Robot finger driving module using differential gear characteristics and robot hand including the same

A robot finger driving module, which is driven by a driving motor installed in a robot hand,

• wherein the robot finger driving module receives a driving force of the driving motor by a pulley gear connected to the driving motor through a driving belt,
• wherein the robot finger driving module includes a housing formed with a first module housing and a second module housing assembled with the pulley gear to be rotatable, a tri-axial driving shaft provided in the housing, first and third connection gears installed at upper and lower portions of the tri-axial driving shaft to be supported by bearings, second and fourth connection gears installed at front and rear portions of the tri-axial driving shaft to be supported by bearings, and first and second output gears installed at right and left portions of the tri-axial driving shaft to be supported by bearings,
• wherein the tri-axial driving shaft is mounted in the housing of the robot finger driving module,
• wherein the first and second output gears are driven in engagement with the first to fourth connection gears,
• wherein when the robot finger driving module is fixed, a driving direction of the first output gear is opposite to a rotation-driving direction of the second output gear, and
• wherein when the robot finger driving module rotates, even though any one of the first output gear and the second output gear is fixed, the other is driven to rotate in the rotating direction of the robot finger driving module, thereby exhibiting differential gear characteristics.