsion spring 132 is rotated about the first joint axis of rotation (S 6), the second joint link 143 by the crank 142, the pressing force to the right And pushes the third node 103.

The force of the second joint link 143 pushes the third joint 103 against the rigidity of the third torsion spring 133 and rotates about the second joint rotary shaft S 7 . The rotation of the third node 103 is performed until the third node 103 comes into contact with an object or reaches an allowable limit.

In this way, when the third link is rotated around the bending rotation axis S 5 , the first to third joints 101 to 103 rotate relative to each other to sequentially grip and hold the object, a "power grip" or a "hook grip" for holding the object by forming a hook shape by rotating the nodes as far as the rotation limit.

Meanwhile, the finger structure 10 of the finger module 1 according to the present embodiment performs a bending operation based on the above-described bending rotation axis S 5 as well as a bending operation that rotates about the opening rotation axis S 1 .

The bending operation and / or the bending operation are all performed by one motor 20. To this end, the finger module 1 according to the present embodiment has the joint structure 30 composed of the fifth-order spherical link structure.

Unlike the planar link mechanism, the spherical link structure is a feature that the links move along the spherical surface rather than the plane. Therefore, the size of the link is determined by the angle on the collar of the link, not the length of the link. Such a spherical link structure is characterized in that the rotational axes provided all meet at one point ("center point").

When a spherical link structure is a five-section link, it becomes a mechanism of two degrees of freedom, like a planar five-section link.

However, since the spherical link structure in Section 5 is operated by three rotation motions, it can be moved about two axes like the end node of an actual human finger. When one of the motions is controlled by a spring, A deformable motion can be formed depending on the size and shape of the lens.

7 illustrates a fifth-order spherical link structure according to an embodiment.

7, the first link 31 'of the fifth-order spherical link structure is configured to rotate around the rotation axis S 2 by rotation of the motor, and the remaining links are configured to rotate freely about the associated rotation axis . The rotation axes S 1 to S 5 of the spherical link structure are formed so as to meet at one point.

According to the present embodiment, the rotary shaft S 2 serves as the input shaft of the motor 20, the rotary shaft S 1 serves as the opening rotation shaft, and the rotary shaft S 5 serves as the bending rotary shaft.

The first link 31 'to change the position of the rotation shaft when the rotation (S 2), the first link 31' to the other rotation axis (S 3) associated with the. Accordingly, each link is rotated about an associated rotational axis to satisfy the condition that all rotational axes must meet at the center point.

According to the present embodiment, the rotation of the fourth link 34 'relative to the rotation axis S 1 , if necessary, so that the bending operation and / or the opening operation of the finger structure 10 can be performed in accordance with the shape of the object Or releasing it.

When the rotation of the fourth link 34 'with respect to the rotation axis S 1 is restrained, only the bending operation with respect to the rotation axis S 5 is performed, and the bending operation with respect to the rotation axis S 1 of the fourth link 34' When the rotational restraint is released, the bending operation based on the rotation axis S 5 and the deflection operation based on the rotation axis S 1 occur at the same time.

In addition, the 4 When the link (34 ') releasing the rotation restraint of the rotation axis (S 1) and the third link (33' rotation is bound on the rotational axis (S 5) of a), based on the rotation axis (S 1) Only one opening action may occur.

In order to form the spherical link structure of Section 5 of this configuration, the angle formed by the rotation axis must be designed.

According to this embodiment, in order to form the finger module (1) to perform a form of operation is similar to the human finger, α 12 = 0 °, α 51 = set to 90 °, beolrim axis of rotation of the (S 1) and the motor The angle of the rotation axis S 2 is 0 ° and the angle between the bending rotation axis S 5 and the opening rotation axis S 1 is 90 °.

8 shows the joint structure 30 according to the present embodiment. In Fig. 8, the third link 33 is only partially shown in order to explain the structure of the joint structure 30, which is a spherical joint structure.

2, the third link 33 includes a spherical link portion 331 extending from the fourth spherical link joint 314 to the third spherical link joint 313, And a nodal linking portion 332 extending from the second link joint 313 to the first nodal link joint 151. Only the spherical link portion of the third link 33 is shown in Fig.

As shown in Figure 6, when the rotation angle (θ 5) of the bending axis of rotation by a third link 33, based on the (S 5) to the output value of the joint structure 30, the rotation angle (θ 5) The angle between the rotating shafts was calculated to be the maximum.

At this time, when a human finger is used as a model, the length of each link of the finger structure 10 is determined as shown in Table 1 below.

link
l 1 l 2 l 3 l 4 l 5 l 6 l 7 l 8 l 9 l 10 Length
(mm) 57
28 54 15 38 15 22 38 9 35

Table 2 shows the results obtained by optimizing using the pattern search method using the nonlinear confines of the finger module 1 and the boundary conditions.

α 23 α 34 α 45 49 ° 63 ° 38.94 [deg.]

1 to 5 and 8, the motor 20 includes a first link 31 and a second link 31 so that their axes extend in the direction of the first spherical link rotation axis S 2 , which is the input shaft of the joint structure 30. And is connected at the spherical link joint 311.

The other end of the first link 31 is rotatably connected to the second link 32 and the second spherical link joint 312. The second spherical link rotational axis S 3 extends beyond the center of the second spherical link joint 312 and meets at a center point with the first spherical link rotational axis S 2 .

The other end of the second link 32 is rotatably connected to the third link 33 in a third spherical link joint 313 formed in the middle of the third link 33. [ The third spherical link rotational axis S 4 extends beyond the center of the third spherical link joint 313 and meets at a center point with the first spherical link rotational axis S 2 and the second spherical link rotational axis S 3 .

The spherical link portion 331 of the third link 33 extending from the third spherical link joint 313 extends to the fourth spherical link joint 314 and is rotatably connected to the fourth link 34.

The fourth spherical link joint 314 is concentric with the bending joint 111 defining the bending rotation axis S 5 .

The bending rotational axis S 5 meets at one point with the first spherical link rotational axis S 2 , the second spherical link rotational axis S 3 and the third spherical link rotational axis S 4 .

The fourth link 34 may be non-rotatably inserted into the rotation bundle 121 of the rotary connector 120, or may be rotatably connected. According to the present embodiment, the rotation bundle 121 can be viewed as a fourth link of the joint structure 30 in a large sense.

The bending rotation axis S 5 is perpendicular to the deflection rotation axis S 1 defined by the connection shaft 122 of the rotation coupling body 120 and coaxial with the first spherical link rotation axis S 2 .

The opening rotation axis S 1 thus meets at one point with the first spherical link rotation axis S 2 , the second spherical link rotation axis S 3 , the third spherical link rotation axis S 4 and the bending rotation axis S 5 .

As best shown in FIG. 2, a first torsion spring 131 is connected to the connection shaft 122 forming the opening rotation axis S 1 as a spring stiffness imparting device.

The connection shaft 122 is freely rotatably connected to the frame 40, but free rotation is restrained by the rigidity provided by the first torsion spring 131.

If a force exceeding the rigidity provided by the first torsion spring 131 is not applied to the rotary connector 120, the rotary connector 120 can not rotate around the opening rotation axis S 1 and is in a fixed state . When a force greater than the rigidity provided by the first torsion spring 131 is applied to the rotary connector 120, the rotary connector 120 rotates around the opening rotation axis S 1 to perform an opening operation.

FIG. 9 is a conceptual diagram of the configuration of the finger module 1 according to the present embodiment.

When the motor 20 rotates and the first link 31 rotates about the first spherical link rotation axis S 2 , the position of the second spherical link rotation axis S 3 associated with the first link 31 changes .

The joint structure 30 operates so that the rotation axis formed by the constituent links always meets at the center point so that the second spherical link rotation axis S 3 and the third spherical link rotation axis S 4 meet at one point, (31) is rotated around the center point.

As a result, the position of the third spherical link rotation axis S 4 is changed, and the third link 33 is moved to the center of the center axis so that the third spherical link rotation axis S 4 and the bending rotation axis S 5 meet at one point. .

Since the fourth spherical link joint 314 defining the bending rotation axis S 5 is fixed to the fourth link 34 fixed to the frame 40 and the height thereof is fixed, Is rotated about the bending rotation axis S 5 .

This rotation of the third link 33 causes a bending motion of the finger structure 10 as described above.

Due to the structural feature of the spherical link joint, if there is no restraint by the first torsion spring 131, the fourth link 34 rotates around the embossing rotation axis S 1 .

When the fourth link 34 rotates, the rotary connector 120 rotates with respect to the frame 40 so that the entire finger structure 10 rotates around the opening rotation axis S 1 to perform an opening operation.

That is, the joint structure 30, which is the spherical link structure of Section 5, which generates the two-degree-of-freedom motion, can simultaneously perform the bending operation and the bending operation by the rotation of one motor 20. [

However, if the finger structure 10 is always subjected to both the bending operation and the opening operation, the object to be gripped will be limited, and the gripping force will not be high.

Accordingly, the finger module 1 according to the present embodiment is guided to perform the bending operation first by driving the motor 20 by the action of the first torsion spring 131, and when the bending operation is inhibited, the bending operation is performed .

More specifically, the free rotation of the fourth link 34 with respect to the opening rotation axis S 1 is restricted by the rigidity of the first torsion spring 131.

Therefore, the fourth link 34 is fixed with respect to the opening rotation axis S 1 of the fourth link 34, and the third link 33 is rotated by the rotation about the bending rotation axis S 5 Only the bending operation of the finger structure 10 is performed.

However, if the finger structure 10 is in contact with the object or the bending operation is restricted to the allowable bending rotation limit, the third link 33 no longer rotates about the bending rotation axis S 5 .

When the bending movement of the finger structure 10 is restricted, not only when the first to third segments 101 to 103 are sequentially rotated, but also when the third segment 103 ) May be limited in some cases.

The bending operation of the finger assembly 10 is not completely restricted unless the bending operation of the third barrel 103 is limited due to the structure of the finger assembly 10. When the bending operation of the third barrel 103 is restricted, The bending operation of the first and second nodes is also limited, so that the bending operation of the finger structure 10 is limited.

When the movement of the third link 33 is restricted, the movement of the first link 31 and the second link 32 is also restricted.

The force is transmitted to the finger structure 10 through the third link 33 so that the force is transmitted to the finger structure 10 The grip force of the finger structure 10 (i.e., the pressure applied to the finger structure 10 by the finger structure 10) increases.

When the first torsion spring 131 is elastically deformed when the rotational force of the motor 20 becomes higher than the rigidity of the first torsion spring 131, And is rotated about the bending rotation axis S 5 .

When the fourth link 34 rotates about the bending rotation axis S 5 , the rotary connector 120 rotates about the bending rotation axis S 5 so that the finger structure 10 connected to the rotary connector 120 performs the opening operation.

If the finger structure 10 pushes a flat surface such as a wall and the finger structure 10 can not bend, only the opening operation is performed (see Fig. 11).

However, if the finger structure 10 is in contact with the curved surface of a spherical body such as a ball, a space for the bending operation is secured when the opening operation is performed, so that the bending operation and the opening operation are simultaneously performed, The finger structure can be kept in contact with the object while moving (see FIG. 14).

The finger module 1 according to the present embodiment is a low-powered finger module for controlling a multi-degree-of-freedom finger structure composed of a plurality of joints by one motor 20. [ The first to third torsion springs are used for controlling the under drive module.

The second torsion spring 132 and the third torsion spring 133 may have a spring constant determined so as to have a rigidity enough to beat the weight of the finger structure 10. [

However, the rigidity of the first torsion spring 131 is related to the gripping force of the finger structure 10. If the first torsion spring 131 is not resiliently deformed, the opening operation is not performed. Therefore, the greater the rigidity of the first torsion spring 131, the larger the gripping force due to the bending operation of the finger structure 10. [

However, if the rigidity of the first torsion spring 131 is large enough to prevent the output of the motor 20 from exceeding the maximum output of the motor 20, it is impossible to perform the opening operation.

The torque transmitting the rotational force of the motor 20 to each part of the finger structure 10 can be calculated using the kinematic relationship of the finger module 1 so that the motor control corresponding to the rigidity of the first to third torsion springs A smooth and precise gripping motion control will be possible.

The gripper 500 can be formed using the finger module 1 according to the present embodiment.

10 is a perspective view of a gripper 500 according to an embodiment of the present invention.

The gripper 500 includes a base plate 511 in the form of a wide plate and a fixed shaft 512 extending vertically from the base and a fixed frame of a " C "shape coupled to the upper end of the fixed shaft 512 .

The fixed frame includes side frames 514 and 515 extending vertically apart from each other and a palm frame 516 disposed across the two side frames 514 and 515.

The frame 40 of the finger module (the first finger module 1) corresponding to the above-described embodiment is fixed to the side frame 514 on one side.

The palm frame 516 is disposed perpendicular to the axial direction of the motor 20 of the first finger module 1. [

The second finger module 1 'and the third finger module 1' 'are respectively coupled to the other side frame 514. The second finger module 1' and the third finger module 1 ' The frames 40 ', 40 "are coupled to the side frames 514.

The second finger module 1 'has the same configuration as the first finger module 1 but has the first finger module 1 attached to the longitudinally positioned mirror of the finger structure 10 of the first finger module 1 It has a mirror symmetrical structure as reflected in the mirror when viewed.

11 is a view showing the opening direction of the first finger module 1 and the second finger module 1 '.

11 shows a case where the gripper 500 attaches the finger module to a wall and performs an operation of pushing a wall (not shown).

In a state in which the first finger module 1 and the second finger module 1 'are in close contact with the wall, the finger structures of the two finger modules are in a state where they can not perform the bending operation.

When the motor 20 of the first finger module 1 and the motor 20 'of the second finger module 1' are rotated in opposite directions to each other, the first finger module 1 is moved to the right, 1 ") is opened to the left, so that the finger module of the gripper 500 is opened. This allows the contact area of the gripper 500 with respect to the wall to be enlarged.

When the finger module is widened to both sides, the gripper 500 is advanced to push the wall, so that more stable force transmission is possible.

The third finger module 1 "is mirror symmetrical as reflected in the mirror when the second finger module 1 'is viewed through a mirror placed in a direction perpendicular to the longitudinal direction of the finger structure of the second finger module 1' Structure.

However, according to the present embodiment, the connecting shaft is fixed to the frame so that the opening operation of the third finger module 1 "is not performed. That is, the third finger module 1"

FIG. 12 illustrates a pinch operation using the gripper 500. FIG.

As shown in FIG. 12, the second finger module 1 'and the third finger module 1' 'are configured such that the opening operation is made in the opposite direction so that the third node at the distal end can contact each other.

The gripper 500 according to the present embodiment may include a first finger module 1 and a second finger module 1 'that perform an opening operation in the opposite direction to perform a stable gripping operation for various objects .

FIG. 13 shows a state in which the gripping operation is performed on the cylindrical object M. FIG.

The respective motors of the first to third finger modules 1, 1 ', 1 "are driven to bend the finger modules simultaneously (Fig. 13 (a)).

When the first to third finger modules 1, 1 ', 1 "touch the object M, the finger structure of each finger module is restrained from bending (Fig. 13 (b)).

 In this state, if the motor outputs of the first and second finger modules 1 and 1 'are generated so that each finger module overcomes the rigidity of the first torsion spring, the first and second finger modules 1 and 1' ) Performs an opening operation in the opposite direction.

This operation is useful when stably holding a cylindrical object M having a relatively long length and allows a stable gripping by spreading the distance between the finger modules even when the thin cylindrical object is hooked to the hook grip.

FIG. 14 shows a state in which the gripping operation is performed on the spherical object M '.

The respective motors of the first to third finger modules 1, 1 ', 1 "are driven to bend the finger modules simultaneously.

When the first to third finger modules 1, 1 ', 1 "contact the object M', the finger structure of each finger module is restrained from bending (Fig. 14 (a)).

 In this state, if the motor outputs of the first and second finger modules 1 and 1 'are generated so that each finger module overcomes the rigidity of the first torsion spring, the first and second finger modules 1 and 1' ) Performs an opening operation in the opposite direction.

At this time, a space in which the finger structures of the first and second finger modules 1 and 1 'can bend can be secured by the surface curves of the spherical object M', and the bending operation is performed simultaneously with the opening operation (Fig. 14 (b)).

Thus, the finger structures 10 and 10 'of the two finger modules 1 and 1' of the gripper 500 move in compliance with the curved surface while maintaining contact with the object M ', and a stable grip is enabled .

Claims (14)

frame;
A finger structure rotatable in two directions with respect to the frame with respect to a bending rotation axis and a wringing rotation axis extending in different directions;
A motor for operating the finger structure;
A joint structure for receiving a driving force of the motor and applying a force to rotate the finger structure simultaneously with respect to the bending rotation axis and the opening rotation axis;
And a stiffness imparting device for stiffening the finger structure to restrain the finger structure from rotating about the opening rotation axis,
Wherein the finger structure is capable of performing a bending operation to rotate based on the bending rotation axis and a bending operation to rotate based on the opening rotation axis,
The bending operation is performed first by driving the motor, and when the bending operation is restricted, the bending operation is performed by the driving force of the motor,
Wherein the finger structure rotates about the opening rotation axis when the finger structure comes into contact with an object and the motor provides a driving force capable of overcoming the rigidity imparted by the opening stiffness imparting device. The method according to claim 1,
When the finger structure is brought into contact with an object, the opening operation and the bending operation are simultaneously performed,
Wherein the finger structure moves along the curved surface of the object and can maintain contact with the object. delete The method according to claim 1,
In the joint structure,
A plurality of links rotatably connected about a plurality of spherical link rotation shafts,
Wherein the plurality of spherical link rotation shafts meet at one intersection point,
And the input shaft of the joint structure connected to the motor is disposed in line with the opening rotation axis. 5. The method of claim 4,
Wherein the bending rotation axis and the opening rotation axis are orthogonal to each other. The method according to claim 1,
Wherein the finger structure includes a plurality of nodes connected in series,
Wherein the plurality of nodes are relatively rotatably connected to each other about a nodal rotation axis. The method according to claim 6,
The entire finger structure is rotated about the bending rotational axis without relative rotation between the plurality of nodes when the finger structure does not restrict the bending operation,
Wherein when the bending operation of the first node of the finger structure is restricted, a second node connected to the first node is connected to the first node and the second node around the first node rotation axis And the finger module rotates. 8. The method of claim 7,
Wherein the opening operation is performed when rotation of the knob is restricted at an end of the finger structure. 8. The method of claim 7,
The finger structure includes:
A crank rotatably connected to the first nodal rotary shaft,
A first nodal link connected to the crank about a first crank rotation axis so as to freely rotate and applying a force for rotating the crank about the first nod rotational axis by receiving a driving force of the motor,
And a first bending stiffness imparting device for restricting the free rotation of the crank with respect to the first node,
When the first nodal link applies a force to rotate the crank about the first nodal rotary axis, the crank applies force to the first nod and the first nodel rotates about the bending rotational axis. module. 10. The method of claim 9,
The finger structure
A second nodal link which is rotatably connected at one end to the crank at the second crank rotation axis and the other end is connected to force the second nod,
Wherein when the first node comes into contact with the object and the bending operation of the first node is restricted, the crank rotates around the first bending rigidity axis by overcoming the first bending rigidity imparted by the first bending stiffness imparting device and,
Wherein rotation of the crank causes the second nodal link to exert a force on the second nod so that the second nod is rotated about the first nod about the first nodal axis of rotation. Base;
A first finger module fixed relative to the base,
Wherein the first finger module is a finger module according to any one of claims 1, 2, and 4 to 10,
And a frame of the first finger module is fixed to the base. 12. The method of claim 11,
And a second finger module fixed to the base,
Wherein the second finger module is formed in a mirror symmetrical structure with the first finger module such that the direction of the opening operation of the second finger module is opposite to that of the first finger module. 13. The method of claim 12,
And a third finger module fixed to the base,
Wherein the third finger module is formed in a mirror-symmetrical structure with the second finger module such that a bending direction of the finger module is opposite to that of the second finger module. 14. The method of claim 13,
Wherein the third finger module is fixed with an opening rotation axis so that the opening operation is not performed.
KR1020150033652A 2015-03-11 2015-03-11 Spatial adaptive finger module and Gripper using the same KR101731326B1 (en)

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KR20210105039A (en) 2020-02-18 2021-08-26 한양대학교 에리카산학협력단 Robot Gripper
KR102469884B1 (en) 2021-06-21 2022-11-23 서울대학교산학협력단 Gripper with a Tendon Cable

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CN108189053B (en) * 2017-11-22 2020-02-11 清华大学 Finger device of lever type tail end accurate linear composite grabbing robot
KR102246778B1 (en) * 2018-12-10 2021-05-03 한국기계연구원 Finger apparatus and robot hand having the finger apparatus
JP7085736B2 (en) * 2019-02-28 2022-06-17 国立大学法人東北大学 Robot hand

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Publication number Priority date Publication date Assignee Title
KR101989949B1 (en) * 2017-12-26 2019-06-14 주식회사 로봇앤모어 Adaptive type finger robot
KR20200089949A (en) * 2019-01-18 2020-07-28 성균관대학교산학협력단 Manipulator device
KR102141680B1 (en) * 2019-01-18 2020-08-05 성균관대학교산학협력단 Manipulator device
KR20210105039A (en) 2020-02-18 2021-08-26 한양대학교 에리카산학협력단 Robot Gripper
KR102331633B1 (en) 2020-02-18 2021-11-25 한양대학교 에리카산학협력단 Robot Gripper
KR102469884B1 (en) 2021-06-21 2022-11-23 서울대학교산학협력단 Gripper with a Tendon Cable

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