US 11,685,057 B2Granted

Robot hand module

AssigneesHyundai Motor Company, Kia Corporation

InventorsBeom Su Kim, Hyun Seop Lim, Sang In Park, Ki Hyeon Bae, Kyu Jung Kim, Dong Hyun Lee, Joo Won Lee, Hyo Joong Kim, Dong Jin Hyun, Ju Young Yoon

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Abstract

A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.

Claims18

Dependent claims

A robot hand module comprising:

a thumb module;
a finger module;
and
a palm part to which the thumb module and the finger module are coupled;
wherein the thumb module or the finger module comprises:
a phalangeal part movably coupled to the palm part;
a cable part having a first side connected to the phalangeal part;
and
a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part;
wherein the driving part comprises:
a driving part body extending in one direction and comprising a rotary shaft configured to rotate by receiving power;
a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part;
and
a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward;
and
wherein the tensioner member is movable in the direction in which the cable part extends to adjust a tension of the cable part.

13 more elements

A robot hand module comprising:

a thumb module;
a finger module;
and
a palm part to which the thumb module and the finger module are coupled;
wherein the thumb module or the finger module comprises:
a phalangeal part movably coupled to the palm part;
a cable part having a first side connected to the phalangeal part;
and
a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part;
wherein the driving part comprises:
a driving part body extending in one direction and comprising a rotary shaft configured to rotate by receiving power;
a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, wherein the drum member comprises a first groove in an outer surface of the drum member and a second groove in the outer surface of the drum member;
a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part;
a base member disposed between the drum member and the tensioner member and fixed to the drum member;
and
a rod member configured to penetrate the base member and having a first end portion inserted into the tensioner member, wherein when the rod member rotates, the tensioner member is configured to be interlocked with a motion of the rod member and move away from the base member or move toward the base member;
and
wherein the cable part comprises:
a first cable extended from the driving part and inserted into the first groove;
and
a second cable extended from the driving part, provided separately from the first cable, and inserted into the second groove.

18 more elements

A robot hand module comprising:

a thumb module;
a finger module;
and
a palm part to which the thumb module and the finger module are coupled;
wherein the thumb module or the finger module comprises:
a phalangeal part movably coupled to the palm part;
a cable part having a first side connected to the phalangeal part;
and
a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part;
wherein the driving part comprises:
a driving part body extending in one direction and comprising a rotary shaft configured to rotate by receiving power;
a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, wherein the drum member comprises a first groove in an outer surface of the drum member and a second groove in the outer surface of the drum member;
a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part;
a base member disposed between the drum member and the tensioner member and fixed to the drum member;
and
a rod member configured to penetrate the base member and having a first end portion inserted into the tensioner member, wherein when the rod member rotates, the tensioner member is configured to be interlocked with a motion of the rod member and move away from the base member or move toward the base member;
wherein the cable part comprises:
a first cable extended from the driving part and inserted into the first groove;
and
a second cable extended from the driving part, provided separately from the first cable, and inserted into the second groove;
and
wherein the phalangeal part further comprises:
holder members disposed in the phalangeal part and configured to allow a first end portion of the cable part to be fixed thereto, wherein the holder members are configured to move to adjust tension of the first cable and the second cable;
rod members each having a first end portion inserted into each of the holder members;
and
elastic members disposed between the holder members and the rod members and configured to press the holder members and the rod members.

23 more elements

Dependencies are inferred from the claim text.