US 2022/0203554 A1 · ROBOT HAND

Abstract

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

Claims21

Dependent claims

A robot hand comprising:

a first drive gear on a first side configured to be rotated by a first actuator on the first side;
a second drive gear on a second side configured to be rotated by a second actuator on the second side;
a first interlocked gear on the first side interlocked with the second drive gear so that the first interlocked gear and the second drive gear rotate in opposite directions;
a second interlocked gear on the second side interlocked with the first drive gear so that the second interlocked gear and the first drive gear rotate in opposite directions;
a first inner link on the first side engaged with rotation of the first drive gear;
a first outer link on the first side engaged with rotation of the first interlocked gear;
a first end link on the first side connected to the first inner link and the first outer link opposite the first actuator;
a second inner link on the second side engaged with rotation of the second interlocked gear;
a second outer link on the second side engaged with rotation of the second drive gear;
and
a second end link on the second side connected to the second inner link and the second outer link opposite the second actuator.

8 more elements

A method of controlling a robot hand that includes a first actuator coupled to a first drive gear, a second actuator coupled to a second drive gear, a first interlocked gear interlocked with the second drive gear, and a second interlocked gear interlocked with the first drive gear, the method comprising:

identifying a first object;
positioning the robot hand with respect to the first object;
controlling a first inner link coupled to the first drive gear, a second inner link coupled to the second drive gear, a first outer link coupled to the first interlocked gear and a second outer link coupled to the second interlocked gear to perform a closing operation with respect to the first object by simultaneously operating the first actuator and the second actuator;
and
controlling a first end link connected to the first inner link and the first outer link, and a second end link connected to the second inner link and the second outer link, to be synchronously operated to grip the first object by deactivating the first actuator and actuating the second actuator.

2 more elements

Dependencies are inferred from the claim text.

Robot hand

Life of this patent

Robot hand

Life of this patent

Abstract

Claims21