KR20110111871A - Finger mechanism for robot - Google Patents

Finger mechanism for robot Download PDF

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Publication number
KR20110111871A
KR20110111871A KR1020100031175A KR20100031175A KR20110111871A KR 20110111871 A KR20110111871 A KR 20110111871A KR 1020100031175 A KR1020100031175 A KR 1020100031175A KR 20100031175 A KR20100031175 A KR 20100031175A KR 20110111871 A KR20110111871 A KR 20110111871A
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KR
South Korea
Prior art keywords
node
link
elastic
pin shaft
guide
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KR1020100031175A
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Korean (ko)
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KR101145295B1 (en
Inventor
김성태
임진환
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주식회사 로보멕
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Priority to KR1020100031175A priority Critical patent/KR101145295B1/en
Priority to PCT/KR2011/001970 priority patent/WO2011126226A2/en
Publication of KR20110111871A publication Critical patent/KR20110111871A/en
Application granted granted Critical
Publication of KR101145295B1 publication Critical patent/KR101145295B1/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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

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

Abstract

The present invention relates to a finger mechanism of a robot capable of adaptive movement, in which a node moves differently according to contact with an object, the first node 10; A second node 20 connected to the first node 10 and the pin shaft R; A third node 30 connected to the second node 20 and the pin shaft R and connected to the first node 10 and the driven link 40; The third node 30 and the pin shaft (R) is connected to the second node 20 and the elastic link 55 is composed of a node driving unit 50, the node driving unit 50 is an elastic link (55) The first node 10 connected to the second node 20 and the driven link 40 by selectively rotating the third node 30 or the elastic link 55 in accordance with the magnitude of the load applied to each of the pin shaft R By rotating the center of rotation), it is characterized in that the adaptive movement is possible to move the node differently depending on whether the contact with the object, that is, the size of the load.

Description

Finger mechanism for robot

The present invention relates to a robot finger mechanism, and more particularly, to a finger mechanism of a robot capable of adaptive movement in which the nodes move differently depending on whether or not contact with an object.

Humanoid robots are being developed to have similar behavior to humans. Humanoid robots are developing robot hands for more precise movements in order to behave similarly to humans, and these robot hands require robot finger mechanisms capable of precise movements for more precise movements.

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

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

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

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

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

As described above, when each of the first to third nodes is connected to the bevel gear and the wire of the joint movement mechanism as in the conventional robot finger mechanism, the second node is rotated and moved in accordance with the rotation of the bevel gear, and the rotation of the bevel gear is prevented. Accordingly, the third node is rotated and moved by interlocking and rotating a wire rotating between the wiring and the rotating part.

Adaptive motions in which the nodes of the finger mechanism move differently according to the contact position between the object and the robot finger mechanism because the second and third nodes are continuously rotated by the joint movement mechanism as in the conventional robot finger mechanism. This is a difficult problem.

An object of the present invention is to solve the above problems, to provide a finger mechanism of the robot capable of adaptive movement of the nodes move differently depending on the contact with the object, that is, the size of the load.

Another object of the present invention is to provide a finger mechanism of a robot capable of precise movement by enabling adaptive movement.

Finger mechanism of the robot according to an embodiment of the present invention and the first node; A second node connected to the first node by a pin axis; A third node connected to the second node by a pin shaft and connected to the first node by a follower link; And a node driver connected to the third node and the pin shaft and connected to the second node and the elastic link, wherein the node driver selectively selects the third node or the elastic link according to the magnitude of the load applied to the elastic link. By rotating, the first node connected to the second node and the driven link is rotated about a pin axis, respectively.

Finger mechanism of the robot according to another embodiment of the present invention comprises a first node; A second node connected to the first node by a pin axis; A third node connected to the second node by a pin shaft and connected to the first node by a follower link; An elastic link connected to the third node and the pin shaft and connected to the second node and the elastic link, the elastic link connecting the second node and the node drive is an elastic link formed on the support member of the adaptive exercise device The third node according to the presence or absence of a load applied to the elastic member consisting of an elastic link member inserted and installed in the guide guide and an elastic member connected to the elastic link member to provide an elastic force so that the elastic link member is supported by the stopper. Rotate around the pin axis or by rotating the elastic link member is characterized in that the second node and the first node is rotated around the pin axis, respectively.

The finger mechanism of the robot of the present invention provides an advantage of enabling more precise movement by enabling an adaptive movement of a node differently according to whether or not it comes into contact with an object, that is, a load.

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

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

As shown in FIGS. 2 to 4, the robot finger mechanism according to the embodiment of the present invention includes a first node 10, a second node 20, a third node 30, a driven link 40, and a node driver ( 50), each of which is described as follows.

The first node 10 is installed to be located at the end of the robot finger mechanism of the present invention is connected to the second node 20 by the pin shaft (R), connected to the third node 30 and the driven link 40 It is interlocked by the movement of the driven link 40, and is rotated around the pin axis (R). The second node 20 is connected to the first node 10 and the pin shaft R, and is rotated around the pin shaft R by the rotation of the third node 30 or the rotation of the elastic link 55. . The third node 30 is connected to the second node 20 and the pin shaft R, and the first node 10 and the driven link 40 are connected to the pin shaft R by the node driver 40. It is rotated as.

The node driver 50 is connected to the third node 30 and the pin shaft R, and is connected to the second node 20 and the elastic link 55 so that the first node 10, the second node 20, and the first node 10 are connected to each other. Three nodes 30 are rotated about each pin axis R as a central axis. That is, the node driving unit 50 selectively rotates the third node 30 or the elastic link 55 according to the magnitude of the load applied to the elastic link 55 so that the second node 20 and the driven link 40 may be rotated. First nodes 10 connected to each other are rotated about the pin shaft R, respectively. Here, a load represents the force which supports the object which the robot finger mechanism of this invention catches.

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

The first node 10 includes the first node member 11 and the first joint member 12.

The first node member 11 is installed to be positioned at the end of the robot finger mechanism of the present invention, and the first joint member 12 is formed to extend with the first node member 11. The first joint member 12 has a guide hole 12a into which the pin shaft R is inserted, and a connection hole 12b through which the driven link 40 is connected to one side of the guide hole 12a. When the first joint member 12 is connected to the third node 30 and the driven link 40 in a state in which the pin joint R is connected to the second node 20, the first joint member 12 rotates. It is regulated by the driven link 40 by the rotation and rotates about the pin shaft R.

The second node 20 includes a second node member 21, a second cover member 22, and a second joint member 23.

The second node member 21 has a guide groove 21a in which the pin shaft R is inserted and installed, and the second cover member 22 has a guide groove 22a in which the pin shaft R is inserted. It is fastened to the second node member 21 by a fastening member B such as a bolt. Guide grooves 21a and 22a respectively formed in the second node member 21 and the second cover member 22 are formed to face each other so that the pin shaft R is inserted. The first node 10 is connected to the pin shaft R. FIG. The second joint member 23 is formed to extend to the second node member 21 so as to be installed between the second node member 21 and the second cover member 22.

The second joint member 23 is integrally formed with the second node member 21, and a guide hole 23a into which the pin shaft R is inserted is formed. The pin shaft R to which the third node 30 is connected is inserted into the guide hole 23a. In addition, one side of the guide hole (23a) is formed with a connecting hole (23b) for connecting the elastic link 55, the other side is formed with a cam hole (23c) for guiding the driven link (40). The cam hole 23c guides the rotation of the first node 10 by guiding the end of the driven link 40 when the driven link 40 rotates.

The second node member 21 and the second cover member 22 are formed with guide grooves 21a and 22a in which the pin shaft R is inserted and installed, respectively, and the first joint member 23 is the pin shaft R. The insertion guide hole (23a) is formed is connected to the first node 10 and the third node 30 through each pin shaft (R). The second node 20 is rotated by the rotation of the third node 30 or the rotation of the elastic link 55 to rotate the first node 10.

The third node 30 is composed of a third node member 31 and a third cover member 32.

The third node member 31 is connected to the node driving unit 50 and the pin shaft R, and the third cover member 32 is coupled to the third node member 31. The third node member 31 and the third cover member 32 are guide grooves 31a and 32a and pin shafts R into which pin shafts R connected to second nodes 20 are inserted, respectively. Guide holes 31b and 32b are formed to connect the node 30 to the connection housing 56 and the support member 54a, respectively, and to guide the elastic link 55 to one side of the guide grooves 31a and 32a. Cam grooves 31c and 32c are formed. The cam grooves 31c and 32c are formed in the third node member 31 and the third cover member 32 so as to correspond to the position at which the second node 20 and the third node 30 are connected by the pin shaft R. When the elastic link 55 is rotated to guide the end of the elastic link (55).

The driven link 40 is composed of the yoke member 31 and the link member 32 and is installed on the first node 10 and the third node 30 through the pin shaft R to rotate the rotational force of the second node 20. Transfer to the first node (10).

The node driving unit 50 is composed of a connecting member 51, a tilt movement mechanism 52, a drive link 53, an adaptive exercise mechanism 54 and a connecting housing 56 as shown in Figs. .

The connecting ring member 51 is installed in the third node 30, the tilt movement mechanism 52 is inserted into the connecting ring member 51 to generate a tilt (tilt) movement. The drive link 53 is connected to the tilt movement mechanism 52 to move forward and backward, and the adaptive exercise mechanism 54 is installed inside the link member 51 and the drive link 53 and the second node. It is connected with 20. The elastic link 55 is connected to the adaptive exercise mechanism 54 and the third node 30, the connecting housing 56 is connected to the tilt movement mechanism 52 and the pin shaft (R). The adaptive exercise device 54 rotates the third node 30 around the pin shaft R or drives the elastic link 55 according to the size of the load so as to drive the second node 20 and the first node 10. ) Are rotated about the pin shaft (R), respectively.

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

The tilt movement mechanism 52 is composed of a rotation drive source 52a, an inclined member 52b, a tilt movement member 52c and a movement direction switching member 52d as shown in FIGS. 4 and 5.

The rotary drive source 52a is used to generate a rotational force for driving the robot finger mechanism of the present invention.

The inclined member 52b is connected to the rotation drive source 52a and rotated, and includes a rotating plate 111, a guide protrusion 112, and an inclined surface protrusion 113. The rotating plate 111 is rotated in the same direction as the rotational direction of the rotary drive source 52a, the guide protrusion 112 is formed to extend to the rotary plate 111 and is connected to the rotary drive source 52a and generated in the rotary drive source 52a. The transmitted rotational force is transmitted to the rotating plate 111. The inclined surface protrusion 113 is formed to be inclined to the rotating plate 111 and is formed with a guide groove 113a into which the tilt movement member 52c is inserted.

The tilt movement member 52c is connected to the inclined member 52b and is inserted and installed to penetrate through the connecting ring member 51 to perform a tilt movement by the inclined member 52b. The guide protrusion 121 and the guide hole member 122 are provided. It consists of The guide protrusion 121 is inserted into the guide groove 113a formed in the inclined surface protrusion 113, and the guide hole member 122 is formed in the guide protrusion 121 and the guide hole 122a into which the pin shaft R is inserted is provided. Is formed.

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

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

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

The adaptive exercise device 54 is composed of a support member 54a and a stopper 54b.

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

The elastic link guide protrusion 141 is connected to the elastic link member 55a, and the third node guide protrusion 142 is formed to be spaced apart from the elastic link guide protrusion 141 and is formed on the third node 30. The third node 30 is connected to the guide holes 31b and 32b by the pin shaft R. Between the elastic link guide protrusion 141 and the elastic link member 55a or between the third node guide protrusion 142 and the third node 30, each of the elastic link member 55a or the third node 30 is formed. The bearing (R2) is inserted and installed so that the rolling motion smoothly. The guide hole 143 is formed between the guide link 141 for the elastic link and the guide protrusion 142 for the third node, the pin shaft (R) to which the drive link 53 is connected is inserted. When the drive link 53 inserted into the pin shaft R moves forward or backward, the support member 54a rotates.

The support member 54a is connected to the third node guide protrusion 142 according to the forward or backward movement of the drive link 53 when there is no load, that is, when the robot finger mechanism of the present invention does not hold an object. Rotate 30. The third node 30 is connected to the housing 56 by the pin shaft R and the washer W. The third node 30 is rotated around the pin shaft R as the center axis, and the second node 20 and the first node 10 are rotated. Rotated). That is, the third node 30 is connected to the guide hole (not shown) formed in the connecting housing 56 by the pin shaft R connected to the guide holes 31b and 32b, and rotates around the pin shaft R as the central axis. Done. Here, the washer W is a thrust washer.

On the contrary, when there is a load and the load is greater than the elastic force of the elastic member 55b of the elastic link 55, the support member 54a is a guide for the third node according to the forward or backward movement of the drive link 53. 142 is rotated about the central axis. That is, the support member 54a moves in a direction away from the stopper 54b so that the rotation of the third node 30 rotates the elastic link member 55a connected to the guide link 141 for the elastic link in the stopped state. The second node 20 and the first node 10 are rotated.

The elastic link 55 is composed of an elastic link member 55a and an elastic member 55b.

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

Another embodiment of the robot finger mechanism of the present invention having the above configuration will be described below.

According to another embodiment of the present invention, the robot finger mechanism includes a first node 10, a second node 20, a driven link 40, a third node 30, a node driving unit 50, and an elastic link 55. It consists of.

The first node 10 is connected to the second node 20 and the pin shaft R, and the third node 30 is connected to the second node 20 and the pin shaft R, and the first node 10 is connected to the first node 10. It is connected to the driven link 40. The node driving unit 50 is connected to the third node 30 and the pin shaft (R) and is connected to the second node 20 and the elastic link 55, the elastic link 55 is elastic with the elastic link member (55a) It is made of a member 55b.

The elastic link member 55a is inserted into the elastic link guide protrusion 54b formed on the support member 54a of the adaptive exercise device 54, and the elastic member 55b is connected to the elastic link member 55a. To provide an elastic force so that the elastic link member 55a is supported by the stopper 54d. The elastic link 55 having such a configuration causes the third node 30 to rotate about the pin shaft R or rotates the elastic link member 55a according to the load applied to the elastic member 55b. The node 20 and the first node 10 are rotated about the pin shaft R, respectively, so that the second node 20 and the first node 10 are rotated.

In the above configuration, the pin shaft R connecting the first node 10, the second node 20, the third node 30, and the node driver 50, respectively, includes a shaft member R1 and a bearing R2. The bearing (R2) is inserted into the shaft member (R1) to allow rolling motion. The driven link 40 is composed of a yoke member 41 and a link member 42. The yoke member 41 is connected to the pin shaft R inserted into the guide hole 12a formed in the first node 10, and the link member 42 is formed in the yoke member 41 to form the third node 30. It is connected to the guide shaft (31a, 32a) formed in the pin shaft (R). The yoke member 41 and the link member 42 are formed with guide holes 41a and 42a into which the pin shaft R is inserted. In addition, the elastic link member (55a) is made of an H-shaped, both ends are formed with a guide hole 151 into which the pin shaft (R) is inserted. As the washer W used in the robot finger mechanism of the present invention, a strut washer is used.

Referring to Figures 6 to 10 attached to the operation of the robot finger mechanism of the present invention having the above configuration as follows.

It is assumed that the state of the robot finger mechanism of the present invention shown in FIG. 6 is an initial operation state. In this state, in order to drive the robot finger mechanism of the present invention, first, the rotary drive source 52a provided in the tilt movement mechanism 52 of the node driving part 50 is driven. When the rotation drive source 52a is rotated, the inclined member 52b connected to the rotation drive source 52a is rotated in the direction of the arrow a1 using the Z axis as the rotation axis as shown in FIG. 7. When the inclined member 52b is rotated, the tilt movement member 52c is tilted in the direction of the arrow a2 based on the Z axis as shown in FIG. 7 due to being installed in the guide groove 113a formed in the inclined surface protrusion 113. The tilt movement member 52c is connected to the movement direction switching member 52d to drive the drive link 53. The movement direction switching member 52d restrains the tilt movement of the tilt movement member 52c so that the drive link 53 connected to the movement direction switching member 52d moves forward and backward in the direction of the arrow a3 as shown in FIG. 7. Be sure to The drive link 53 is an adaptive exercise device 54 is connected to the support member 54a to rotate the third node 30 or the elastic link 55 depending on the presence or absence of a load.

When the robot finger mechanism of the present invention is a no load without holding an object, as shown in Figs. 7 and 8, the support member 54a is supported by the stopper 54d by the elastic force of the elastic member 55b and is not rotated. That is, in the no-load state without a load, the support member 54a is rotated in the direction of the arrow a4 shown in FIG. When the support member 54a is rotated, the third node 30 is connected to the connecting housing 56 by the pin shaft R, and thus, the pin shaft R is formed according to the moving direction of the drive link 53. The rotational center axis C shown in Figs. 7 and 8, respectively, is rotated. When the driving link 53 further moves in the reverse direction, the support member 54a is further rotated in the direction of the arrow a5 shown in FIG. 8. By this rotation, the third node 30 is further rotated, and when the third node 30 is rotated, the second node 30 is connected to and restrained by the elastic link member 55a by the rotation of the third node 30. 20) is rotated as shown in FIG. When the second node 20 rotates, the first node 20 constrained by the driven link 40 connected between the second node 20 and the first node 10 rotates as shown in FIG. 8. do. The third node 30, the second node 20, and the first node 10 are rotated around the pin shaft R, respectively, so that the robot finger mechanism of the present invention is retracted to grab an object. Conversely, in the unfolding operation, when the driving link 53 is moved in the direction of advancing, the third node 40, the second node 20, and the first node 10 are respectively unfolded to release an object.

When the robot finger mechanism of the present invention has a load for holding an object, that is, a state in which the third node 30 is stopped, the robot finger mechanism moves in the direction of reversing the drive link 53 as shown in FIGS. 9 and 10. In this case, the elastic force of the elastic member 55b is overcome and is extended in the directions of arrows a6 and a8 shown in FIGS. 9 and 10, respectively. As the elastic member 55b increases, the support member 54a overcomes the elastic force of the elastic member 55b and moves away from the direction of the arrows a6 and a7 shown in FIGS. 9 and 10, that is, the stopper 54b. Will be moved in the direction. When the support member 54a is moved away from the stopper 54b, the elastic link member 55a connected to the support member 54a is rotated about the third node guide protrusion 142 by the central axis.

When the elastic link member 55a is rotated, the second node 20 connected to the elastic link member 55a is constrained and rotated by the elastic link member 55a as shown in FIG. When the second node 20 rotates, as shown in FIG. 10, the first node 20 constrained to the driven link 40 connected between the second node 20 and the first node 10 rotates. do. The third node 30, the second node 20, and the first node 10 are rotated about the pin shaft R, respectively, so that the robot finger mechanism of the present invention is pinched. On the contrary, when the straightening operation is moved in the direction in which the drive link 53 is advanced, the third node 40, the second node 20, and the first node 10 are rotated and spread, respectively.

As described above, the robot finger mechanism of the present invention enables each of the first to third nodes 10, 20, and 40 to be operated differently when there is an object and when there is no object, so that an adaptive motion can be realized, thereby enabling a more precise motion. do.

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

10: first node 11: first node member
12: first joint member 20: second joint
21: second node member 22: second cover member
23: second joint member 30: third joint
31: third node member 32: third cover member
40: driven link 50: node driving portion
51: connecting member 52: tilt movement mechanism
53: drive link 54: adaptive fitness equipment
55: elastic link 56: connecting housing

Claims (17)

First node;
A second node connected to the first node by a pin axis;
A third node connected to the second node by a pin shaft and connected to the first node by a follower link;
It is composed of a node driving unit connected to the third node and the pin shaft and connected to the second node and the elastic link,
The node driving unit selectively rotates the third node or the elastic link according to the magnitude of the load applied to the elastic link so that the first node connected to the second node and the driven link rotates about a pin axis, respectively. Finger mechanism of the robot, characterized in that. 2. The apparatus of claim 1, wherein the first node comprises: a first node member;
Consists of a first joint member formed to extend with the first node member,
The first joint member has a guide hole in which a pin shaft is inserted, and a finger hole of a robot, characterized in that a connection hole is formed in which a driven link is connected to one side of the guide hole. The method of claim 1, wherein the second node and the second node member;
A second cover member fastened to the second node member;
It is composed of a second joint member is formed to extend to the second node member to be installed between the second node member and the second cover member,
The second node member and the second cover member are formed with guide grooves into which pin shafts are inserted, respectively, and the first joint member has guide holes through which pin shafts are inserted, and an elastic link is formed at one side of the guide hole. A connecting hole is formed to be connected, the finger mechanism of the robot, characterized in that the cam hole for guiding the driven link is formed on the other side of the guide hole. According to claim 1, wherein the third node is a third node member and pin axis connected to the node driving portion;
Consists of the third cover member is fastened to the third node member,
Each of the third and third cover members may include a guide groove into which a pin shaft for connecting the second node is inserted, and a guide hole into which the pin shaft for connecting the connecting housing and the support member is inserted. Finger mechanism of the robot, characterized in that the cam groove for guiding the elastic link on one side of the groove. According to claim 1, wherein the node driving portion and the connecting ring member installed on the third node;
A tilt movement mechanism inserted into the connection member and installed therein;
A drive link connected to the tilt movement mechanism to move forward and backward;
An adaptive exercise device installed inside the link member and connected to the driving link and the second node;
An elastic link connected to the adaptive exercise device and the third node;
Consists of the connecting housing connected to the tilt movement mechanism and the pin shaft,
The adaptive exercise device may rotate the third node about the pin axis according to the size of the load or drive the elastic link so that the second node and the first node are rotated around the pin axis, respectively. Robot's finger mechanism. According to claim 5, The tilt movement mechanism and the rotary drive source;
An inclined member connected to the rotation driving source and rotating;
A tilt movement member connected to the inclined member and inserted to penetrate the connection ring member to perform a tilt movement;
And the tilt movement member and the drive link are respectively connected to restrain the tilt movement of the tilt movement member so that the drive link moves forward and backward. The finger mechanism of a robot according to claim 6, wherein a motor is used as the rotation driving source. According to claim 6, The inclined member and the rotating plate;
A guide protrusion formed to extend on the rotating plate and connected to a rotation driving source;
Finger mechanism of the robot, characterized in that it is formed to be inclined to the rotating plate and formed with an inclined surface projection formed with a guide groove into which the tilt movement member is inserted. According to claim 6, The tilt member is a guide protrusion;
The finger mechanism of the robot, characterized in that formed in the guide projections and a guide hole member is formed with a guide hole is inserted into the pin shaft. According to claim 6, The direction change member is a box-shaped member is open at one end;
It is formed in the box-shaped member and consists of a yoke member formed with a guide hole for inserting the pin shaft for connecting the drive link,
The box-shaped member is composed of a base member and a plurality of side members formed along the edge of the base member, and the side member is formed with a plurality of guide holes into which the pin shaft to which the tilt movement member and the connecting housing are connected is inserted. Finger mechanism of the robot, characterized in that. According to claim 5, The adaptive exercise mechanism is installed on the inner side of the connecting member and the support member is connected to the drive link and the elastic link, respectively;
The stopper is installed inside the link member to prevent the support member from being moved by the elastic force of the elastic link.
The support member is formed with a guide link for the elastic link is connected to the elastic link member, a third projection guide is connected to the third node so as to be spaced apart from the guide link for the elastic link, the guide link for the elastic link and the The finger mechanism of the robot, characterized in that the guide hole is formed between the third projection guide projection is inserted into the pin shaft connecting the drive link. According to claim 5, The elastic link is an elastic link member is inserted into the guide installed for the elastic link guide formed on the support member of the adaptive exercise mechanism;
Finger mechanism of the robot, characterized in that the elastic member is connected to the elastic link member to provide an elastic force to be supported by the stopper. The finger mechanism of a robot according to claim 12, wherein the elastic member is a compression spring. First node;
A second node connected to the first node by a pin axis;
A third node connected to the second node by a pin shaft and connected to the first node by a follower link;
It is composed of a node driving unit connected to the third node and the pin shaft and connected to the second node and the elastic link,
The elastic link is an elastic link member which is inserted into the elastic link guide protrusion formed on the support member of the adaptive exercise device, and an elastic member connected to the elastic link member to provide an elastic force so that the elastic link member is supported by the stopper. The third node is rotated about the pin axis according to the load applied to the elastic member or the elastic link member is rotated so that the second node and the first node is rotated around the pin axis, respectively. Robot finger mechanism. The pin shaft of claim 14, wherein the pin shaft connecting the first node, the second node, the third node, and the node driver comprises: a shaft member;
Finger mechanism of the robot, characterized in that consisting of the bearing is inserted into the shaft member. 15. The apparatus of claim 14, wherein the driven link connecting the first and third nodes comprises: a yoke member connected to a pin shaft inserted into a guide hole formed in the first node;
And a link member formed in the yoke member and connected to the guide groove formed in the third node by a pin shaft.
Finger yoke of the robot, characterized in that the yoke member and the link member are formed with guide holes into which the pin shaft is inserted. 15. The robot finger mechanism according to claim 14, wherein the elastic link member is formed in an H shape, and guide holes through which pin pins are inserted are formed at both ends.
KR1020100031175A 2010-04-06 2010-04-06 Finger mechanism for robot KR101145295B1 (en)

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PCT/KR2011/001970 WO2011126226A2 (en) 2010-04-06 2011-03-23 Robot finger structure

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KR20190129816A (en) * 2016-07-05 2019-11-20 소프트뱅크 로보틱스 유럽 Hand on Humanoid Robot

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