WO2014021511A1 - Doigts robotiques et main robotique munie de ceux-ci - Google Patents

Doigts robotiques et main robotique munie de ceux-ci Download PDF

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Publication number
WO2014021511A1
WO2014021511A1 PCT/KR2012/010137 KR2012010137W WO2014021511A1 WO 2014021511 A1 WO2014021511 A1 WO 2014021511A1 KR 2012010137 W KR2012010137 W KR 2012010137W WO 2014021511 A1 WO2014021511 A1 WO 2014021511A1
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WO
WIPO (PCT)
Prior art keywords
finger
bending
robot
tip
bobbin
Prior art date
Application number
PCT/KR2012/010137
Other languages
English (en)
Korean (ko)
Inventor
이춘우
Original Assignee
Lee Chun-Woo
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
Priority claimed from KR1020120083597A external-priority patent/KR101201455B1/ko
Application filed by Lee Chun-Woo filed Critical Lee Chun-Woo
Publication of WO2014021511A1 publication Critical patent/WO2014021511A1/fr

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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

Definitions

  • the present invention relates to a robot (prosthetic) finger and a robot (prosthetic) hand provided, and more particularly, to a finger such as a robot that can bend and extend a finger and a hand having the same.
  • robotic fingers like the human hand, have five fingers, the palm of the hand.
  • the index finger, middle finger, ring finger, and the ground finger are each a lower finger joint, a first finger portion connected to the palm portion through the lower joint so as to be rotatable, and a first portion provided at the tip of the first finger portion, respectively.
  • a second finger portion rotatably connected to the tip portion of the first finger portion through the joint and a second joint portion rotatably connected to the tip portion of the second finger portion via the second joint installed at the tip portion of the second finger portion.
  • the plain fabric has the lower part of the finger, the first finger part connected to the palm part through the lower part of the palm, and the first joint provided at the tip of the first finger part. And a second finger portion rotatably connected to the tip portion of the first finger portion through intervention.
  • pulleys are provided on each of the lower joint and the first and second joints (or the first joint in the case of plain fabric), and a motor is disposed on each of the pulleys. .
  • the conventional robot finger having such a configuration has a problem that the lower joint and the first and second joints (or the first joint in the case of ignorance) are enlarged due to the motor and the pulley.
  • the power source of the drive mechanism is arranged in the palm of the hand having a free space for the installation of the motor without enlarging the joints.
  • a pulley is arrange
  • such a conventional robot finger still has a problem in that a pulley is used in the joint, the joint is enlarged, and the robot finger drive structure in proximity to the humanoid is not provided.
  • the reason is that when the human finger joint structure is bent, the third finger portion (or the second finger portion in the case of plain fabric) disposed on the tip side is bent first, and then the second and first finger portions (ignorance stamp) In this case, the first finger portion is bent, and the third finger portion (or the second finger portion in the case of ignorance) is first unfolded even when it is unfolded, and then the second and first finger portions (plain) In this case, the first finger portion) is expanded, but in the conventional robot finger, the first to third finger portions are rotated separately or simultaneously when bent and extended.
  • conventional robotic fingers are rotatably mounted to a pivot pin that is erected in the palm of the hand to open the fingers between the fingers and to close the fingers when the fingers are bent.
  • a rotation shaft of the motor is linked to the link mechanism having one end linked to the third finger portion, or the rotation shaft of the motor is coupled to the other end of the elastic wire having one end fixed to the third finger portion, thereby rotating the motor shaft.
  • Humanoid robot is adopted by adopting robot finger and hand structure to selectively rotate.
  • the conventional robot finger and hand having such a structure employs a pivot pin, a link mechanism or an elastic wire and a motor to open and close the fingers when the fingers are bent and extended, so that the structure is complicated, the parts are increased and manufactured. There is a problem that the unit price increases.
  • the present invention has a problem in solving the above problems.
  • a joint structure between the finger portions is used as a link structure, and a motor for linking the finger portions is disposed on the palm portion, and one end of the bending line and one end of the spreading line are placed at the tip of the finger portion disposed at the tip of the hand.
  • the problem can be solved by inclining the rotation center axis of the lower joints of the fingers except the middle finger upward toward the line dividing the middle finger width.
  • the present invention by means of the solution of the above problems, while not enlarge the joint and simplify the joint, like the finger joint structure of the human, when bent, the finger portion disposed on the tip side of the hand is bent first
  • the finger parts arranged on the proximal side in order to be interlocked are bent, and the finger parts arranged on the proximal side are unfolded first, and the finger parts arranged on the proximal side in order to be unfolded in conjunction with this.
  • the center of rotation axis of the lower joints of the fingers excluding the middle finger is inclined upward toward a line dividing the middle width of the fingers, such as the human finger joint structure, the fingers between each other when closed, the fingers when extended It may be possible to make the sides open to each other.
  • FIG. 1 is a conceptual projection plan view showing a state in which the robot finger of the embodiment according to the present invention is assembled to the hand, with the back of the hand up;
  • Figure 2 is a side view showing the possession of FIG.
  • Figure 3 is a side view showing when the body of Figure 2 is bent
  • Figure 4 is a cross-sectional view seen from the wrist hitting the cross section in line (L) of Figure 1,
  • FIG. 5 is a side view showing the ignorance of FIG. 1, and
  • FIG. 6 is a side view illustrating when the plain fabric of FIG. 5 is bent.
  • the present invention provides a first joint, which is a link pin provided at the base of the finger, a first pin portion, which is a link pin installed at a tip of the first finger portion and a first finger portion, which is a link rotatably connected to the palm portion through the lower joint.
  • the second finger part which is a link connected rotatably to the tip of the first finger part
  • the second joint which is a link pin installed at the tip of the second finger part
  • a third finger portion which is a connected link
  • the driving part for driving the finger includes: a motor for driving the rotation axis extending in a direction perpendicular to the rotation center axis line of the first or second joint in the forward and reverse directions; A bending bobbin that is circumscribed via a first one-way clutch that is walked in one direction on a rotation shaft of the motor; An unfolding bobbin circumscribed through a second one-way clutch that is spaced apart from the bending bobbin in a direction of the center axis of the rotary shaft by a predetermined distance from the other direction on the rotary shaft of the motor; A bending line, one end of which is fixed to the bending bobbin and the other end of which is fixed to the tip of the third finger portion; And a robot finger having one end fixed to the unfolding bobbin and the other end unfolded and extending in a direction parallel to the bending line, the spreading line fixed to the tip of the third finger portion.
  • Fig. 1 the robot hand of this embodiment is indicated by reference numeral 1.
  • the robot hand 1 has five fingers as the palm part 2 and the robot finger like a human hand. That is, the five fingers are the thumb 3, the index finger 4, the middle finger 5, the ring finger 6, and the holder 7.
  • the plain fabric 3 is rotated with respect to the palm part 2 through the lower joint P0 and the lower joint P0, which are link pins provided under the finger, as shown in FIGS. 1, 5, and 6.
  • the lower joints P0 are provided with a plurality of biaxial receiving parts 22 standing and fixed to the base 21 at the tip of the palm portion 2. Both ends are rotatably mounted.
  • the plurality of biaxially receiving parts 22 are disposed at the tip of the base 21 spaced apart from each other in parallel to each other, and the lower joints may be viewed from the wrist with the back of the hand upward.
  • the center of rotation of the base joint (P0) of the thumb (3), index finger (4), middle finger (5), ring finger (6) and the body (7) is facing the line (D) bisecting the stop width
  • the axis of rotation of the lower joints P0 of the fingers other than the middle finger 5 is disposed to be inclined upward on a line D that bisects the middle finger width.
  • the center of rotation axis of the lower joint PO of the middle finger 5 is arranged horizontally.
  • each of the index finger 4, middle finger 5, ring finger 6, and the base 7 has the same structure, and the plain finger 3 has a different finger except that there is no third finger portion and a second joint.
  • the index finger 4 is driven by the drive part 101 mounted on the palm part 2
  • the middle finger 5 is driven by the drive part 102 mounted on the palm part 2
  • the ring finger 6 is driven by the drive unit 103 mounted on the palm part 2
  • the base 7 is driven by the drive unit 104 mounted on the palm part 2
  • the plain paper 3 is It is driven by the drive part 105 mounted in the palm part 2.
  • the driving units 101, 102, 103, 104, and 105 are disposed on the palm portion 2 in a shape in which the lower joints P0 are disposed on the palm portion 2.
  • Each of the driving units 101, 102, 103, 104 may drive a rotation shaft 11 extending in a direction perpendicular to the rotation center axis line of the first or second joints P1 and P2 in a forward and reverse direction.
  • the bending bobbin 111 circumscribed through the first one-way clutch C1 on the rotation shaft 11 of the motor M, and the bending bobbin 111 in the direction of the center axis of the rotation shaft 11.
  • Unfolding bobbin 112 one end of which is fixed to the bending bobbin 111 and the other end is bent and spaced apart from each other via a second one-way clutch C2 on the rotation shaft 11 of the motor M.
  • the bending string 113 is disposed and fixed to the tip of the third finger portion F3, and one end is fixed to the unfolding bobbin 111 and the other end is disposed on the unfolding side, so that the bending string 113 is disposed. It extends in a direction parallel to the and includes a spreading line 114 is fixed to the tip of the third finger portion (F3).
  • the first one-way clutch C1 is in a walking state when the rotation shaft 11 is rotated in the forward direction (the direction in which the body is bent), thereby transmitting the power of the rotation shaft 11 to the bending bobbin 111.
  • the motor is in a non-walking state so that the power of the rotary shaft 11 is not transmitted to the bending bobbin 111
  • the second The one-way clutch C2 is in a walking state when the rotary shaft 11 is rotated in the reverse direction to transmit the power of the rotary shaft 11 to the unfolding bobbin 112 and when the rotary shaft 11 is rotated in the forward direction.
  • the non-walking state to act to prevent the transmission of the power of the rotary shaft 11 to the unfolding bobbin 112.
  • the robot hand 1 having the robot fingers configured as described above can be operated as follows.
  • the center of rotation axes of their lower joints P0 are inclined upwardly toward a line D which bisects the stop width. Therefore, closed relative to each other as the finger of a person becomes bent.
  • each of the upper surfaces of the first to third finger parts F1, F2 and F3 or the first and second finger parts F1 and F2 on which the bending string 113 is disposed and the palm part may be provided with a guide portion 115 for guiding the bending line 113, the first to third finger portion (F1) in which the extending line 114 is disposed Guide portions 117 for guiding the extending string 114 on the bottoms of the first and second finger portions F1 and F2 and the base 21 of the palm portion 2, respectively. May be provided.
  • the guide parts 115 and 117 may be, for example, pulleys rotatably mounted to the corresponding finger part or the base 21.
  • the robot finger and the robot hand having the same according to the present invention may be applied to grips, prostheses, and the like of various industrial devices.
  • the prosthesis may be applied to a handicapped person with hand and finger disabilities, or the will may be applied to a handicapped person with hand or finger disabilities.

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

Abstract

La présente invention comporte : une structure de liaison formant la partie articulation entre les parties du doigt ; un moteur agencé dans la paume de la main pour permettre aux parties du doigt d'effectuer des mouvements de liaison ; un cordon de flexion et un cordon d'extension ayant chacun une extrémité attachée à l'extrémité avant de la partie du doigt se trouvant au niveau de l'extrémité la plus à l'extérieur de la main ; une bobine de flexion à des fins de contact de l'arbre de rotation du moteur avec un embrayage unidirectionnel intercalé entre les deux, l'autre extrémité du cordon de flexion étant attachée à la bobine de flexion ; une bobine d'extension à des fins de contact de l'arbre de rotation du moteur avec un autre embrayage unidirectionnel intercalé entre les deux, l'autre extrémité du cordon d'extension étant attachée à la bobine d'extension, ledit un embrayage unidirectionnel étant bloqué sur l'entraînement avant du moteur, et l'autre embrayage unidirectionnel étant bloqué sur l'entraînement arrière du moteur.
PCT/KR2012/010137 2012-07-31 2012-11-28 Doigts robotiques et main robotique munie de ceux-ci WO2014021511A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020120083597A KR101201455B1 (ko) 2012-07-31 2012-07-31 로봇핸드
KR10-2012-0083597 2012-07-31
KR10-2012-0134944 2012-11-27
KR20120134944 2012-11-27

Publications (1)

Publication Number Publication Date
WO2014021511A1 true WO2014021511A1 (fr) 2014-02-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/010137 WO2014021511A1 (fr) 2012-07-31 2012-11-28 Doigts robotiques et main robotique munie de ceux-ci

Country Status (1)

Country Link
WO (1) WO2014021511A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106142118A (zh) * 2016-08-19 2016-11-23 清华大学 四杆六轮空程传动平夹自适应机器人手指装置
CN106182065A (zh) * 2016-07-08 2016-12-07 燕山大学 刚柔混联单驱动三转手指
CN107953353A (zh) * 2017-11-22 2018-04-24 清华大学 欠驱动机器人手指多关节任意角度即时同步锁定装置
CN108942980A (zh) * 2017-05-19 2018-12-07 壹佰米科技（北京）有限公司 一种欠驱动多指灵巧手及其控制方法
CN110450145A (zh) * 2019-08-13 2019-11-15 广东工业大学 一种基于人体骨骼识别的仿生机械臂

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001087293A (ja) * 1999-09-27 2001-04-03 Harada Denshi Kogyo Kk 指形状可変型義手
JP2003305681A (ja) * 2002-04-15 2003-10-28 Mitsubishi Heavy Ind Ltd ロボットハンド
KR20100030879A (ko) * 2008-09-11 2010-03-19 삼성전자주식회사 로봇핸드 및 이를 갖춘 인간형 로봇
JP2010069557A (ja) * 2008-09-17 2010-04-02 Yaskawa Electric Corp ハンドおよびその動作方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001087293A (ja) * 1999-09-27 2001-04-03 Harada Denshi Kogyo Kk 指形状可変型義手
JP2003305681A (ja) * 2002-04-15 2003-10-28 Mitsubishi Heavy Ind Ltd ロボットハンド
KR20100030879A (ko) * 2008-09-11 2010-03-19 삼성전자주식회사 로봇핸드 및 이를 갖춘 인간형 로봇
JP2010069557A (ja) * 2008-09-17 2010-04-02 Yaskawa Electric Corp ハンドおよびその動作方法

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106182065A (zh) * 2016-07-08 2016-12-07 燕山大学 刚柔混联单驱动三转手指
CN106142118A (zh) * 2016-08-19 2016-11-23 清华大学 四杆六轮空程传动平夹自适应机器人手指装置
CN108942980A (zh) * 2017-05-19 2018-12-07 壹佰米科技（北京）有限公司 一种欠驱动多指灵巧手及其控制方法
CN107953353A (zh) * 2017-11-22 2018-04-24 清华大学 欠驱动机器人手指多关节任意角度即时同步锁定装置
CN107953353B (zh) * 2017-11-22 2020-05-01 清华大学 欠驱动机器人手指多关节任意角度即时同步锁定装置
CN110450145A (zh) * 2019-08-13 2019-11-15 广东工业大学 一种基于人体骨骼识别的仿生机械臂

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