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US 6,918,622 B2Granted
Robot hand and robot hand finger
AssigneeKorea Institute of Science and Technology
InventorsMun-Sang Kim, Bong-Soo Kang, Woo-Jin Chung, Hyung-Jin Lee, Chong-Won Lee
Life of this patent
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Abstract
A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A robot hand selectively drives a hooking movement and a horizontal movement of fingers with less number of driving units by having a clutch unit. A robot hand includes fingers with a strain gage and is able to control a grasping force by using a value measured by the strain gage.
Claims16
A robot hand comprising:
- a robot hand base portion;
- two moving fingers installed facing each side of the hand base portion;
- first and second horizontal moving guides installed at each said moving finger facing each other, of which one end is binge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form a parallelogram 4-joint link structure to force the moving finger to move in a direction extending along a side of the moving finger;
- a horizontal moving unit for making the horizontal moving guides to be rotated on the basis of a shaft hinge-coupled at the hand base portion, said horizontal moving unit comprising:
- a second driving motor for driving the horizontal moving guides to be rotated centering around a shaft hinge-coupled with the hand base portion;
- and
- a horizontal movement driving force transfer unit installed between the second driving motor and the horizontal moving guides so that the horizontal moving guides are rotated by using a driving force of the second driving motor, said horizontal movement driving force transfer unit comprising two moving worm gears formed at one of the first and second horizontal moving guides respectively coupled to the two moving fingers, two moving worms installed to be simultaneously in mesh with the two moving worm gears, and a clutch unit for driving the moving worms by means of the second driving motor.
4 more elements
A robot hand comprising:
- a robot hand base portion;
- a moving finger installed at the side of the hand base portion;
- first and second horizontal moving guides installed facing each other, of which one end is hinge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form a parallelogram 4-joint link structure to force the moving finger to move in a direction extending along a side of the moving finger;
- a second driving motor for making the horizontal moving guides to be rotated on the basis of a shaft hinge-coupled at the hand base portion;
- a horizontal movement driving force transferring unit installed between the second driving motor and the horizontal moving guides so as for the horizontal moving guides to be rotated by using a driving force of the second driving motor;
- a moving finger hooking unit to allow the moving finger to make a hooking movement;
- a fixed finger having a first phalanx fixed at the side of the hand base portion and a second phalanx hinge-coupled at the end of the first phalanx by a first joint;
- a fixed finger hooking unit installed between the second driving motor and the fixed finger to allow the fixed finger to make a hooking movement by using the driving force of the second driving motor;
- and
- a clutch unit selectively transferring the driving force of the second driving motor to one of the horizontal movement driving force transferring unit and the fixed finger hooking unit by the hooking movement of the moving finger.
7 more elements
A robot hand finger comprising:
- a first phalanx;
- a second phalanx of which one end is hinge-coupled with the distal end of the first phalanx by a first axis;
- a third phalanx of which one end is hinge-coupled with the distal end of the second phalanx by a second axis;
- an auxiliary link of which one end is hinge-coupled with the first phalanx and the other end is hinge-coupled with the third phalanx so as to cross a straight line connecting the first axis and the second axis, in order to construct a 4-joint link which forces the third phalanx to be moved dependent on a rotational movement of the second phalanx;
- and
- a finger hooking unit for rotating the second phalanx centering around the first axis, said finger hooking unit comprising:
- a bending worm gear formed at the second phalanx;
- a bending worm moved in mesh with the bending worm gear;
- and
- a first driving motor for driving the bending worm.
7 more elements
A robot hand finger comprising:
- a first phalanx;
- a second phalanx of which one end is hinge-coupled with the distal end of the first phalanx by a first axis;
- a third phalanx of which one end is hinge-coupled with the distal end of the second phalanx by a second axis;
- an auxiliary link of which one end is hinge-coupled with the first phalanx and the other end is hinge-coupled with the third phalanx so as to cross a straight line connecting the first axis and the second axis, in order to construct a 4-joint link which forces the third phalanx to be moved dependent on a rotational movement of the second phalanx;
- and
- a finger hooking unit for rotating the second phalanx centering around the first axis, said finger hooking unit including a tension unit of which one end is connected to the first phalanx and the other end is connected to the second phalanx.
3 more elements
Dependencies are inferred from the claim text.