Robot hand with connection unit that undergoes stretching deformation according to object shape and method for controlling robot hand

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• and
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure,
• wherein the variable connection device comprises a bending deformation unit consisting of a linear member including a chain, a belt, or a wire, which can be flexibly deformed in its length and bending shape,
• wherein the variable connection device further comprises an airbag unit formed of a tubular member that is flexibly adjustable in volume by injection and discharge of air, and configured to be connectedly mounted on the bending deformation unit so as to extend along the longitudinal direction of the bending deformation unit, and
• wherein the connection length control device comprises:
• a first gear rotatably mounted at one side of the bending deformation unit in such a fashion as to be in close contact with the bending deformation unit, the first gear being configured to deforms the length or shape of the bending deformation unit while moving one side of the bending deformation unit by the rotation thereof;
• a second gear rotatably mounted at the other side of the bending deformation unit in such a fashion as to be in close contact with the bending deformation unit, the second gear being configured to be rotated in the opposite direction to that of the first gear and to deform the length or shape of the bending deformation unit while moving the other side of the bending deformation unit together with the first gear;
• and a power transmission assembly configured to simultaneously drive the first gear and the second gear in the opposite direction by the rotation of the motor in one direction.

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• and
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure,
• wherein the variable connection device includes an airbag unit formed of a tubular member that is flexibly adjustable in volume by injection and discharge of air, and
• wherein the robot hand further comprises a hook device providing a hook that can be hooked on the to-be-moved object using a ring member or a concaved portion groove formed on the to-be-moved object in an open-loop state in which the connection unit of the variable connection device is separated from the to-be-moved object.

A method for controlling a robot hand, the method comprising:

• a movement method selection step in which, when moving a to-be-moved object, whether to grip the to-be-moved object or to use a hook is is determined based on information on the shape of the to-be-moved object acquired through a sensor, or a determination result is inputted through an external input terminal;
• a closed-loop switching step where if it is determined in the movement method selection step to grip the to-be-moved object or the determination result is inputted, the operation mode of the robot hand is switched from an open-loop mode to a closed-loop mode in which a connection unit of the variable connection device providing a contact face that can be brought into pressurizing contact with the to-be-moved object comes into pressurizing contact with the surface of the to-be-moved object;
• a preset pressure gripping step in which if the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure in a state in which the operation mode of the robot hand is switched from the open-loop mode to the closed-loop mode, the shape of the variable connection device is constantly retained;
• an open-loop switching step in which if it is determined in the movement method selection step to use the hook or the determination result is inputted, the operation mode of the robot hand is switched from the closed-loop mode to the open-loop mode in which the connection unit of the variable connection device providing a contact face that can be brought into pressurizing contact with the to-be-moved object is controlled to be separated from the to-be-moved object;
• and a hook providing step in which a hook is provided so that the hook is hooked on the to-be-moved object using a ring member or a concaved portion groove formed on the to-be-moved object in a state in which the operation mode of the robot hand is switched from the closed-loop mode to the open-loop mode.

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• and
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure,
• wherein the variable connection device comprises a bending deformation unit consisting of a linear member including a chain, a belt, or a wire, which can be flexibly deformed in its length and bending shape, and
• wherein the connection length control device comprises:
• a first gear rotatably mounted at one side of the bending deformation unit in such a fashion as to be in close contact with the bending deformation unit, the first gear being configured to deforms the length or shape of the bending deformation unit while moving one side of the bending deformation unit by the rotation thereof;
• a second gear rotatably mounted at the other side of the bending deformation unit in such a fashion as to be in close contact with the bending deformation unit, the second gear being configured to be rotated in the opposite direction to that of the first gear and to deform the length or shape of the bending deformation unit while moving the other side of the bending deformation unit together with the first gear;
• and a power transmission assembly configured to simultaneously drive the first gear and the second gear in the opposite direction by the rotation of the motor in one direction.

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• and
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure,
• wherein the variable connection device comprises a bending deformation unit consisting of a linear member including a chain, a belt, or a wire, which can be flexibly deformed in its length and bending shape,
• wherein the variable connection device further comprises an airbag unit formed of a tubular member that is flexibly adjustable in volume by injection and discharge of air, and configured to be connectedly mounted on the bending deformation unit so as to extend along the longitudinal direction of the bending deformation unit, and
• wherein the robot hand further comprises a hook device providing a hook that can be hooked on the to-be-moved object using a ring member or a concaved portion groove formed on the to-be-moved object in an open-loop state in which the connection unit of the variable connection device is separated from the to-be-moved object.

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• and
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure,
• wherein the variable connection device comprises a bending deformation unit consisting of a linear member including a chain, a belt, or a wire, which can be flexibly deformed in its length and bending shape, and
• wherein the robot hand further comprises a hook device providing a hook that can be hooked on the to-be-moved object using a ring member or a concaved portion groove formed on the to-be-moved object in an open-loop state in which the connection unit of the variable connection device is separated from the to-be-moved object.

A robot hand with a connection unit that is stretchably deformed in conformity with the shape of an object, the robot hand comprising:

• a variable connection device including a connection unit configured to provide a contact face that can be brought into pressurizing contact with a to-be-moved object and configured to be stretchably deformed so as to be in close contact with the to-be-moved object;
• a connection length controller configured to be operated in cooperation with a driving unit including a motor or a pump to stretchably deform the connection unit of the variable connection device so that the connection unit of the variable connection device undergoes a switch between a closed-loop state in which the connection unit is brought into pressurizing contact with an outer surface of the to-be-moved object either continuously or divided into a plurality of segments, and an open-loop state in which the connection unit is separated from the to-be-moved object;
• a shape retention device configured to constantly retain the shape of the variable connection device in the closed-loop state in which the variable connection device is brought into pressurizing contact with the to-be-moved object at a preset pressure;
• and
• a hook device providing a hook that can be hooked on the to-be-moved object using a ring member or a concaved portion groove formed on the to-be-moved object in an open-loop state in which the connection unit of the variable connection device is separated from the to-be-moved object.