KR20230008377A - Robot finger with joint - Google Patents

Abstract

Disclosed is a joint robot hand which minimizes the number of motors. According to one embodiment of the present invention, the joint robot hand comprises: a plurality of shafts; a joint part connecting the shafts, and including a knuckle and a universal joint; a cable controlling rotation of the joint part, and passing through a hole formed in the knuckle or fixed on the knuckle; and a driving part including a bobbin and a motor to rotate the bobbin. The cable includes a first and a second cable made of an elastic material for transferring torque to the joint part. The first and second cables are wound on the bobbin in opposite directions and transfer torque in a first direction which is the direction of the second cable or a second direction which is the direction of the first cable to the joint part depending on the driving direction of the motor.

Description

Articulated robot hand {ROBOT FINGER WITH JOINT}

The following description relates to a joint robot hand, and in particular, to a joint robot hand that handles a specific object by moving joints by minimizing the number of motors.

Recently, the demand for robot hands that adapt to various environments rather than repetitive tasks is increasing. Robotic hands are used for parts assembly in manufacturing plants, prosthetic arms, rehabilitation aids, and medical aids. As the field of robotics is converged with machine vision and machine learning, the possibility of using it is increasing.

In the past, multiple motors were used to perfectly control each joint. However, as the number of motors to be controlled increases, the weight of the robot hand becomes heavy and the price is expensive. Therefore, robot hands with subordinate structures connecting several joints to one motor are being studied. This structure has the advantage of providing light and good gripping force by reducing the number of motors, but has a problem in that free and delicate movements are limited. Therefore, there is a demand for a robot hand that provides delicate movements while minimizing the number of motors.

In this regard, Patent Registration No. 10-2245878 discloses an invention for a remote welding control system for a 6-axis articulated robot twin welding device.

The above background art is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and cannot necessarily be said to be known art disclosed to the general public prior to the present application.

An object according to an embodiment is to provide a joint robot hand in which the number of motors is minimized.

An object according to an embodiment is to provide a joint robot hand with minimized weight.

An object according to an embodiment is to provide a joint robot hand capable of delicate and free movement with a high degree of freedom.

A joint robot hand according to an embodiment includes a plurality of shafts; a joint connecting between the shafts and including a knuckle and a universal joint; A drive unit including a cable and a bobbin that controls rotation of the joint portion and passes through a hole formed in the knuckle or is fixed to the knuckle and a motor for rotating the bobbin, wherein the cable provides torque to the joint portion. The first and second cables are wound on the bobbin in opposite directions, respectively, and the second cable direction is respectively in the joint part according to the driving direction of the motor. It may be characterized in that torque is transmitted in one direction or in a second direction, which is the first cable direction.

In the joint robot hand according to an embodiment, the cable includes a third cable 303 formed of a non-elastic material, and the third cable 303 rotates the joint at 0° in the second direction. It may be characterized in that it prevents excessive rotation.

The joint robot hand according to an embodiment may further include an additional tension unit formed of an elastic material, and the additional tension unit may be disposed between at least one of the knuckles and the knuckles.

In the joint robot hand according to an embodiment, the driving part may be formed of five, and the shaft may be disposed in a palm shape.

In the joint robot hand according to an embodiment, at least one of the driving units may be rotatable in a circumferential direction with respect to the knuckle.

The joint robot hand according to an embodiment may minimize the number of motors.

The joint robot hand according to an embodiment may minimize weight.

A joint robot hand according to an embodiment may provide delicate and free movement.

1 is a schematic diagram of a joint robot hand according to an embodiment.
2 is a schematic diagram of a driving unit according to an embodiment.
3 is a diagram illustrating control of rotation order of joints according to an embodiment.
4 is a schematic diagram of a joint unit according to an embodiment.
5 is a diagram illustrating a range of motion of a joint robot hand according to an exemplary embodiment.
6 is a diagram illustrating rotation of a driving unit in a circumferential direction according to an exemplary embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes can be made to the embodiments, the scope of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents or substitutes to the embodiments are included within the scope of rights.

Terms used in the examples are used only for description purposes and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

In addition, in the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In describing the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element may be directly connected or connected to the other element, but there may be another element between the elements. It should be understood that may be "connected", "coupled" or "connected".

Components included in one embodiment and components having common functions will be described using the same names in other embodiments. Unless stated to the contrary, descriptions described in one embodiment may be applied to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

1 is a schematic diagram of a joint robot hand 1 according to an embodiment, FIG. 2 is a schematic diagram of a drive unit 40 according to an embodiment, and FIG. 3 shows control of rotation order of joints according to an embodiment. It is a drawing to

Referring to FIG. 1 , the joint robot hand 1 according to an embodiment may control at least one joint part 20 using one motor 402 . The joint robot hand 1 according to an embodiment may include a shaft 10, a joint part 20, a cable 30, and a driving part 40.

The shaft 10 serves as a skeleton of the joint robot hand 1, and a part of the shaft 10 may directly contact a specific object. In one embodiment, the shaft 10 may be formed in plurality and may be formed in a cylindrical shape. For example, the shaft 10 may be formed of aluminum, but is not limited thereto, and the shaft 10 may be formed of any material that is light and difficult to deform.

The joint part 20 connects the shaft 10 and the shaft 10, and may provide free movement of the shaft 10. In one embodiment, the joint 20 may be disposed between the shafts 10. In one embodiment, the joint portion 20 may include a knuckle 201 and a universal joint 202 . For example, a hole may be formed in the knuckle 201 along the circumferential direction of the knuckle 201 to pass a cable 30 to be described later. In one embodiment, the universal joint 202 is fastened to the knuckle 201 and may provide free rotational movement of the knuckle 201 .

The cable 30 may control rotation of the joint part 20 . In one embodiment, the cable 30 may pass through a hole formed in the knuckle 201 or be fixed to the knuckle 201 . For example, the cable 30 may be fixed to the knuckle 201 farthest from the drive unit 40 to be described later along the length of the shaft 10, and passes through a hole formed in the knuckle 201 except for this. can do. In one embodiment, cable 30 may include first, second and third cables 301, 302 and 303.

In one embodiment, the first and second cables 301 and 302 may be disposed parallel to the longitudinal direction of the shaft 10 with the shaft 10 interposed therebetween. In one embodiment, as the first or second cables 301 and 302 are pulled, torque may be transmitted to the joint part 20 . For example, when the first cable 301 is pulled, the joint part 20 may rotate in the direction of the first cable 301, that is, in the second direction D2. Also, when the second cable 302 is pulled, the joint part 20 can rotate in the direction of the second cable 302, that is, in the first direction D1.

In one embodiment, the third cable 303 is parallel to the lengthwise direction of the shaft 10 and may be disposed opposite to the first cable 301 with respect to the lengthwise direction of the shaft 10 . In one embodiment, the third cable 303 may be formed of a non-elastic material. For example, even if the first cable 301 is pulled, the length of the third cable 303 cannot be increased to prevent the joint portion 20 from rotating beyond 0° in the second direction D2. can

The driving unit 40 may transmit tension to the first and second cables 301 and 302 . In one embodiment, the drive unit 40 may include a bobbin 401 and a motor 402 for rotating the bobbin 401 . In one embodiment, the first and second cables 301 and 302 are wound around the bobbin 401 , and the bobbin 401 may be connected to the motor 402 . That is, as the motor 402 drives, the bobbin 401 rotates, and tension can be transmitted to the first and second cables 301 and 302 . For example, the second cable 302 may be unwound from the bobbin 401 by the distance that the first cable 301 is pulled by the motor 402, and the second cable 302 is pulled by the motor 402. The first cable 301 can be unwound from the bobbin 401 by the distance it is pulled.

Referring to FIG. 2 , the joint robot hand 1 according to an embodiment may control the joint part 20 in at least one direction using one motor 402 .

In one embodiment, the first and second cables 301 and 302 may be wound around the bobbin 401 in opposite directions, respectively. For example, the first and second cables 301 and 302 may transmit torque in the first direction D1 or the second direction D2 to the joint part 20 according to the driving direction of the motor 402 . . That is, as one motor 402 is driven, the joint part 20 can be controlled in two directions. In one embodiment, the bobbin 401 may be formed in a two-layer structure. For example, the first or second cables 301 and 302 may be wound in opposite directions for each layer of the bobbin 401 .

Referring to FIG. 3 , the joint robot hand 1 according to an embodiment may control the rotation order of the joints. In one embodiment, the joint robot hand 1 may further include an additional tension unit 50. In one embodiment, the additional tension unit 50 is disposed between at least one of the knuckles 201 and the knuckles 201, and may be fixed to the knuckles 201. In one embodiment, the additional tension unit 50 may be formed of an elastic material. For example, the additional tension unit 50 may be formed of a spring. For example, the additional tension unit 50 may be disposed opposite the second cable 302 in the longitudinal direction of the shaft 10 . That is, when the driving unit 40 pulls the second cable 302, the additional tension unit 50 first rotates the specific joint 20 as shown in (a) of FIG. 3, and in (b) of FIG. Similarly, the remaining joints 20 can be rotated later.

FIG. 4 is a schematic diagram of the joint part 20 according to an embodiment, and FIG. 5 is a diagram showing a range of motion of the joint robot hand 1 according to an embodiment.

Referring to FIG. 4 , in the joint robot hand 1 according to an embodiment, the range of motion of the joint part 20 may be adjusted according to the shape of the knuckle 201 . The knuckle 201 is fastened to the universal joint 202 and can rotate at a specific angle. For example, in (a) of FIG. 4 , the knuckle 201 may rotate from +60° to -60° around the longitudinal direction of the shaft 10 . In one embodiment, as shown in (b) of FIG. 4, the knuckle 201 may be formed to be inclined in a specific direction. For example, the knuckle 201 may be tilted by 30 ° around the longitudinal direction of the shaft 10, and the knuckle 201 may rotate from +30 ° to -90 ° around the longitudinal direction of the shaft 10. can

Referring to FIG. 5 , in the robot hand according to an embodiment, the movable range of the shaft 10 may be adjusted according to the shape of the knuckle 201 . 5(a) is a view showing the movable range of the shaft 10 when the shape of the knuckle 201 is in FIG. 4(a), and FIG. 5(b) shows the knuckle 201 It is a diagram showing the movable range of the shaft 10 when the shape is (b) in FIG. 4 . In one embodiment, as the shape of the knuckle 201 is formed as shown in (b) of FIG. 4, the range of motion of the shaft 10 may be adjusted to be similar to that of a human finger.

6 is a diagram illustrating rotation of the driving unit 40 in the circumferential direction D3 according to an exemplary embodiment.

Referring to FIG. 6 , in the joint robot hand 1 according to an embodiment, the shaft 10 may be disposed in a palm shape. For example, five driving units 40 may be formed. In one embodiment, the robot hand 1 may be formed with five fingers having three joint parts 20 . In one embodiment, in a finger having three joints 20, the robot hand 1 may include one motor for controlling the distal and middle joints 20 and two motors for controlling the first joint 20. can In one embodiment, at least one of the five fingers can rotate in the circumferential direction D3 with respect to the knuckle 201, that is, the shaft 10 connected to the drive unit 40 can act as a thumb. there is. For example, at least one of the driving parts 40 may rotate by 75° in the circumferential direction D3 with respect to the knuckle 201 .

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

1: articulated robot hand
10: shaft
20: driving unit
201: Knuckle
202: universal joint
30: cable
301 first cable
302 second cable
303 third cable
40: driving unit
401: bobbin
402: motor
50: additional tension unit
D1: first direction
D2: second direction
D3: circumferential direction

Claims (5)

A shaft formed of a plurality;
a joint connecting between the shafts and including a knuckle and a universal joint;
A cable that controls the rotation of the joint part, passes through a hole formed in the knuckle or is fixed to the knuckle, and
A driving unit including a bobbin and a motor for rotating the bobbin,
the cable,
Includes first and second cables for transmitting torque to the joint,
The first and second cables,
Characterized in that the bobbin is wound in opposite directions and transmits torque in a first direction, which is a second cable direction, or a second direction, which is a first cable direction, to the joint part according to the driving direction of the motor, respectively. hand. According to claim 1,
the cable,
It includes a third cable formed of a non-elastic material,
The third cable,
The joint robot hand, characterized in that for preventing the joint portion from rotating more than 0 ° in the second direction. According to claim 1,
Further comprising an additional tension portion formed of an elastic material,
The additional tension part,
A joint robot hand disposed between at least one of the knuckles and the knuckles. According to claim 1,
the driving unit,
It is formed of 5
the shaft,
A joint robot hand, characterized in that it is arranged in a palm shape. According to claim 4,
At least one of the driving units is rotatable in a circumferential direction with respect to the knuckle, characterized in that, the joint robot hand.

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