KR102338813B1 - Apparatus for robot hand using oil or air pressure and the construction method thereof - Google Patents

Abstract

The present invention relates to a robot hand device using hydraulic pressure or pneumatic pressure and a method for configuring the same. Each joint part of the robot hand is implemented using joint means such as a hinge, and rotational force is transmitted to the joint means using hydraulic pressure or pneumatic pressure. By precisely controlling the movements of each joint of the robot hand through a driving means that It relates to an apparatus and a method for configuring the same.

Description

A robot hand device using hydraulic or pneumatic pressure and its composition method

The present invention relates to a robot hand device using hydraulic pressure or pneumatic pressure and a method for configuring the same, and more particularly, each joint part of the robot hand is implemented using joint means such as a hinge, and the joint means using hydraulic pressure or pneumatic pressure. By precisely controlling the movement of each joint of the robot hand through a driving means that transmits a rotational force to the It relates to a robot hand device using and a method for configuring the same.

The human hand is one of the most common and sophisticated tools above all, and its characteristics and functions have been studied by many researchers, and the research results are being used for the design of future robot hands.

In particular, in recent years, the development of a robot hand similar to human movement is rapidly developing, and a delicate robot hand equipped with all five fingers is no longer an imagination but a reality.

Although a simple gripper with two or three fingers is currently used as the robot hand, it is predicted that a sophisticated five-finger robot hand will perform tasks that require delicateness, and in the near future, it will be used in daily life as well as in the medical and automotive industries. It will be used to replace or assist humans in various fields such as , military industry, microelectronics, and micromechanics.

However, the robot hand that is currently developed and used in various industrial sites is a method of using a wire (eg, a tendon in which several steel wires are overlapped) to move the finger joint, and the part that grips the object is made of a soft material such as silicon. Various methods are applied, such as forming with a material and supplying pressure to the inside to realize the movement of the joint.

However, the conventional driving method of the robot hand has several problems.

For example, when a wire is used to move the joints of the robot hand, when the wire is moved, the entire joint moves in conjunction, so it is impossible to move only some joints.

In addition, when the entire joint and finger part of the robot hand is made of a soft material, and the movement of the joint is realized by supplying pressure therein, the entire joint and finger part are soft to roughly grip the outside of the object. It is useful, but there is a problem that the hand cannot be shaped due to lack of rigidity in the joint part.

In addition, as the degree of freedom increases, more actuators (ie, actuators) are required for the robot hand, and there is a problem in that the weight increases.

Therefore, in the present invention, each joint part of the robot hand is configured by a joint means such as a hinge, and the joint means is rotated through a driving means operated by hydraulic pressure or pneumatic pressure to control the movement of each joint, so that the degree of freedom of the robot hand This is to suggest a method that can greatly improve the gripping force of an object without degrading the stiffness of the joint and increase the gripping force of an object through a finger shaft made of a hard material, and can be manufactured in a small size and light weight.

In addition, the present invention is provided with an elastic means inside the joint means constituting each joint part of the robot hand, or by providing a driving means for providing a rotational force to the joint means in a symmetrical shape around the joint means, the joint means After being rotated, the joint means can be restored to its original position through the restoring force of the elastic means or the operation of the symmetrically provided driving means.

Next, the prior art existing in the technical field of the present invention will be briefly described, and then the technical matters that the present invention intends to achieve differently from the prior art will be described.

First, Korean Patent No. 1550841 (2015.09.09.) relates to a robot hand and a humanoid robot equipped therewith, and a robot hand including a plurality of finger structures and a base structure to which one end of the plurality of finger structures is rotatably connected, respectively. and a humanoid robot equipped with a robot hand.

That is, in the prior art, since the plurality of finger structures rotate by pneumatic pressure and the distance with the neighboring finger structures can be changed, when the robot hand is not being used, the finger structures are spaced apart, so that the robot hand A robot hand and a humanoid robot equipped with a robot hand are described so that damage to the robot hand that can occur when a robot collides with a wall or an object can be reduced. However, in the prior art, the structure in which the finger structure is rotated by pneumatic pressure is only presented, and it is not a structure in which the finger structure is rotated through a separate element operated by pneumatic or hydraulic pressure.

In addition, Korea Patent Registration No. 1639723 (2016.07.15.) relates to a robot hand, and includes a connection means for supporting folding and unfolding motions of a finger frame; a first driving means connected to the connecting means and comprising a small-sized motor providing torque power that can move only a weight corresponding to the weight of the finger frame so that the finger frame can quickly grip the object; and a second driving means comprising a hydraulic actuator provided to be positioned at one side of the motor, and a hydraulic pressure generating unit provided to be positioned at one side of the body or arm of the robot to increase the gripping force of the finger frame. .

That is, the prior art includes a hydraulic pressure generating unit on the robot body or arm and a hydraulic actuator on one side of the hand body to reduce the weight and volume of the robot hand and significantly increase the object gripping force of the finger frame even with a small power. It describes the robot hand. However, in the prior art, when the wire used to move the finger joints of the robot hand is moved, the entire joint moves in conjunction, so it is impossible to move only some joints.

As a result of examining the prior art in the above, the prior art is a configuration that prevents damage due to a collision by making a gap between the finger structures when the robot hand is not in use, reducing the weight and improving the gripping force and movement of the finger frame. Although the configuration is presented, the present invention provides a technical feature of controlling the movement of each joint by rotating a joint means such as a hinge constituting each joint part of the robot hand through a hydraulic or pneumatic driving means. , since there is no description or any suggestion in the prior art for the related configuration, the technical difference between the prior art and the present invention is clear.

In particular, an elastic means is provided in the joint means constituting each joint part of the robot hand, or a driving means for providing a rotational force to the joint means is provided symmetrically around the joint means so that after the joint means is rotated, the The configuration of returning the joint means to the original position through the restoring force of the elastic means or the operation of the driving means provided in a symmetrical shape is a characteristic technical configuration of the present invention, which is not presented at all in the prior art.

The present invention was created to solve the above problems, and each joint part of the robot hand is implemented as a joint means such as a hinge, and hydraulic or pneumatic pressure capable of controlling the movement of each joint by driving the joint means An object of the present invention is to provide a robot hand device and a method for configuring the same using

In addition, the present invention transmits a rotational force to a joint means such as a hinge constituting each joint part of the robot hand through a driving means that is bent according to the supply of hydraulic pressure or pneumatic pressure to control the movement of each joint of the robot hand. Another object is to provide a robot hand device and a method for configuring the same using pneumatics.

In addition, the present invention is provided with an elastic means such as a spring in the joint means constituting each joint part of the robot hand, and when the hydraulic or pneumatic pressure supplied to the driving means for providing rotational force to the joint means is discharged, the restoring force of the elastic means Another object of the present invention is to provide a robot hand device using hydraulic or pneumatic pressure to restore the joint means to its original position and a method for configuring the same.

In addition, the present invention configures a driving means for providing a rotational force to the joint means constituting each joint part of the robot hand in a symmetrical shape around the joint means, and by supplying or discharging hydraulic or pneumatic pressure for each symmetrical driving means, the Another object of the present invention is to provide a robot hand device using hydraulic or pneumatic pressure to rotate the joint means or to restore the original position, and a method for configuring the same.

In addition, the present invention improves the degree of freedom of the robot hand, increases the gripping force of an object through a finger shaft made of a hard material without reducing the rigidity of the joint, and a robot hand device using hydraulic or pneumatic that can be manufactured in a small size and light weight and its It is another object to provide a composition method.

A robot hand device using hydraulic or pneumatic pressure according to an embodiment of the present invention includes: a finger shaft connected to at least one or more of each finger by a predetermined length; at least one joint means coupled between the finger shafts and rotating the coupled finger shafts; and a driving means installed in close contact with each of the at least one joint means and transmitting a rotational force to the at least one or more joint means while being bent by hydraulic or pneumatic pressure.

In addition, the robot hand device may include a pressure supply shaft connecting between the driving means and the pressure supplying means, and between the driving means; and pressure supply means for supplying or discharging hydraulic pressure or pneumatic pressure to the driving means through the pressure supply shaft according to the control of the control means.

In addition, the robot hand device, by fixing between each of the finger shafts and each of the pressure supply shafts, transmits a rotational force from the driving means to the joint means, and the joint means rotates by the rotational force transmitted from the driving means. It is characterized in that it further comprises a fixing means for maintaining a close contact state without being separated when.

In addition, the driving means, the pressure supply shaft is coupled to both sides, respectively, to supply hydraulic pressure or pneumatic pressure to the internal space through the pressure supply shaft, or to discharge the hydraulic pressure or pneumatic pressure supplied to the internal space through the pressure supply shaft a coupling part; and a protrusion formed on the outside for close contact with the at least one joint means, wherein the driving means is formed of a flexible material including silicone and rubber.

In addition, as the size of the hydraulic pressure or pneumatic pressure supplied from the pressure supplying means increases according to the control of the control means, the driving means is sequentially bent from the driving means formed at the position closest to the pressure supplying means, and the driving means and the Transmitting the rotational force to the joint means installed in close contact, characterized in that it further comprises adjusting the rotation angle according to the size of the hydraulic pressure or pneumatic pressure supplied from the pressure supply means.

In addition, after the joint means is rotated by the rotational force transmitted from the driving means, hydraulic or pneumatic pressure supplied to the driving means is discharged and the joint means is restored to its original position by its own elastic force when the driving means is unfolded. It is characterized in that it further comprises an elastic means.

In addition, the driving means is installed in close contact with the joint means at a position symmetrical with the driving means with respect to the joint means, and further includes a driving means for restoration that transmits a rotational force for restoration to the joint means. characterized.

At this time, when hydraulic pressure or pneumatic pressure is supplied to the driving means and the hydraulic pressure or pneumatic pressure supplied to the restoration driving means is discharged, the joint means is rotated by the rotational force while the rotational force of the driving means is transmitted to the joint means, When hydraulic pressure or pneumatic pressure supplied to the driving means is discharged and hydraulic or pneumatic pressure is supplied to the driving means for restoration at the same time, the joint means rotated before while the rotational force for restoration of the driving means for restoration is transmitted to the joint means It is characterized in that it is restored to its original position.

In addition, the method for configuring a robot hand device using hydraulic pressure or pneumatic pressure according to an embodiment of the present invention comprises: forming each finger by coupling joint means between at least one or more finger shafts formed in a predetermined length; A drive means that transmits a rotational force to the joint means while being bent by hydraulic pressure or pneumatic pressure is placed in close contact with each of the joint means, and a pressure supply shaft is connected between the drive means and the pressure supply means and between the drive means step; and fixing between the finger shaft and the pressure supply shaft by a fixing means.

In addition, the method of configuring the robot hand device further includes the step of installing an elastic means inside the joint means, and after the joint means is rotated by the rotational force transmitted from the driving means, it is supplied to the driving means. When the hydraulic or pneumatic pressure is discharged and the driving means is unfolded to its original state, the joint means is restored to its original position by the elastic force of the elastic means.

In addition, the method of configuring the robot hand device closely positions the driving means for restoration that transmits the rotational force for restoration to the joint means at a position symmetrical with the driving means around the joint means, and the driving means for restoration and the Connecting a pressure supply shaft between the pressure supply means and between the driving means for restoration, and extending and fixing the fixing means to the pressure supply shaft connected to the driving means for restoration; further comprising, the driving means When hydraulic pressure or pneumatic pressure is supplied to and the hydraulic pressure or pneumatic pressure supplied to the driving means for restoration is discharged at the same time, the joint means is rotated by the rotational force while the rotational force of the driving means is transmitted to the joint means, and to the driving means When hydraulic pressure or pneumatic pressure is supplied to the driving means for restoration at the same time that the supplied hydraulic pressure or pneumatic pressure is discharged, the joint means rotated before is returned to the original position while the rotational force for restoration of the restoration driving means is transmitted to the joint means. characterized in that it is restored.

As described above, according to the robot hand device using hydraulic or pneumatic pressure of the present invention and its configuration method, joint means such as a hinge constituting each joint part of the robot hand are rotated through a hydraulic or pneumatic driving means to rotate each By controlling the movement of the joint, the degree of freedom of the robot hand can be greatly improved, and the gripping force of the object can be increased through the finger shaft made of a hard material without reducing the stiffness of the joint, and the robot hand can be made small and lightweight. There is a craftable effect.

In addition, the present invention is provided with an elastic means in the joint means constituting each joint part of the robot hand, or by providing a driving means for providing a rotational force to the joint means symmetrically around the joint means, after the joint means is rotated , by restoring the joint means to the original position through the restoring force of the elastic means or the operation of the symmetrically provided driving means, there is an effect that can precisely control the movement of each joint of the robot hand.

1 is a view showing the configuration of a robot hand device using hydraulic or pneumatic according to an embodiment of the present invention.
2 is a view for explaining the structure of a driving means according to an embodiment of the present invention in more detail.
3 is a view for explaining in detail the driving of the joint means by the transmission of rotational force through the driving means in the robot hand device using hydraulic or pneumatic according to an embodiment of the present invention.
4 is a view for explaining in more detail the structure for restoration after the rotational operation of the joint means according to an embodiment of the present invention.
5 is a flowchart illustrating in detail a method for configuring a robot hand device using hydraulic or pneumatic pressure according to an embodiment of the present invention.
6 is a flowchart illustrating in detail the operation process of the robot hand device using hydraulic pressure or pneumatic pressure according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, a preferred embodiment of the robot hand device and its configuration method using hydraulic or pneumatic of the present invention will be described in detail. Like reference numerals in each figure indicate like elements. In addition, specific structural or functional descriptions of the embodiments of the present invention are only exemplified for the purpose of describing the embodiments according to the present invention, and unless otherwise defined, all terms used herein, including technical or scientific terms They have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. It is preferable not to

1 is a view showing the configuration of a robot hand device using hydraulic or pneumatic according to an embodiment of the present invention.

1, the robot hand 100 of the present invention includes a base 110, a finger shaft 120, a joint means 130, a pressure supply shaft 140, a driving means 150, a fixing means ( 160), the pressure supply means 170, the control means 180, and the like.

In addition, although not shown in the drawings, the robot hand 100 may further include an input unit for data input for various functions, a display unit for displaying operation states, and a memory for storing various operation programs. .

The base 110 is a part to which one side of the rearmost finger shaft 120 is fixedly coupled among at least one or more finger shafts 120 forming each finger, and is formed of a hard and strong material such as metal or plastic. desirable.

The finger shaft 120 is a knurled portion of each finger of the robot hand 100, and at least one or more are connected to each other by a predetermined length to form each finger. Holds the object of or releases the holding state.

In this case, the finger shaft 120 is preferably formed of a hard material such as metal or plastic like the base 110, and it is revealed that the finger shaft 120 can be configured by varying the length and thickness according to the working environment.

The joint means 130 is coupled between the finger shafts 120 and rotates the coupled finger shafts 120 through a rotational force transmitted from the driving means 150 .

At this time, it is most preferable to configure the joint means 130 in the form of a hinge.

In addition, although not shown in the drawing, each of the joint means 130 includes an elastic means, rotates the finger shaft 120 by the rotational force transmitted from the drive means 150, and then the drive means ( When the hydraulic or pneumatic pressure supplied to 150) is discharged and the driving means 150 is unfolded to its original state, it may be configured to restore the joint means 130 to its original position by its own elastic force.

The pressure supply shaft 140 is formed in the form of a pipe with an empty interior, and between the pressure supply means 170 and the driving means 150 , and between each of the driving means 150 , respectively. Combined, it serves as a passage for providing hydraulic or pneumatic pressure supplied from the pressure supply unit 170 to the driving unit 150 .

That is, the driving means 150 is bent by the supply of hydraulic pressure or pneumatic pressure, or the driving means 150 bent by the discharging of the supplied hydraulic pressure or pneumatic pressure can be straightened.

The driving means 150 is installed in close contact with the at least one or more joint means 130 , respectively, and is bent by hydraulic or pneumatic pressure supplied from the pressure supply means 170 through the pressure supply shaft 140 . Transmits a rotational force to the joint means (130).

At this time, the driving means 150 is preferably formed of a flexible material including silicone and rubber so that it can be freely bent by hydraulic or pneumatic supplied from the pressure supply means 170 .

The detailed configuration and operation of the driving means 150 will be described in detail with reference to FIGS. 2 to 4 as follows.

Figure 2 is a view for explaining in more detail the structure of the driving means 150 according to an embodiment of the present invention, Figure 3 is a drive in a robot hand device using hydraulic or pneumatic pressure according to an embodiment of the present invention. It is a view for explaining in detail the driving of the joint means 130 by the transmission of the rotational force through the means 150, and FIG. 4 shows the structure for restoration after the rotational operation of the joint means according to an embodiment of the present invention. It is a drawing for explaining in detail.

As shown in FIG. 2 , the driving means 150 includes a coupling part 151 and a protrusion 152 , and an internal space S is formed inside.

The coupling portion 151 is formed on both sides of the driving means 150, respectively, the pressure supply means 170 is coupled to one side and the pressure supply shaft 140 is coupled to the other side, or on both sides, respectively. The pressure supply shaft 140 is coupled.

In addition, the coupling part 151 supplies hydraulic pressure or pneumatic pressure to the internal space S through the pressure supply shaft 140, or applies hydraulic pressure or pneumatic pressure supplied to the internal space S to the pressure supply shaft 140 . to be discharged through

The protrusion 152 is formed outside for close contact with the at least one or more joint means 130 .

In addition, as the size of the hydraulic pressure or pneumatic pressure supplied from the pressure supply unit 170 increases according to the control of the control unit 180 , the driving unit 150 is positioned closest to the pressure supply unit 170 . The rotational force is transmitted from the formed driving means 150 to the joint means 130 installed in close contact with the corresponding driving means 150 while being bent sequentially.

For example, as shown in FIG. 3, the driving means 150 at the position closest to the pressure supplying means 170 is bent by the hydraulic or pneumatic supplied from the pressure supplying means 170, and the corresponding driving means ( 150) and the driving means 150 of the next position as the size of the hydraulic or pneumatic pressure supplied from the pressure supply means 170 increases after the first-step adjustment of transmitting the rotational force to the joint means 130 is performed. The two-step adjustment of the bending and transmitting the rotational force to the corresponding driving means 150 and the corresponding joint means 130 is sequentially performed.

In addition, the driving means 150 adjusts the degree of bending according to the size of the hydraulic or pneumatic pressure supplied from the pressure supply means 170, thereby changing the rotation angle transmitted to the joint means 130 to vary the joint means. It may be configured to adjust the rotation angle of 130 .

On the other hand, as shown in FIG. 4, the driving means 150 is installed in close contact with the joint means 130 at a position symmetrical with the driving means 150 around the respective joint means 130, It may be configured to further include a driving means for restoration (150a) for transmitting the rotational force for restoration to the joint means (130).

For example, when it is desired to rotate the joint means 130 for the operation of the robot hand 100 , the control means 180 drives the pressure supply means 170 as shown in FIG. 4 . to supply hydraulic pressure or pneumatic pressure to the driving means 150 through the pressure supply shaft 140, and at the same time apply the hydraulic or pneumatic pressure supplied to the restoration driving means 150a to the pressure supply shaft ( 140), as the driving means 150 is bent, the rotational force of the driving means 150 is transmitted to the joint means 130 and the joint means 130 is rotated by the rotational force . In this case, in the initial operation, hydraulic or pneumatic pressure may be supplied only to the driving means 150 through the pressure supply shaft 140 .

In addition, when the operation of the robot hand 100 is completed and the joint means 130 is restored to its original position, the pressure supply means 170 in the control means 180 as shown in FIG. By controlling the drive, the hydraulic or pneumatic pressure supplied to the driving means 150 is discharged through the pressure supply shaft 140 , and at the same time, the restoration driving means 150a through the pressure supply shaft 140 . By supplying hydraulic pressure or pneumatic pressure to the joint means 130, the previously rotated joint means 130 is restored to its original position while the rotational force for restoration of the restoration driving means 150a is transmitted to the joint means 130.

Referring back to FIG. 1 , the fixing means 160 is a part that performs a function of fixing between each of the finger shafts 120 and the respective pressure supply shafts 140 , and has a rectangular plate shape.

That is, the fixing means 160 transmits a rotational force from the driving means 150 to the joint means 130 , and the joint means 130 rotates at a predetermined angle by the rotational force transmitted from the driving means 150 . When doing so, the joint means 130 and the driving means 150 are not separated from the close contact while maintaining a constant distance at all times.

The pressure supply means 170 supplies hydraulic or pneumatic pressure to the driving means 150 through the pressure supply shaft 140 under the control of the control means 180, or discharges the supplied hydraulic pressure or pneumatic pressure. .

The control unit 180 controls the hydraulic or pneumatic supply and discharge driving of the pressure supply unit 170 .

On the other hand, although not shown in the drawings, the robot hand 100 of the present invention applies a structure for independently connecting to the pressure supply means 170 through the pressure supply shaft 140 for each driving means 150, so that hydraulic or It may be configured to independently control the rotation in each joint means 130 through a rotational force according to the driving of the respective driving means 150 using pneumatic pressure.

Next, an embodiment of a method for configuring a robot hand device using hydraulic or pneumatic pressure according to the present invention configured as described above will be described in detail with reference to FIG. 5 . In this case, the order of each step according to the construction method of the present invention may be changed by the environment of use or by those skilled in the art.

5 is a flowchart illustrating in detail a method for configuring a robot hand device using hydraulic or pneumatic pressure according to an embodiment of the present invention.

As shown in FIG. 5 , in order to configure the robot hand 100 of the present invention, the joint means 130 are respectively coupled between at least one finger shaft 120 formed in a predetermined length to form the robot hand 100 . ) to form each finger (S110).

For example, one side of the finger shaft 120 is fixedly coupled to the base 110 , and then the joint means 130 is coupled to the other side of the finger shaft 120 . Then, one side of the other finger shaft 120 is connected to the joint means 130 , and another joint means 130 is connected to the other side of the finger shaft 120 of the robot hand 100 . to form each finger.

After forming each finger of the robot hand 100 through the step S110, the joint means 130 is bent by hydraulic pressure or pneumatic pressure to one side of each driving means to transmit the rotational force to the joint means 130. After placing 150 in close contact, a pressure supply shaft 140 for supplying or discharging hydraulic or pneumatic pressure between the driving means 150 and the pressure supplying means 170 and between the driving means 150 . to perform a step of connecting (S120).

Thereafter, a step of fixing between each of the finger shafts 120 and each of the pressure supply shafts 140 with a fixing means 160 is performed to finish the configuration of the robot hand 100 ( S130 ).

Meanwhile, the robot hand 100 of the present invention may further include the step of installing an elastic means (not shown) inside the joint means 130 .

In this case, the joint means 130 is rotated by the rotational force transmitted from the driving means 150 , the operation of the robot hand 100 is completed, and the hydraulic or pneumatic pressure supplied to the driving means 150 is discharged. When the driving means 150 is unfolded to its original state, the joint means 130 is restored to its original position by the elastic force of the elastic means.

In addition, the robot hand 100 of the present invention is a restoration driving means ( 150a) is placed in close contact, and the pressure supply shaft 140 is connected between the restoring driving means 150a and the pressure supplying means 170 and between the restoring driving means 150a, and the fixing The step of extending and fixing the means 160 to the pressure supply shaft 140 connected to the restoration driving means 150a may be performed.

Accordingly, when it is desired to rotate the joint means 130 for the operation of the robot hand 100 , hydraulic or pneumatic pressure is supplied to the driving means 150 and at the same time as the restoration driving means 150a. As the supplied hydraulic pressure or pneumatic pressure is discharged, the driving means 150 is bent, and as the driving means 150 is bent, a rotational force is transmitted to the joint means 130, and the joint means 130 is applied to the rotational force. The finger shaft 120 is simultaneously rotated while being rotated by the

That is, the driving means 150 is bent in the direction in which the joint means 130 is located, and the driving means for restoration 150a is bent in the opposite direction in which the joint means 130 is positioned. The rotational force of the driving means 150 is transmitted and rotated.

In addition, when the reverse operation is completed and the joint means 130 is restored to its original position, the hydraulic pressure or pneumatic pressure supplied to the driving means 150 is discharged and the hydraulic pressure is applied to the restoration driving means 150a at the same time. Alternatively, the driving means for restoration 150a is bent while pneumatic pressure is supplied, and rotational force is transmitted to the joint means 130 as the driving means for restoration 150a is bent, and the joint means 130 is the rotational force is rotated and restored to its original position.

That is, the driving means 150 is bent in the opposite direction where the joint means 130 is located, and the driving means for restoration 150a is bent in the direction in which the joint means 130 is positioned, and the joint means 130 is The rotational force of the driving means for restoration (150a) is transmitted and restored to the original position.

Next, an operation process for driving the robot hand device using hydraulic pressure or pneumatic pressure according to an embodiment of the present invention will be described in detail with reference to FIG. 6 .

6 is a flowchart illustrating in detail the operation process of the robot hand device using hydraulic pressure or pneumatic pressure according to an embodiment of the present invention.

As shown in FIG. 6 , in order to grip a specific object using the robot hand 100 , the pressure supply unit 170 is driven through the pressure supply shaft 140 under the control of the control unit 180 . Hydraulic or pneumatic pressure is supplied to 150 (S210).

The driving means 150 is gradually bent by the hydraulic or pneumatic pressure supplied from the pressure supply means 170, and the rotational force is transmitted to the joint means 130 located in close contact with the driving means 150 (S220).

While the joint means 130 is rotated by the rotational force transmitted from the driving means 150, the finger shaft 120 is simultaneously rotated (S230).

Accordingly, the robot hand 100 grips the object through the finger shaft 120 (S240).

In order to release the holding state of the object, after performing an operation including a lifting operation of lifting or lowering the object to a predetermined height by gripping the object, a rotation operation of the robot hand 100, or a combination thereof, the pressure is supplied The means 170 performs the operation of discharging the hydraulic or pneumatic pressure supplied to the driving means 150 according to the control of the control means 180 (S250).

Then, as the bent driving means 150 is unfolded, the joint means 130 is restored to its original position through the elastic force of the elastic means provided in the joint means 130, or as shown in FIG. 4, the driving means ( 150) and the joint means 130 is restored to its original position by using the rotational force of the restoring driving means 150a formed in a symmetrical position to release the gripping state of the object (S260).

Thereafter, the control means 180 determines whether all operations using the robot hand 100 are finished (S270), and as a result of the determination, after the step S210 until all operations using the robot hand 100 are finished is performed repeatedly.

As such, the present invention can control the movement of each joint by rotating a joint means such as a hinge constituting each joint part of the robot hand through a hydraulic or pneumatic driving means, thereby greatly increasing the degree of freedom of the robot hand. It is possible to increase the gripping force of the object while improving it, and it is possible to manufacture the robot hand in a small size and light weight.

In addition, the present invention is provided with an elastic means in the joint means constituting each joint part of the robot hand, or by providing a driving means for providing a rotational force to the joint means symmetrically around the joint means, after the joint means is rotated , since it is possible to restore the original position through the restoring force of the elastic means or the operation of the driving means provided in a symmetrical type, it is possible to precisely control the movement of each joint of the robot hand.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, which are merely exemplary, and those of ordinary skill in the art can make various modifications and equivalent other embodiments therefrom. You will understand that it is possible. Therefore, the technical protection scope of the present invention should be determined by the following claims.

100: robot hand 110: base
120: finger shaft 130: joint means
140: pressure supply shaft 150: driving means
150a: driving means for restoration 151: coupling part
152: projection S: internal space
160: fixing means 170: pressure supply means
180: control means

Claims (11)

at least one or more finger shafts connected to each other with a predetermined length to form each finger;
at least one joint means (130) coupled between the finger shafts (120) and rotating the coupled finger shafts (120);
a driving means 150 that is installed in close contact with the at least one joint means 130, respectively, and transmits a rotational force to the at least one joint means 130 while being bent by hydraulic or pneumatic pressure;
a pressure supply shaft 140 connecting between the driving means 150 and the pressure supplying means 170 and between the driving means 150 ;
a pressure supply unit 170 for supplying or discharging hydraulic pressure or pneumatic pressure to the driving unit 150 through the pressure supply shaft 140; and
It includes a; fixing means (160) for fixing between the finger shaft (120) and the pressure supply shaft (140);
When the fixing means 160 rotates by the rotational force transmitted from the driving means 150 in the joint means 130, the joint means 130 and the driving means 150 always maintain a constant distance. A robot hand device using hydraulic or pneumatic pressure, characterized in that it is not separated from the close contact while doing so. delete delete The method according to claim 1,
The driving means 150 is
The pressure supply shaft 140 is coupled to both sides, respectively, to supply hydraulic pressure or pneumatic pressure to the internal space through the pressure supply shaft 140, or to supply hydraulic pressure or pneumatic pressure supplied to the internal space to the pressure supply shaft 140 a coupling portion 151 for discharging through; and
It further includes;
A robot hand device using hydraulic or pneumatic pressure, characterized in that it is formed of a flexible material including silicone and rubber. The method according to claim 1,
The driving means 150 is
As the size of the hydraulic pressure or pneumatic pressure supplied from the pressure supply unit 170 increases, the driving unit 150 formed at the position closest to the pressure supply unit 170 is sequentially bent and in close contact with the driving unit 150 . Transmitting the rotational force to the joint means 130 installed to be
The robot hand device using hydraulic or pneumatic pressure, characterized in that it further comprises the ability to adjust the rotation angle according to the size of the hydraulic pressure or pneumatic supplied from the pressure supply means (170). The method according to claim 1,
The joint means 130,
After being rotated by the rotational force transmitted from the driving means 150, the hydraulic or pneumatic pressure supplied to the driving means 150 is discharged to restore the original position by its own elastic force when the driving means 150 is unfolded. A robot hand device using hydraulic or pneumatic pressure, characterized in that it further comprises an elastic means. The method according to claim 1,
The driving means 150,
Restoration driving means installed in close contact with the joint unit 130 at a position symmetrical with the driving unit 150 around the joint unit 130 , and transmitting a rotational force for restoration to the joint unit 130 . (150a); Robot hand device using hydraulic or pneumatic, characterized in that it further comprises. 8. The method of claim 7,
When hydraulic pressure or pneumatic pressure is supplied to the driving means 150 and the hydraulic pressure or pneumatic pressure supplied to the restoration driving means 150a is discharged, the rotational force of the driving means 150 is transmitted to the joint means 130 while The joint means 130 is rotated by the rotational force,
When hydraulic pressure or pneumatic pressure supplied to the driving means 150 is discharged and hydraulic or pneumatic pressure is supplied to the driving means for restoration 150a at the same time, restoration of the driving means 150a for restoration to the joint means 130 is performed. A robot hand device using hydraulic or pneumatic pressure, characterized in that the joint means 130, which was previously rotated, is restored to its original position while the rotational force is transmitted. forming each finger by coupling the joint means 130 between at least one or more finger shafts 120 formed with a predetermined length;
A driving means 150 that transmits a rotational force to the joint means 130 while being bent by hydraulic or pneumatic pressure is placed in close contact with each of the joint means 130, and the drive means 150 and the pressure supply means 170 connecting a pressure supply shaft (140) between and between the driving means (150); and
Including; fixing between the finger shaft 120 and the pressure supply shaft 140 with a fixing means (160);
When the fixing means 160 rotates by the rotational force transmitted from the driving means 150 in the joint means 130, the joint means 130 and the driving means 150 always maintain a constant distance. A method of constructing a robot hand device using hydraulic or pneumatic pressure, characterized in that it is not separated from the close contact while doing so. 10. The method of claim 9,
The method of configuring the robot hand device,
It further includes; installing an elastic means in the inside of the joint means (130),
In the elastic means, after the joint means 130 is rotated by the rotational force transmitted from the driving means 150 , hydraulic or pneumatic pressure supplied to the driving means 150 is discharged so that the driving means 150 is operated. When unfolded to its original state, the method of constructing a robot hand device using hydraulic or pneumatic pressure, characterized in that the joint means 130 is restored to its original position by its own elastic force. 10. The method of claim 9,
The method of configuring the robot hand device,
A driving means for restoration (150a) that transmits a rotational force for restoration to the joint means (130) is placed in close contact with the driving means (150) at a position symmetrical with the driving means (150) around the joint means (130),
The pressure supply shaft 140 is connected between the restoration driving unit 150a and the pressure supply unit 170 and between the restoration driving unit 150a, and the fixing unit 160 is connected to the restoration driving unit. Further comprising; extending and fixing to the pressure supply shaft 140 connected to (150a);
When hydraulic pressure or pneumatic pressure is supplied to the driving means 150 and the hydraulic pressure or pneumatic pressure supplied to the restoration driving means 150a is discharged, the rotational force of the driving means 150 is transmitted to the joint means 130 while The joint means 130 is rotated by the rotational force,
When hydraulic pressure or pneumatic pressure supplied to the driving means 150 is discharged and hydraulic or pneumatic pressure is supplied to the driving means for restoration 150a at the same time, restoration of the driving means 150a for restoration to the joint means 130 is performed. A method of constructing a robot hand device using hydraulic or pneumatic pressure, characterized in that the joint means 130, which was previously rotated, is restored to its original position while the rotational force for the rotation is transmitted.

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