KR20120013560A

KR20120013560A - A robot hand to grip object having various body-shape

Info

Publication number: KR20120013560A
Application number: KR1020100075605A
Authority: KR
Inventors: 김경환
Original assignee: 주식회사 엔티리서치
Priority date: 2010-08-05
Filing date: 2010-08-05
Publication date: 2012-02-15

Abstract

PURPOSE: A robot hand capable of grasping objects according to each shape of the objects is provided to reduce size and manufacturing costs because five fingers are operated by a motor. CONSTITUTION: A robot hand capable of grasping objects according to each shape of the objects comprises a palm unit, a first finger unit(100), a second finger unit, and an actuating unit. The first finger unit comprises a rotating member(11), an upper frame member(12), a lower frame member(13), a second knuckle(20), and a third knuckle(30). The rotating member is rotatably coupled to a hinge shaft(201) of the palm unit. The upper frame member is coupled to the rotating member and the lower frame member is coupled to the hinge shaft. The second knuckle is rotatably coupled to the upper and lower frame members. The third knuckle is rotatably coupled to the second knuckle. The rotating member, the upper and lower frame member, and the second knuckle are formed as a four-bar link structure.

Description

A robot hand to grip object having various body-shape}

The present invention relates to a robot hand provided in the robot and mimicking the shape of a human hand.

In recent years, the field of application of a humanoid robot that mimics a human shape has been expanded to various fields such as a band robot for special shooting in a movie. The humanoid robot is coupled to a robot hand that mimics the shape of a human hand.

Important points for such a robot hand include the ability to accurately reproduce human hand movements, economic aspects, and the same size as the actual human hand.

However, robot hands developed to date do not adequately meet the above important points. That is, current robotic hands drive each finger using a separate motor to similarly reproduce human hand motions. Therefore, not only the size of the robot hand is increased but also the cost is greatly increased.

In addition, the robot hand of the type using only one motor has a problem in that the hand movement of the robot hand is excessively simple and the reproducibility is remarkably inferior.

Accordingly, there is a need for the development of a new type of robot hand that is economical and small in size while reproducing human hand motions similarly.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a robot hand having an improved structure so as to have economical and small size while reproducing a human hand motion similarly.

In order to achieve the above object, the robot hand according to the present invention includes a palm portion, a plurality of first finger portion coupled to the palm portion, a second finger portion coupled to the palm portion, the first finger portion and In the robot hand having a drive unit for driving the second finger portion, The first finger portion, the rotating member rotatably coupled to the hinge axis provided in the palm portion, the upper skeleton member coupled to the rotating member, and A lower skeleton member rotatably coupled to a hinge shaft, a second segment rotatably coupled to the upper skeleton member and the lower skeleton member, and a third segment rotatably coupled to the second segment, The rotating member, the upper skeletal member, the lower skeletal member and the second node may form a four-section link structure.

According to the invention, it is preferable to further include a stopper for limiting the rotation of the lower skeleton member.

In addition, according to the present invention, a first torsion spring having one end supported by the palm portion and the other end supported by the upper skeletal member, and one end supported by the second node and the other end supported by the third node It is preferable to further include two torsion springs.

According to the present invention of the above-described configuration, it is possible not only to reproduce the shape and operation of the human hand similarly, but also to manufacture a robot hand having an economical and the same size as the real thing.

1 is a schematic perspective view of a robot hand according to an embodiment of the present invention.
FIG. 2 is a perspective view of the first finger part illustrated in FIG. 1.
3 is a plan view of the first finger portion;
4A and 4B are schematic views for explaining the principle of moving the first finger.
5 is a plan view of the second finger portion.

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

1 is a schematic perspective view of a robot hand according to an embodiment of the present invention, Figure 2 is a perspective view of the first finger portion shown in Figure 1, Figure 3 is a plan view of the first finger portion, Figures 4a and 4b FIG. 5 is a schematic view illustrating the principle of the movement of the first finger portion, and FIG. 5 is a plan view of the second finger portion.

1 to 5, the robot hand 1000 according to the present exemplary embodiment includes a palm 200, a first finger part 100, a second finger part 300, and a driving part.

The palm part 200 corresponds to a palm of a human hand, and a space in which the driving part to be described later is disposed is formed in the palm part 200.

The first finger part 100 is provided in plurality and coupled to one end of the palm part 200. In this embodiment, four first finger parts 100 are provided, and the four first finger parts 100 are provided. ) Corresponds to the offspring, ring finger, middle finger and index finger of a human hand. As shown in FIG. 2, each of the first finger parts 100 has three nodes, that is, a first node 10, a second node 20, and a third node 30, like the human finger. Consists of And, as shown in Figure 2, basically, the first node 10, the second node 20 and the third node 20 is made of a hollow form, that is, an exoskeleton.

The first node 10 is composed of a rotary member 11, the upper skeleton member 12, and the lower skeleton member (13). 2 and 3, the rotating member 11 is rotatably coupled to the hinge shaft 201 provided at the front side end of the palm. And, the upper skeletal member 12 is formed long in one direction (front), one end thereof is rotatably coupled to the rotating member (11). At this time, the rotating shaft 121 of the upper skeleton member is disposed above the rotating shaft (hinge shaft) 201 of the rotating member. The lower skeletal member 13 is formed to be elongated forward, and one end thereof is rotatably coupled to the hinge shaft 201 of the palm. And, inside the lower skeleton member 13 is provided with a first connecting shaft 131 is coupled to the link to be described later.

The second node 20 is rotatably coupled to the front end of the lower skeletal member 13. In addition, the second node 20 is rotatably coupled to the upper skeletal member 12, and thus, the rotary member 11, the upper skeletal member 12, the lower skeletal member 13, and the second knuckle. By (20), the section 4 link structure is achieved. That is, as shown in FIG. 3, the hinge shaft to which the rotary member 11 is coupled is the first point 201, the upper skeletal member 12 and the shaft to which the rotary member 11 is coupled to the second point 121, When the axis in which the upper skeletal member 12 and the second node 20 are coupled to the third point 122, and the axis in which the lower skeletal member 13 and the second node 20 are coupled to the fourth point 132, The four-section link structure connecting these four points is completed.

The third node 30 is rotatably coupled to the front end of the second node 20. A second connection shaft 31 is provided inside the third node 30, and the connection link 40 is coupled to the second connection shaft 31. The connecting link 40 is formed in a bar shape, one end of which is rotatably coupled to the second connecting shaft 31, and the other end of the connecting link 40 is rotatably coupled to the first connecting shaft 131.

Also, two torsion springs are provided in the first finger portion, that is, a first torsion spring (not shown) and a second torsion spring (not shown). The first torsion spring is installed at the second point 121, one end of the first torsion spring is supported by the palm 200, and the other end is supported by the upper skeletal member 12. The first torsion spring elastically biases the first node 10 in an unfolding direction with respect to the palm 200. The second torsion spring is installed on the shaft 32 to which the second node 20 and the third node 30 are coupled. One end of the second torsion spring is supported by the second node 20, and the other end is formed of the second torsion spring. It is supported by three nodes 30. The second torsion spring elastically biases the third node 30 in an unfolding direction with respect to the second node 20.

In addition, a stopper (not shown) is provided in each of the first finger parts 100. As described later, the stopper limits the rotation angle of the lower skeletal member 13 during the rotation of the first finger portion to a predetermined range, for example, about 60 degrees. In this embodiment, the stopper is provided on the hinge shaft 201 of the palm portion to which the lower skeleton member is coupled. However, the shape and position of the stopper may be variously changed.

The second finger part 300 corresponds to the thumb of a human hand, and as shown in FIGS. 1 and 5, three nodes, that is, one node 310, two nodes 320, and three nodes 330. Consists of One node has a base member 311, a first rotating member 312 and a second rotating member 313. One end of the base member 311 is rotatably coupled to the rotation shaft 202 provided in the palm. At this time, the axial direction of the rotating shaft 202 to which the base member is coupled is formed in a direction crossing the longitudinal direction of the first finger portion 100. This is to allow the second finger part 300 to rotate obliquely with respect to the length direction of the first finger part 100 when the thumb is folded in the human hand, as if it is folded at an angle with respect to the length direction of the remaining fingers. to be. Then, the other end of the base member 311 is formed to split in both directions, such as a 'y' shape. The first rotating member 312 is rotatably coupled to one end 3111 of one of the two split ends of the base member. The second rotating member 313 is rotatably coupled to the first rotating member 312.

The two nodes 320 are rotatably coupled to the split end 3112 of the base member. In addition, the two nodes 320 are rotatably coupled to the second rotation member 313, and thus, the base member 311, the first rotation member 312, the second rotation member 313, and the two nodes 320. Section 4 link structure is achieved by That is, the four-section link structure is formed similarly to the first finger portion described above. In addition, the three nodes 330 are rotatably coupled to the two nodes 320.

Also, like the first finger part 100, the second finger part 300 is provided with a connection link and a torsion spring. The connection link 340 is formed in a bar shape, one end is rotatably coupled to the three nodes 330, the other end is rotatably coupled to the base member 311. The torsion spring (not shown) is installed at the point 321 where the second and third nodes are coupled, one end of which is supported by two nodes 320, and the other end of which is supported by three nodes 330. . The torsion spring is elastically biased in the direction of unfolding 3 nodes against 2 nodes.

In addition, the spring 350 is coupled to the second finger portion. One end of the spring is fixed to the base member, and the other end is coupled to the first rotating member. The spring is elastically biased in the direction in which the first rotating member extends with respect to the base member, that is, in the direction of arrow a in FIG. 5.

The driving part is for moving the first finger part 100 and the second finger part 300. In the present embodiment, the driving part is a motor 410, a first transmitting part 420, and a second transmitting part 430. )

The motor 410 is coupled to the palm 200.

The first transmission unit 420 is for transmitting the power of the motor to the first finger portion 100. The first transfer part 420 is composed of a first transfer plate 421, a second transfer plate 422, and a transfer member 423. Two first transfer plates 421 are provided, and both ends of each first transfer plate are coupled to the transfer shaft 111 provided on the rotating member. Then, both ends of the second transfer plate 422 are coupled to the first transfer plate 421, respectively. One end of the transfer member 423 is connected to the second transfer plate 422, and the other end is connected to the motor. When the motor is driven, the transmission member 423 is pulled toward the palm portion (when the rotation direction of the motor is changed, and vice versa), the rotation member 11 is rotated accordingly. At this time, to facilitate the process of pulling the rotating member, the first transfer plate and the second transfer plate, the second transfer plate and the transfer member, the transfer member and the motor has a degree of freedom or two degrees of freedom joint, for example, ball Connected by a joint or the like.

The second transmission unit 430 is for transmitting the power of the motor to the second finger portion 300. In the present embodiment, the second transfer unit 430 is formed in a bar shape. One end of the second transfer unit 430 is connected to the motor 410 by a ball joint, and the other end is also connected to the first rotating member 312 by a ball joint.

Hereinafter, an operation process of the robot hand configured as described above will be described.

When the transmission member is pulled as the motor is driven, the rotating member 11 is rotated as shown by a virtual line in FIG. 4A, and thus the first finger portion is folded in an extended state.

In addition, when the robot hand picks up the object as shown in FIG. 4B, the lower skeletal member contacts the object. Therefore, the rotation of the lower skeletal member is stopped, and if the rotating member continues to rotate in this state, the structure of the four-section link is changed as shown in Figure 4b. Accordingly, the second node 20 is rotated about the rotation axis 132, and in conjunction with this, the third node 30 also rotates about the rotation axis 32, and as a result, the first finger portion is folded. do.

On the other hand, even when the object is not picked up, after the lower skeletal member 13 rotates to some extent, the rotation is restricted by the stopper. Therefore, even when the object is not picked up, the first finger portion is folded, and thus a natural shape is obtained.

The operation of the second finger portion is as follows. When the motor is driven, the end of the second transfer unit 430 connected thereto is raised upward while drawing the trajectory of the arc. At this time, as described above, since the second transfer part is connected to the motor and the first rotating member 312 by the ball joint, the second transfer part is moved while being properly twisted with freedom. In this way, when the second transfer part moves, the first member 310 is folded toward the palm part while the base member rotates about the rotation shaft 202. In this state, when the second transmission part moves further (upwards), the first rotation member 312 rotates about the rotation shaft 3111, and accordingly the structure of the four-section link is changed (first finger part described above). 2) and 3 nodes rotate, as a result of which the second finger portion is folded. When the motor is driven in reverse, the second finger portion is extended again.

As described above, according to the present embodiment, the motion of the robot hand can be reproduced similar to the motion of the hand of a real person. In addition, since the first finger portion and the second finger portion have an exoskeleton shape and the rotation axis is disposed inside the exoskeleton, the appearance of the robot hand becomes similar to the human hand. In addition, by moving all five fingers with one motor, not only can the manufacturing cost be reduced, but also the size can be reduced.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific preferred embodiments described above, and the present invention belongs to the present invention without departing from the gist of the present invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such changes are within the scope of the claims.

For example, in the present embodiment, the transmission member is made of a bar shape, but a spring may be used as the transmission member, and in this case, the motor may be protected. That is, when the motor controlled by the rotation angle is used in the robot hand, the motor is continuously driven until the rotation by a predetermined angle, for example 180 degrees. However, as in the case where the robot hand picks up the object, the motor continues to drive even in a situation in which the first finger part no longer rotates (the rotation stops before 180 degrees), thereby causing an overload of the motor. However, in the case of using the spring as the transmission member, since the spring is extended and the motor can rotate up to 180 degrees after the rotation of the first finger portion stops, overloading of the motor is prevented.

1000 ... Robot Hand 100 ... First Finger Part
10 ... First Node 20 ... Second Node
30 ... Three nodes 11 ... Rotating member
12 ... upper skeletal member 13 ... lower skeletal member
200 ... palm 201 ... hinge shaft
202 Rotating shaft 300 Second finger part
310 ... 1 nodes 320..2 nodes
330 ... 3 nodes 311 ... base member
312 ... First rotating member 313 ... Second rotating member

Claims

In a robot hand having a palm portion, a plurality of first finger portion coupled to the palm portion, a second finger portion coupled to the palm portion, and a driving portion for driving the first finger portion and the second finger portion, ,
The first finger portion,
A rotating member rotatably coupled to the hinge shaft provided in the palm, an upper skeletal member coupled to the rotating member, a lower skeletal member rotatably coupled to the hinge shaft, the upper skeletal member and the lower skeletal member; A second node rotatably coupled to the member, and a third node rotatably coupled to the second node,
The rotating member, the upper skeleton member, the lower skeleton member and the second node is a robot hand, characterized in that forming a four-section link structure.

The method of claim 1,
The driving unit,
Motor,
It is connected to the motor to move linearly in conjunction with the rotation of the motor, one end includes a plurality of first transfer plate is coupled to each of the rotating member,
And the first finger part is driven as the rotating member rotates when the first transfer plate moves linearly.

The method of claim 2,
The second finger portion,
A base member rotatably coupled to the palm part with a direction intersecting the longitudinal direction of the first finger part as a rotation axis direction;
A first rotating member rotatably coupled to the base member;
A second rotating member rotatably coupled to the first rotating member;
One end is rotatably coupled to the base member, the other end includes two nodes rotatably coupled to the second rotating member,
The base member, the first rotating member, the second rotating member and two nodes, the robot hand, characterized in that forming a four-section link structure.

The method of claim 3,
The driving unit,
It is formed in a bar shape, one end is rotatably coupled to the motor, the other end is rotatably coupled to the first rotating member, further transmitting a second transmission portion for transmitting the driving force of the motor to the first rotating member. Robot hand characterized in that it has.

The method of claim 1,
Robot hand, characterized in that further comprising a stopper for limiting the rotation of the lower skeleton member.

The method of claim 1,
A first torsion spring supported at one end by the palm part and supported at the other end by the upper skeletal member;
And a second torsion spring having one end supported by the second node and the other end supported by the third node.