WO2012153930A3 - 로봇 손가락기구 - Google Patents

로봇 손가락기구 Download PDF

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Publication number
WO2012153930A3
WO2012153930A3 PCT/KR2012/003389 KR2012003389W WO2012153930A3 WO 2012153930 A3 WO2012153930 A3 WO 2012153930A3 KR 2012003389 W KR2012003389 W KR 2012003389W WO 2012153930 A3 WO2012153930 A3 WO 2012153930A3
Authority
WO
WIPO (PCT)
Prior art keywords
knuckle
finger
tool
robot
tilting
Prior art date
Application number
PCT/KR2012/003389
Other languages
English (en)
French (fr)
Other versions
WO2012153930A2 (ko
Inventor
노태성
이수영
최동희
Original Assignee
주식회사 로보멕
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 로보멕 filed Critical 주식회사 로보멕
Publication of WO2012153930A2 publication Critical patent/WO2012153930A2/ko
Publication of WO2012153930A3 publication Critical patent/WO2012153930A3/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Landscapes

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

Abstract

본 발명은 물체와의 접촉 여부에 따라 마디가 다르게 움직이는 적응형 운동이 가능한 로봇의 손가락기구에 관한 것으로, 본 발명의 로봇의 손가락기구는 제1마디(11)와 제2마디(12)를 갖는 손가락 케이스(10)와; 손가락 케이스(10)의 제1마디(11)와 연결되어 제1마디(11)를 틸트운동시키는 제1조인트기구(20)와; 손가락 케이스(10)의 제1마디(11)와 제2마디(12)에 연결되어 제2마디(12)를 틸트운동시키는 제2조인트기구(30)와; 제1조인트 기구와 연결되어 손가락 케이스(10)를 회전시키는 손가락 회전기구(40)로 구성되어 틸트나 회전운동을 가능하도록 함으로써 물체의 크기와 형상에 따라 접촉을 유연하게 할 수 있도록 하는데 있다.
PCT/KR2012/003389 2011-05-12 2012-05-01 로봇 손가락기구 WO2012153930A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0044466 2011-05-12
KR1020110044466A KR101296860B1 (ko) 2011-05-12 2011-05-12 로봇 손가락기구

Publications (2)

Publication Number Publication Date
WO2012153930A2 WO2012153930A2 (ko) 2012-11-15
WO2012153930A3 true WO2012153930A3 (ko) 2013-01-24

Family

ID=47139770

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/003389 WO2012153930A2 (ko) 2011-05-12 2012-05-01 로봇 손가락기구

Country Status (2)

Country Link
KR (1) KR101296860B1 (ko)
WO (1) WO2012153930A2 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101467504B1 (ko) * 2013-04-23 2014-12-01 주식회사 로보멕 로봇 손가락 모듈

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004122339A (ja) * 2002-10-07 2004-04-22 Harmonic Drive Syst Ind Co Ltd ロボットハンドの指ユニット
JP2005297100A (ja) * 2004-04-08 2005-10-27 Fujinon Corp ロボット用マニピュレータ
JP2007175844A (ja) * 2005-12-28 2007-07-12 Harmonic Drive Syst Ind Co Ltd ロボットハンドの指ユニットおよび組立方法
KR20090041705A (ko) * 2007-10-24 2009-04-29 재단법인 포항지능로봇연구소 로봇 핸드

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100362733B1 (ko) * 1999-09-21 2002-11-29 최혁렬 장착형 반직접 구동방식의 역감제시 기구
KR100451412B1 (ko) * 2001-11-09 2004-10-06 한국과학기술연구원 다지 로봇 핸드
KR100824780B1 (ko) * 2006-11-21 2008-04-24 주식회사은강테크 지능형 유연 핸드장치

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004122339A (ja) * 2002-10-07 2004-04-22 Harmonic Drive Syst Ind Co Ltd ロボットハンドの指ユニット
JP2005297100A (ja) * 2004-04-08 2005-10-27 Fujinon Corp ロボット用マニピュレータ
JP2007175844A (ja) * 2005-12-28 2007-07-12 Harmonic Drive Syst Ind Co Ltd ロボットハンドの指ユニットおよび組立方法
KR20090041705A (ko) * 2007-10-24 2009-04-29 재단법인 포항지능로봇연구소 로봇 핸드

Also Published As

Publication number Publication date
KR101296860B1 (ko) 2013-08-14
KR20120126574A (ko) 2012-11-21
WO2012153930A2 (ko) 2012-11-15

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