# US 11,897,122 B2 · Robot hand

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- Number: US 11,897,122 B2
- Document ID: US11897122B2
- Status: Granted
- Kind: B2
- Application number: 16/755,593
- Filed: 2018-10-11
- Published: 2021-07-01
- Granted: 2024-02-13
- Earliest claimed: 2017-10-13
- Assignees: Naver Labs Corporation; Korea University of Technology and Education Industry-University Cooperation Foundation
- Applicants: Korea University of Technology and Education Industry-University Cooperation Foundation; NAVER LABS Corporation
- Inventors: Yong Jae Kim; Jong In Kim; Jun Suk Yoon
- Web page: https://patentgrep.com/patent/US11897122B2

## CPC

- B25J 15/0233: {actuated by chains, cables or ribbons}
- B25J 9/104: {with cables, chains or ribbons}
- B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)}
- B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

Disclosed is a robot hand comprising a base, a first bracket provided on an upper portion of the base, a second bracket provided on an upper portion of the base and configured such that the other side of the second bracket is rotatable in a horizontal direction about one side of the second bracket, a plurality of finger modules coupled to upper portions of the first and second brackets, respectively, and configured to tilt in order to grip an object, finger drive units installed on the first and second brackets and configured to transmit driving power to the finger modules and a rotation drive unit installed at one side of the second bracket and configured to transmit driving power so that the other side of the second bracket is rotatable in the horizontal direction about one side of the second bracket.

## Claims

### Claim 1

A robot hand comprising:
a base;
a first bracket and a second bracket provided on an upper portion of the base;
a finger module coupled to an upper portion of the second bracket, and configured to tilt in order to grip an object;
a finger drive unit installed on the second bracket and configured to transmit driving power to the finger module; and
a rotation drive unit configured to transmit driving power so that the second bracket is rotatable in a horizontal direction about a driving shaft of the rotation drive unit,
wherein the finger module comprises,
a first section having one side coupled to the upper portion of the first bracket and the other side at which a first link is provided,
a second section having one side at which a second link is provided to face the first link, the second section being connected to the first section by two side plates extending between the first link and the second link, the second section having the other side at which a third link is provided to face the second link,
a third section having one side at which a fourth link is provided to face the third link of the second section, the third section being connected to the second section by two side plates extending between the third link and the fourth link, the third section having the other side which is a free end portion,
an elastic member connectively provided between the first link and the second link, between the second link and the third link, and between the third link and the fourth link so as to allow the first link, the second link, the third link, and the fourth link to cooperatively operate, the elastic member being configured to elastically support the first link, the second link, the third link, and the fourth link at angles,
a first wire and a second wire having one end wound around the first to fourth links to connect the first to fourth links, respectively,
a plurality of winding members being at any one of two sides of each of the first to fourth links to face one another, the one end of the first wire completely winding around at least some winding members among the winding members in a first winding direction, the one end of the second wire completely winding around at least some winding members among the winding members in a second winding direction, the second winding direction being opposite to the first winding direction,
a pulley having an outer circumferential surface around which the other end of the first wire and the other end of the second wire are wound, the pulley being connected to the finger drive unit, and
a single direction changing member rotatably provided at a position adjacent to the pulley in order to prevent the first wire and the second wire from being withdrawn from the first link, the single direction changing member configured to change an extension direction of one of the first wire and the second wire unwound from the pulley to be opposite to an extension direction of the other one of the first wire and the second wire.

### Claim 2 (depends on 1)

The robot hand of claim 1, wherein the finger module further comprises:
hinge pins rotatably installed and penetrating the first to fourth links, the winding members, and the side plates; and
ball bearings installed at two ends of each of the hinge pins so as to support the hinge pins so that the hinge pins are rotatable.

### Claim 3 (depends on 1)

The robot hand of claim 1, wherein first and second fixing holes are provided in the free end portion, and one end of the first wire and one end of the second wire are fitted with and fixed to the first and second fixing holes, respectively.

### Claim 4 (depends on 1)

The robot hand of claim 1, wherein the elastic member is a flat spring or a linear spring.

### Claim 5 (depends on 1)

The robot hand of claim 1, wherein the finger drive unit and the rotation drive unit each are a servo motor or an actuator.

### Claim 6 (depends on 1)

The robot hand of claim 1, further comprising:
a plurality of finger modules including the finger module on the second bracket and second finger modules on the first bracket; and
a plurality of link arms provided on the second bracket, the link arms rotatably coupled to the driving shaft of the rotation drive unit to enable the second bracket and the finger module connected thereto to rotate about the driving shaft in the horizontal direction.