WO2018117649A1 - Hand module of robot - Google Patents
Hand module of robot Download PDFInfo
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- WO2018117649A1 WO2018117649A1 PCT/KR2017/015140 KR2017015140W WO2018117649A1 WO 2018117649 A1 WO2018117649 A1 WO 2018117649A1 KR 2017015140 W KR2017015140 W KR 2017015140W WO 2018117649 A1 WO2018117649 A1 WO 2018117649A1
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- WIPO (PCT)
- Prior art keywords
- finger
- gear
- rotated
- fixed
- gear set
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Definitions
- the present invention is composed of a palm and a finger, each finger is composed of a plurality of nodes and each is driven through a separate motor, it is possible to control the movement of the entire finger and each finger individually, stable motion control of the finger,
- the present invention relates to a hand module of a robot capable of providing support to a finger even by a small motor.
- the fingers studied in this way are mainly developed in the humanoid field, which is similar in size to the human body.
- these techniques are difficult to apply immediately.
- a large robot In the case of a large robot, it is divided into a riding type and an avatar type, and in both types, the size and weight of the finger are large, and the magnitude of the force to be controlled is very large. That is, in the case of a large robot, even a heavy object is picked up by a finger, and a shock amount is applied even when an impact occurs when an external object is hit when a hand moves.
- the related art is KR 10-1685997 B1.
- the present invention has been proposed to solve this problem, and is composed of a palm and a finger, each finger is composed of a plurality of nodes and each is driven by a separate motor to enable the movement of the entire finger and individual control of each finger and It is to provide a robot hand module that can control the motion of a finger and to provide support to a finger even with a small motor.
- the base housing forming a palm;
- a drive motor installed in the base housing;
- a plurality of gear sets each including a plurality of interlocked gears, and a rotational force of the driving motor is sequentially transmitted to the gear set, the plurality of finger nodes moving together in conjunction with the pinching operation of the finger.
- the output shaft of the drive motor is a worm gear that protrudes from the base housing and can transmit rotational force to a finger joint connected to the base housing.
- the gear set is composed of a start gear, a transmission gear, and an end gear sequentially engaged.
- the start gear is engaged with a fixed gear provided in a previous finger joint or a base housing, and rotates when the corresponding finger joint is rotated, and the transmission gear and the end gear rotate.
- the end gear is fixed to the next finger joint, so that the next finger joint can be rotated together with the corresponding finger joint.
- a first input gear is fixed to the first finger joint installed on the base housing side, and the first input gear is connected to the output shaft of the driving motor so that the first finger joint is rotated when the driving motor is rotated.
- the base fixing gear is fixed to the base housing, and the start gear of the first gear set of the first finger joint portion is engaged with the base fixing gear so that the first gear set can be rotated when the first finger joint portion is rotated.
- the end gear of the first gear set is engaged with the second input gear fixed to the second finger node portion so that the second finger node portion can be rotated when the first gear set is rotated.
- the start gear of the second gear set of the second finger node portion is engaged with the first fixed gear fixed to the first finger node portion so that the second gear set may be rotated when the first finger node portion is rotated.
- the end gear of the second gear set of the second finger joint portion is engaged with the third input gear fixed to the third finger joint portion so that the third finger joint portion can be rotated when the second gear set is rotated.
- Each gearset can be configured with an even number of gears engaged.
- Each of the input gears and the fixed gears may be the same size.
- a stopper protrusion protrudes from the front upper end of the finger node portion, and the stopper protrusion can limit the degree of spreading of the finger by supporting the rear upper end of the adjacent finger node portion during the pinching operation of the finger.
- the stopper protrusion may be in close contact with the rear top of the adjacent finger joint.
- Two adjacent finger joints are connected by a rotating shaft, and a spring is provided on the rotating shaft, and both ends of the spring are caught by adjacent finger joints to prevent shaking of the finger joints at the time of operation or stop of the driving motor. Can be.
- each finger is composed of a plurality of nodes and each is driven by a separate motor, so that the movement of the entire finger and the individual control of each finger is possible, Stable motion control is possible, and even a small motor can provide support to the fingers.
- FIG. 1 is a view of a hand module of a robot according to an embodiment of the present invention.
- FIG. 2 is a view of a finger of a hand module of a robot according to an embodiment of the present invention.
- 3 is a spring applied to the hand module of the robot according to an embodiment of the present invention.
- FIG. 1 is a view of the hand module of the robot according to an embodiment of the present invention
- Figure 2 is a view of the finger of the hand module of the robot according to an embodiment of the present invention
- Figure 3 is an embodiment of the present invention Spring is applied to the hand module of the robot according.
- the hand module of the robot As shown in Figure 1, the hand module of the robot according to the present invention, the base housing 100 forming a palm; A drive motor (M) installed inside the base housing 100; And a plurality of gear sets each including a plurality of interlocking gears, and a rotational force of the driving motor M is sequentially transmitted to the gear set, so that the plurality of finger nodes move together in conjunction with the pinching operation of the finger. do.
- each of the fingers are in the form of a perspective view, the palm of the upper cover and the lower cover is combined to form a housing, in the case of the illustrated figure shows that the upper cover is removed.
- Hand module of the robot of the present invention is provided with a base housing 100 forming a palm.
- the base housing 100 is provided with holes in which each finger is installed, and fingers are installed in the holes, respectively.
- each finger is driven by a separate motor to ensure control independence. This enables detailed motion simulation through individual finger-to-finger controls.
- the weight may increase because each has a motor, but in the case of the present invention, by reducing the capacity of each motor as much as possible through the mechanical design, the difference in the overall weight may not be large.
- a driving motor M is installed for each finger.
- each of the driving motors (M) to a small size, the capacity is small, and by placing each of the inside of the palm protects the motor and ensures that the movement of each finger is free.
- Each finger is composed of a plurality of finger joints (300, 500, 700).
- each of the finger joints includes a gear set 370 and 570 composed of a plurality of meshed gears.
- the rotational force of the driving motor (M) is sequentially transmitted to the gear set embedded in each of the finger joints so that the finger joints are interlocked with each other during the pinching and pinching of the fingers. That is, although each finger itself can be controlled independently, the plurality of finger nodes in the finger is linked together. Pinching and spreading the fingers themselves are individual, but when the fingers are in motion, each node together implements a pinch or pinch gesture.
- Figure 2 is a view of the finger of the hand module of the robot according to an embodiment of the present invention
- the output shaft of the drive motor (M) is a worm gear protruding from the base housing 100 and the finger node connected to the base housing 100 It can transmit rotational force to the part.
- the driving motor M is installed in the base housing 100 forming a palm, but the output shaft protrudes outward and is connected to the finger joint.
- the output shaft of the driving motor M is a worm gear that protrudes from the base housing 100 and transmits rotational force to a finger joint connected to the base housing 100. That is, the output shaft M10 of the driving motor M is a worm gear and is engaged with the worm wheel 330 of the first finger joint 300 to be connected to the first finger joint 300 through the output of the driving motor M. To provide torque.
- the output of the driving motor M is transmitted through the worm gear, the output of the driving motor M is reduced and the size is reduced, thereby improving the mountability and preventing the reverse driving by the back drive, thereby increasing the supporting force of the finger.
- the motor is to support the external force or external load of the finger only by the motor, the capacity and size of the motor is increased, but through the mechanical solution using a worm gear, even if the motor size is small enough to be able to exert the supporting force.
- the output is provided using a worm gear, it is possible to match the direction in which the output shaft of the motor extends with the direction in which the finger extends. Through this, it is necessary to place the driving motor corresponding to each finger in the palm of the narrow space. It becomes easy.
- the reduction ratio can be largely obtained due to the characteristics of the worm gear, there is an advantage in that the bearing capacity of the finger can be largely obtained compared to the output of a relatively small driving motor.
- the gear set is composed of the start gear, the transmission gear, the end gear is sequentially engaged, the start gear is engaged with the fixed gear provided in the previous finger joint or the base housing 100, the rotation of the corresponding finger joints
- the next finger joint can be rotated with the corresponding finger joint.
- the first input gear 330 is fixed to the first finger joint 300 installed on the base housing 100 side, and the first input gear 330 is the output shaft M10 of the driving motor M.
- the first input gear 330 is rotated when the driving motor M is rotated, so that the first finger joint 300 fixed to the first input gear 330 may be rotated.
- the base fixing gear 350 is fixed to the base housing 100, and the start gear of the first gear set 370 of the first finger joint part 300 is engaged with the base fixing gear 350. Accordingly, as the first finger joint 300 is rotated as described above, the start gear of the first gear set 370 is rotated by the base fixing gear 350 fixed to the base housing 100. The rotation force sequentially rotates the gears of the first gear set 370.
- the end gear of the first gear set 370 is engaged with the second input gear 530 fixed to the second finger portion 500, so that when the first gear set 370 rotates, the second finger portion ( 500 may be rotated. That is, the second input gear 530 illustrated in FIG. 2 is a gear fixed to the second finger joint 500. Therefore, when the end gear of the second gear set 570 rotates the second input gear 530, the second finger portion 500 is rotated.
- first fixed gear 550 is a gear fixed to the first finger joint 300, and when the second finger joint 500 is rotated as described above, the start gear of the second gear set 570 is fixed.
- the second gear set 570 may be rotated when the second finger node 500 is rotated by being engaged with the first fixed gear 550 fixed to the first finger node 300.
- the gear set is placed on each of the finger joints, and the next finger joint is rotated by the driving force of the previous finger joint gear set, but the gear set of the next finger joint is fixed.
- the gear set of the next finger joint is fixed.
- each gear set may be configured by an even number of gears are engaged. Accordingly, the driving force is transmitted in the forward-reverse-forward-reverse direction, thereby enabling the pinching and pinching motions of the fingers.
- each of the input gears and the fixed gears may be the same size. Accordingly, even if the gear size is different for each gear set, the finger joints are rotated at substantially the same speed. That is, deceleration or acceleration occurs when the gear size is different for each of the plurality of gear sets. In this case, the input gears and the fixed gears have the same size, so that the acceleration or deceleration is canceled with each other and the respective finger nodes rotate. Speed is the same.
- stopper protrusions 310 and 510 protrude from the front upper end of the finger joint, and the stopper protrusion may limit the degree of spreading of the finger by supporting the rear upper end of the adjacent finger joint during the pinching operation of the finger. .
- the joint In the straightening operation, even if the motor is precisely controlled, the joint may be momentarily bent due to the inertia of the finger, and the finger joint is protected by stopping it mechanically through the stopper protrusion.
- the stopper protrusion may be in close contact with the rear top of the adjacent finger joint. This enables a stable stopping operation.
- Figure 3 is a spring applied to the hand module of the robot according to an embodiment of the present invention
- the two adjacent finger joints are connected to the rotation axis (P) corresponding to the joint
- the spring to the rotation axis (P) (S) is installed
- both ends (S10, S30) of the spring (S) is respectively caught by the adjacent finger joints (500, 700) to prevent the shaking of the finger joints at the time of operation or stop of the driving motor (M) can do.
- Each of the finger joints has gear sets embedded in the housing, so that there is some inertia. Therefore, the finger joints tremble at the start or stop of the motor.
- a spring is installed on the axis of rotation of each of the finger joints, and both ends of the spring S are caught by adjacent finger joints, respectively, so that the finger joints of the finger joints at the time of operation or stop of the driving motor M are fixed. This can prevent the shaking.
- each finger is composed of a plurality of nodes and each is driven by a separate motor, so that the movement of the entire finger and the individual control of each finger is possible, Stable motion control is possible, and even a small motor can provide support to the fingers.
- drive motor 100 base housing
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Abstract
Introduced is a hand module of a robot comprising: a base housing forming a palm; a driving motor mounted in the base housing; and a plurality of knuckle units each having a gear set composed of a plurality of engaged gears embedded therein, wherein the plurality of knuckle units are actuated in conjunction with each other at the time of an extending or grasping operation of the fingers as the rotational force of the driving motor is sequentially transferred to the gear sets.
Description
본 발명은 손바닥과 손가락으로 구성되고, 각각의 손가락들은 복수의 마디로 이루어지며 각각 개별적인 모터를 통해 구동됨으로써 손가락 전체의 움직임과 손가락 각각의 개별적인 제어가 가능하고, 손가락의 안정적인 모션 제어가 가능하며, 작은 용량의 모터로도 손가락에 지지력을 부여할 수 있도록 한 로봇의 핸드 모듈에 관한 것이다.The present invention is composed of a palm and a finger, each finger is composed of a plurality of nodes and each is driven through a separate motor, it is possible to control the movement of the entire finger and each finger individually, stable motion control of the finger, The present invention relates to a hand module of a robot capable of providing support to a finger even by a small motor.
로봇의 손가락에 대하여는 많은 연구가 이루어지고 있다. 주로 사람의 손가락의 움직임과 정밀성을 최대한 모사하는 방향으로 연구가 되고 있고, 한편으로는 와이어 등을 이용하여 모터 등의 구동부를 줄여 중량을 감소시키고 제어를 쉽게 하는 언더액추에이션이 연구되고 있다.Much research has been done on the fingers of a robot. Mainly, research is conducted in the direction of simulating the movement and precision of the human finger as much as possible. Meanwhile, under actuation that reduces the weight and makes the control easier by reducing the driving part such as the motor by using wires and the like is being studied.
하지만, 이와 같이 연구되는 손가락들의 경우 주로 인체와 크기가 유사한 휴머노이드 분야에서 개발되고 있는바, 신장이 5m 정도 되는 대형 로봇의 손가락에 대하여는 이들 기술이 바로 적용되기 어렵다.However, the fingers studied in this way are mainly developed in the humanoid field, which is similar in size to the human body. For the fingers of a large robot having a height of about 5 m, these techniques are difficult to apply immediately.
대형 로봇의 경우 탑승형과 아바타형으로 나뉘는데, 두 가지 타입 모두 손가락의 사이즈와 중량이 크고, 제어하고자 하는 힘의 크기가 매우 크다. 즉, 대형 로봇의 경우 손가락으로 큰 중량물을 집어 들기도 하고, 손의 움직임시 외부의 물체와 부딪혀 충격이 발생할 경우에도 가해지는 충격량이 매우 큰 것이다.In the case of a large robot, it is divided into a riding type and an avatar type, and in both types, the size and weight of the finger are large, and the magnitude of the force to be controlled is very large. That is, in the case of a large robot, even a heavy object is picked up by a finger, and a shock amount is applied even when an impact occurs when an external object is hit when a hand moves.
따라서, 대형 로봇의 경우에는 제어에 있어 안정성이 가장 큰 해결 과제이고, 또한 손가락이나 손 자체의 관성이 크기 때문에 그 관성을 억제하며 제어하고, 감당할 수 있는 외부 하중의 값도 매우 커야 하는 해결과제가 있었다.Therefore, in the case of large robots, the stability is the biggest problem to control, and since the inertia of the finger or the hand itself is large, the problem of restraining and controlling the inertia and the value of the external load that can be handled must be very large. there was.
상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.
이에 관한 종래기술로는 KR 10-1685997 B1 이 있다.The related art is KR 10-1685997 B1.
본 발명은 이러한 문제점을 해결하기 위하여 제안된 것으로, 손바닥과 손가락으로 구성되고, 각각의 손가락들은 복수의 마디로 이루어지며 각각 개별적인 모터를 통해 구동됨으로써 손가락 전체의 움직임과 손가락 각각의 개별적인 제어가 가능하고, 손가락의 안정적인 모션 제어가 가능하며, 작은 용량의 모터로도 손가락에 지지력을 부여할 수 있도록 한 로봇의 핸드 모듈을 제공하고자 함이다.The present invention has been proposed to solve this problem, and is composed of a palm and a finger, each finger is composed of a plurality of nodes and each is driven by a separate motor to enable the movement of the entire finger and individual control of each finger and It is to provide a robot hand module that can control the motion of a finger and to provide support to a finger even with a small motor.
상기의 목적을 달성하기 위한 본 발명에 따른 로봇의 핸드 모듈은, 손바닥을 이루는 베이스 하우징; 베이스 하우징 내부에 설치된 구동모터; 및 복수의 맞물린 기어로 구성된 기어세트가 각각 내장되고, 구동모터의 회전력이 기어세트에 순차적으로 전달되어 손가락의 오므림 동작과 폄 동작시 연동되어 함께 움직이는 복수의 손가락마디부;를 포함한다.Hand module of the robot according to the present invention for achieving the above object, the base housing forming a palm; A drive motor installed in the base housing; And a plurality of gear sets each including a plurality of interlocked gears, and a rotational force of the driving motor is sequentially transmitted to the gear set, the plurality of finger nodes moving together in conjunction with the pinching operation of the finger.
구동모터의 출력축은 베이스 하우징으로부터 돌출된 웜기어이며 베이스 하우징에 연결된 손가락마디부에 회전력을 전달할 수 있다.The output shaft of the drive motor is a worm gear that protrudes from the base housing and can transmit rotational force to a finger joint connected to the base housing.
기어세트는 스타트기어, 전달기어, 엔드기어가 순차적으로 맞물려 구성되고, 스타트기어는 이전 손가락마디부 또는 베이스 하우징에 마련된 고정기어에 맞물려 있어 해당 손가락마디부의 회전시 회전하며 전달기어와 엔드기어를 회전시키고, 엔드기어는 다음 손가락마디부에 고정됨으로써 다음 손가락마디부가 해당 손가락마디부와 함께 회전될 수 있다.The gear set is composed of a start gear, a transmission gear, and an end gear sequentially engaged. The start gear is engaged with a fixed gear provided in a previous finger joint or a base housing, and rotates when the corresponding finger joint is rotated, and the transmission gear and the end gear rotate. And the end gear is fixed to the next finger joint, so that the next finger joint can be rotated together with the corresponding finger joint.
베이스 하우징측에 설치된 제1손가락마디부에는 제1입력기어가 고정되어 있고, 제1입력기어는 구동모터의 출력축과 연결되어 구동모터의 회전시 제1손가락마디부가 회전될 수 있다.A first input gear is fixed to the first finger joint installed on the base housing side, and the first input gear is connected to the output shaft of the driving motor so that the first finger joint is rotated when the driving motor is rotated.
베이스 하우징에는 베이스고정기어가 고정되고, 제1손가락마디부의 제1기어세트의 스타트기어는 베이스고정기어에 맞물려 있어 제1손가락마디부의 회전시 제1기어세트가 회전될 수 있다.The base fixing gear is fixed to the base housing, and the start gear of the first gear set of the first finger joint portion is engaged with the base fixing gear so that the first gear set can be rotated when the first finger joint portion is rotated.
제1기어세트의 엔드기어는 제2손가락마디부에 고정된 제2입력기어에 맞물려 있어 제1기어세트의 회전시 제2손가락마디부가 회전될 수 있다.The end gear of the first gear set is engaged with the second input gear fixed to the second finger node portion so that the second finger node portion can be rotated when the first gear set is rotated.
제2손가락마디부의 제2기어세트의 스타트기어는 제1손가락마디부에 고정된 제1고정기어에 맞물려 있어 제1손가락마디부의 회전시 제2기어세트가 회전될 수 있다.The start gear of the second gear set of the second finger node portion is engaged with the first fixed gear fixed to the first finger node portion so that the second gear set may be rotated when the first finger node portion is rotated.
제2손가락마디부의 제2기어세트의 엔드기어는 제3손가락마디부에 고정된 제3입력기어에 맞물려 있어 제2기어세트의 회전시 제3손가락마디부가 회전될 수 있다.The end gear of the second gear set of the second finger joint portion is engaged with the third input gear fixed to the third finger joint portion so that the third finger joint portion can be rotated when the second gear set is rotated.
*각각의 기어세트는 짝수개의 기어가 맞물려 구성될 수 있다.Each gearset can be configured with an even number of gears engaged.
각각의 입력기어들과 고정기어들은 동일한 사이즈일 수 있다.Each of the input gears and the fixed gears may be the same size.
손가락마디부의 전방 상단에는 스토퍼 돌기가 돌출되고, 스토퍼 돌기는 손가락의 폄 동작시 인접하는 손가락마디부의 후방 상단을 지지함으로써 손가락이 펴지는 정도를 제한할 수 있다.A stopper protrusion protrudes from the front upper end of the finger node portion, and the stopper protrusion can limit the degree of spreading of the finger by supporting the rear upper end of the adjacent finger node portion during the pinching operation of the finger.
손가락의 폄 동작이 완료된 경우 스토퍼 돌기는 인접하는 손가락마디부의 후방 상단을 덮으며 밀착될 수 있다.When the finger motion is completed, the stopper protrusion may be in close contact with the rear top of the adjacent finger joint.
인접하는 두 개의 손가락마디부들은 회전축으로 연결되며, 회전축에는 스프링이 설치되고, 스프링의 양단은 각각 인접하는 손가락마디부들에 걸림으로써 구동모터의 동작시점 또는 정지시점에 손가락마디부들의 떨림을 방지할 수 있다.Two adjacent finger joints are connected by a rotating shaft, and a spring is provided on the rotating shaft, and both ends of the spring are caught by adjacent finger joints to prevent shaking of the finger joints at the time of operation or stop of the driving motor. Can be.
본 발명의 로봇의 핸드 모듈에 따르면, 손바닥과 손가락으로 구성되고, 각각의 손가락들은 복수의 마디로 이루어지며 각각 개별적인 모터를 통해 구동됨으로써 손가락 전체의 움직임과 손가락 각각의 개별적인 제어가 가능하고, 손가락의 안정적인 모션 제어가 가능하며, 작은 용량의 모터로도 손가락에 지지력을 부여할 수 있다.According to the hand module of the robot of the present invention, a palm and a finger, each finger is composed of a plurality of nodes and each is driven by a separate motor, so that the movement of the entire finger and the individual control of each finger is possible, Stable motion control is possible, and even a small motor can provide support to the fingers.
도 1은 본 발명의 일 실시예에 따른 로봇의 핸드 모듈의 도면.1 is a view of a hand module of a robot according to an embodiment of the present invention.
도 2는 본 발명의 일 실시예에 따른 로봇의 핸드 모듈의 손가락의 도면.2 is a view of a finger of a hand module of a robot according to an embodiment of the present invention.
도 3은 본 발명의 일 실시예에 따른 로봇의 핸드 모듈에 스프링이 적용된 도면.3 is a spring applied to the hand module of the robot according to an embodiment of the present invention.
도 1은 본 발명의 일 실시예에 따른 로봇의 핸드 모듈의 도면이고, 도 2는 본 발명의 일 실시예에 따른 로봇의 핸드 모듈의 손가락의 도면이며, 도 3은 본 발명의 일 실시예에 따른 로봇의 핸드 모듈에 스프링이 적용된 도면이다.1 is a view of the hand module of the robot according to an embodiment of the present invention, Figure 2 is a view of the finger of the hand module of the robot according to an embodiment of the present invention, Figure 3 is an embodiment of the present invention Spring is applied to the hand module of the robot according.
도 1과 같이, 본 발명에 따른 로봇의 핸드 모듈은, 손바닥을 이루는 베이스 하우징(100); 베이스 하우징(100) 내부에 설치된 구동모터(M); 및 복수의 맞물린 기어로 구성된 기어세트가 각각 내장되고, 구동모터(M)의 회전력이 기어세트에 순차적으로 전달되어 손가락의 오므림 동작과 폄 동작시 연동되어 함께 움직이는 복수의 손가락마디부;를 포함한다.As shown in Figure 1, the hand module of the robot according to the present invention, the base housing 100 forming a palm; A drive motor (M) installed inside the base housing 100; And a plurality of gear sets each including a plurality of interlocking gears, and a rotational force of the driving motor M is sequentially transmitted to the gear set, so that the plurality of finger nodes move together in conjunction with the pinching operation of the finger. do.
도 1의 경우 각각의 손가락들은 사시도의 형태이며, 손바닥은 상부 덮개와 하부 덮개가 합쳐져 하우징의 형태를 이루나, 도시된 도면의 경우 그 상부 덮개가 제거된 상태를 나타낸다.In the case of Figure 1 each of the fingers are in the form of a perspective view, the palm of the upper cover and the lower cover is combined to form a housing, in the case of the illustrated figure shows that the upper cover is removed.
본 발명의 로봇의 핸드 모듈은 손바닥을 이루는 베이스 하우징(100)이 마련된다. 베이스 하우징(100)에는 각각의 손가락이 설치되는 홀들이 형성되고, 그 홀들에 각각 손가락이 설치된다. 기본적으로 각각의 손가락은 개별적인 모터를 통해 구동되어 제어의 독립성을 갖는다. 이를 통해 손가락 마다의 개별적인 제어를 통해 세밀한 모션의 모사가 가능해진다. 다만, 각각 모터를 구비하기 때문에 중량이 증가할 수 있으나, 본 발명의 경우 기구적인 설계를 통하여 모터 각각의 용량을 최대한 줄임으로써 전체적인 중량의 차이는 크지 않도록 할 수 있다.Hand module of the robot of the present invention is provided with a base housing 100 forming a palm. The base housing 100 is provided with holes in which each finger is installed, and fingers are installed in the holes, respectively. In essence, each finger is driven by a separate motor to ensure control independence. This enables detailed motion simulation through individual finger-to-finger controls. However, the weight may increase because each has a motor, but in the case of the present invention, by reducing the capacity of each motor as much as possible through the mechanical design, the difference in the overall weight may not be large.
베이스 하우징(100) 내부에는 각각의 손가락마다 구동모터(M)가 설치된다. 즉, 구동모터(M) 각각을 소형의 사이즈로 하여 용량이 작게 하고, 이를 손바닥의 내부에 각각 배치함으로서 모터를 보호하고 각각의 손가락의 움직임이 자유롭도록 보장한다.In the base housing 100, a driving motor M is installed for each finger. In other words, each of the driving motors (M) to a small size, the capacity is small, and by placing each of the inside of the palm protects the motor and ensures that the movement of each finger is free.
각각의 손가락은 복수의 손가락마디부(300,500,700)로 구성된다. 또한, 각각의 손가락마디부에는 도 2와 같이, 복수의 맞물린 기어로 구성된 기어세트(370,570)가 각각 내장된다. 구동모터(M)의 회전력은 각각의 손가락마디부에 내장된 기어세트에 순차적으로 전달되어 손가락의 오므림 동작과 폄 동작시 각각의 손가락마디부는 연동되어 함께 움직이게 된다. 즉, 각각의 손가락 자체는 독립적으로 제어가 가능하지만, 손가락에 있어 복수의 손가락마디부는 함께 연동되는 것이다. 손가락 자체를 오므리거나 펴는 동작은 개별적이지만, 손가락이 동작할 경우 각각의 마디부는 함께 오므림 동작 또는 폄 동작을 구현하는 것이다.Each finger is composed of a plurality of finger joints (300, 500, 700). In addition, as shown in FIG. 2, each of the finger joints includes a gear set 370 and 570 composed of a plurality of meshed gears. The rotational force of the driving motor (M) is sequentially transmitted to the gear set embedded in each of the finger joints so that the finger joints are interlocked with each other during the pinching and pinching of the fingers. That is, although each finger itself can be controlled independently, the plurality of finger nodes in the finger is linked together. Pinching and spreading the fingers themselves are individual, but when the fingers are in motion, each node together implements a pinch or pinch gesture.
한편, 도 2는 본 발명의 일 실시예에 따른 로봇의 핸드 모듈의 손가락의 도면으로써, 구동모터(M)의 출력축은 베이스 하우징(100)으로부터 돌출된 웜기어이며 베이스 하우징(100)에 연결된 손가락마디부에 회전력을 전달할 수 있다.On the other hand, Figure 2 is a view of the finger of the hand module of the robot according to an embodiment of the present invention, the output shaft of the drive motor (M) is a worm gear protruding from the base housing 100 and the finger node connected to the base housing 100 It can transmit rotational force to the part.
구동모터(M)는 손바닥을 이루는 베이스 하우징(100) 내부에 설치되지만, 그 출력축은 외부로 돌출되어 손가락마디부에 연결된다. 구동모터(M)의 출력축은 베이스 하우징(100)으로부터 돌출된 웜기어이며 베이스 하우징(100)에 연결된 손가락마디부에 회전력을 전달할 수 있다. 즉, 구동모터(M)의 출력축(M10)은 웜기어이고, 제1손가락마디부(300)의 웜휠(330)에 치합되어 구동모터(M)의 출력을 통해 제1손가락마디부(300)에 회전력을 제공하는 것이다.The driving motor M is installed in the base housing 100 forming a palm, but the output shaft protrudes outward and is connected to the finger joint. The output shaft of the driving motor M is a worm gear that protrudes from the base housing 100 and transmits rotational force to a finger joint connected to the base housing 100. That is, the output shaft M10 of the driving motor M is a worm gear and is engaged with the worm wheel 330 of the first finger joint 300 to be connected to the first finger joint 300 through the output of the driving motor M. To provide torque.
구동모터(M)의 출력이 웜기어를 통해 전달되기 때문에 구동모터(M)의 출력을 작게 하고 사이즈를 감소시켜 장착성을 향상시키면서도 백드라이브에 의한 역구동을 방지함으로써 손가락의 지지력을 높일 수 있게 된다. 즉, 손가락의 외력이나 외부 하중에 대한 지지를 모터만으로 감당하고자 한다면 모터의 용량과 사이즈가 증대되나, 웜기어를 이용한 기구적인 해결을 통해 모터 사이즈가 작더라도 충분히 지지력을 발휘할 수 있도록 하는 것이다. 또한, 웜기어를 이용하여 출력을 제공하기 때문에 모터의 출력축이 연장되는 방향과 손가락이 연장되는 방향을 일치시킬 수 있고, 이를 통해 좁은 공간인 손바닥 내부에 각각의 손가락에 해당하는 구동모터를 배치하는 것이 용이해진다. 그리고 웜기어의 특성상 감속비를 크게 얻을 수 있어서, 비교적 소형인 구동모터의 출력 대비 손가락의 지지력을 크게 얻을 수 있는 장점이 있다.Since the output of the driving motor M is transmitted through the worm gear, the output of the driving motor M is reduced and the size is reduced, thereby improving the mountability and preventing the reverse driving by the back drive, thereby increasing the supporting force of the finger. In other words, if the motor is to support the external force or external load of the finger only by the motor, the capacity and size of the motor is increased, but through the mechanical solution using a worm gear, even if the motor size is small enough to be able to exert the supporting force. In addition, since the output is provided using a worm gear, it is possible to match the direction in which the output shaft of the motor extends with the direction in which the finger extends. Through this, it is necessary to place the driving motor corresponding to each finger in the palm of the narrow space. It becomes easy. In addition, since the reduction ratio can be largely obtained due to the characteristics of the worm gear, there is an advantage in that the bearing capacity of the finger can be largely obtained compared to the output of a relatively small driving motor.
또한, 도 2와 같이, 기어세트는 스타트기어, 전달기어, 엔드기어가 순차적으로 맞물려 구성되고, 스타트기어는 이전 손가락마디부 또는 베이스 하우징(100)에 마련된 고정기어에 맞물려 있어 해당 손가락마디부의 회전시 회전하며 전달기어와 엔드기어를 회전시키고, 엔드기어는 다음 손가락마디부에 고정됨으로써 다음 손가락마디부가 해당 손가락마디부와 함께 회전될 수 있다. 즉, 복수의 기어를 세트로 조립하여 각각의 손가락마디부마다 배치하는데 있어서, 단순히 기어를 연속적으로 배치할 경우 손가락마디부 사이의 관절에서 다음 손가락마디부로 구동력이 넘어갈 수가 없기 때문에 기어세트의 스타트기어는 이전 손가락마디부 또는 베이스 하우징(100)에 마련된 고정기어에 맞물려 있어 해당 손가락마디부의 회전시 회전하며 전달기어와 엔드기어를 회전시키고, 엔드기어는 다음 손가락마디부에 고정됨으로써 다음 손가락마디부가 해당 손가락마디부와 함께 회전될 수 있도록 하는 것이다.In addition, as shown in Figure 2, the gear set is composed of the start gear, the transmission gear, the end gear is sequentially engaged, the start gear is engaged with the fixed gear provided in the previous finger joint or the base housing 100, the rotation of the corresponding finger joints When rotating the transmission gear and the end gear and the end gear is fixed to the next finger joint portion, the next finger joint can be rotated with the corresponding finger joint. In other words, when assembling a plurality of gears in a set and arranging them for each finger node portion, when the gears are simply arranged continuously, the driving force cannot be transferred from the joint between the finger nodes to the next finger node portion. Is engaged with the fixed gear provided in the previous finger joint or the base housing 100, and rotates when the corresponding finger joint rotates, the transmission gear and the end gear is rotated, the end gear is fixed to the next finger joint to the next finger joint It is to be rotated with the finger joints.
구체적으로, 베이스 하우징(100)측에 설치된 제1손가락마디부(300)에는 제1입력기어(330)가 고정되어 있고, 제1입력기어(330)는 구동모터(M)의 출력축(M10)과 연결되어 구동모터(M)의 회전시 제1입력기어(330)가 회전되고, 그에 따라 제1입력기어(330)와 고정된 제1손가락마디부(300)가 회전될 수 있다.Specifically, the first input gear 330 is fixed to the first finger joint 300 installed on the base housing 100 side, and the first input gear 330 is the output shaft M10 of the driving motor M. The first input gear 330 is rotated when the driving motor M is rotated, so that the first finger joint 300 fixed to the first input gear 330 may be rotated.
그리고 베이스 하우징(100)에는 베이스고정기어(350)가 고정되고 제1손가락마디부(300)의 제1기어세트(370)의 스타트기어는 베이스고정기어(350)에 맞물려 있다. 그에 따라, 상술한 바와 같이 제1손가락마디부(300)가 회전됨에 따라 제1기어세트(370)의 스타트기어가 베이스 하우징(100)에 고정된 베이스고정기어(350)를 타고 회전되는 것이고, 그 회전력은 제1기어세트(370)의 기어들을 순차적으로 회전시키게 된다.The base fixing gear 350 is fixed to the base housing 100, and the start gear of the first gear set 370 of the first finger joint part 300 is engaged with the base fixing gear 350. Accordingly, as the first finger joint 300 is rotated as described above, the start gear of the first gear set 370 is rotated by the base fixing gear 350 fixed to the base housing 100. The rotation force sequentially rotates the gears of the first gear set 370.
또한, 제1기어세트(370)의 엔드기어는 제2손가락마디부(500)에 고정된 제2입력기어(530)에 맞물려 있어 제1기어세트(370)의 회전시 제2손가락마디부(500)가 회전될 수 있다. 즉, 도 2에 도시된 제2입력기어(530)는 제2손가락마디부(500)에 고정된 기어이다. 따라서, 제2기어세트(570)의 엔드기어가 제2입력기어(530)를 회전시킬 경우에는 제2손가락마디부(500)가 회전되는 것이다.In addition, the end gear of the first gear set 370 is engaged with the second input gear 530 fixed to the second finger portion 500, so that when the first gear set 370 rotates, the second finger portion ( 500 may be rotated. That is, the second input gear 530 illustrated in FIG. 2 is a gear fixed to the second finger joint 500. Therefore, when the end gear of the second gear set 570 rotates the second input gear 530, the second finger portion 500 is rotated.
그리고 제1고정기어(550)는 제1손가락마디부(300)에 고정된 기어로써, 제2손가락마디부(500)가 상술한 바와 같이 회전될 경우 제2기어세트(570)의 스타트기어가 제1손가락마디부(300)에 고정된 제1고정기어(550)에 맞물려 있어 제2손가락마디부(500)의 회전시 제2기어세트(570)가 회전될 수 있다.In addition, the first fixed gear 550 is a gear fixed to the first finger joint 300, and when the second finger joint 500 is rotated as described above, the start gear of the second gear set 570 is fixed. The second gear set 570 may be rotated when the second finger node 500 is rotated by being engaged with the first fixed gear 550 fixed to the first finger node 300.
마지막으로, 제2손가락마디부(500)의 제2기어세트(570)의 엔드기어는 제3손가락마디부(700)에 고정된 제3입력기어(730)에 맞물려 있어 제2기어세트(570)의 회전시 제3손가락마디부(700)가 회전될 수 있다.Finally, the end gear of the second gear set 570 of the second finger portion 500 is engaged with the third input gear 730 fixed to the third finger portion 700 so that the second gear set 570 In the rotation of the third finger joint 700 may be rotated.
즉, 단순히 기어들을 직접적으로 연결하여 회전하는 것이 아니라, 각각의 손가락마디부들에 기어세트를 두고, 이전 손가락마디부 기어세트의 구동력을 통해 다음 손가락마디부를 회전시키되, 다음 손가락마디부의 기어세트는 고정기어를 통해 간적접으로 구동력을 전달받도록 함으로써 이전 손가락마디부가 오므리는 동작을 취할때 다음 손가락마디부 역시 동일하게 오므리는 동작을 취하게 되는 것이다. 만약 단순히 기어들이 직접적으로 연결된 경우라면, 이전 기어세트의 회전력은 다음 기어세트로 전달되지 않는다.That is, instead of simply connecting the gears directly and rotating them, the gear set is placed on each of the finger joints, and the next finger joint is rotated by the driving force of the previous finger joint gear set, but the gear set of the next finger joint is fixed. By receiving the driving force indirectly through the gear, when the previous finger joints are retracted, the next finger joints are equally retracted. If the gears are connected directly, the rotational force of the previous gearset is not transmitted to the next gearset.
한편, 각각의 기어세트는 짝수개의 기어가 맞물려 구성될 수 있다. 이에 따라 정방향-역방향-정방향-역방향으로 구동력이 전달되어 손가락의 오므리는 동작과 폄 동작을 구현할 수 있게 된다. 또한, 각각의 입력기어들과 고정기어들은 동일한 사이즈일 수 있다. 그에 따라 기어세트마다 기어의 사이즈가 달라도 실질적으로 동일한 속도로 각각의 손가락마디부들이 회전되게 된다. 즉, 복수의 기어세트마다 기어 사이즈가 서로 다를 경우에는 감속 또는 가속이 발생되는데, 이 경우 입력기어들과 고정기어들은 동일한 사이즈를 취함으로서 가속 또는 감속이 서로 상쇄되어 각각의 손가락마디부들이 회전되는 속도는 동일해지는 것이다.On the other hand, each gear set may be configured by an even number of gears are engaged. Accordingly, the driving force is transmitted in the forward-reverse-forward-reverse direction, thereby enabling the pinching and pinching motions of the fingers. In addition, each of the input gears and the fixed gears may be the same size. Accordingly, even if the gear size is different for each gear set, the finger joints are rotated at substantially the same speed. That is, deceleration or acceleration occurs when the gear size is different for each of the plurality of gear sets. In this case, the input gears and the fixed gears have the same size, so that the acceleration or deceleration is canceled with each other and the respective finger nodes rotate. Speed is the same.
또한, 도 2와 같이, 손가락마디부의 전방 상단에는 스토퍼 돌기(310,510)가 돌출되고, 스토퍼 돌기는 손가락의 폄 동작시 인접하는 손가락마디부의 후방 상단을 지지함으로써 손가락이 펴지는 정도를 제한할 수 있다. 손가락을 펴는 동작에 있어서는 모터를 정교하게 제어하더라도 손가락의 관성에 의해 순간적으로 관절이 꺾이는 현상이 발생할 수 있고, 이를 스토퍼돌기를 통해 기구적으로 저지함으로서 손가락 관절을 보호하는 것이다. 손가락의 폄 동작이 완료된 경우 스토퍼 돌기는 인접하는 손가락마디부의 후방 상단을 덮으며 밀착될 수 있다. 그에 따라 안정적인 스토핑 동작이 가능해진다.In addition, as shown in FIG. 2, stopper protrusions 310 and 510 protrude from the front upper end of the finger joint, and the stopper protrusion may limit the degree of spreading of the finger by supporting the rear upper end of the adjacent finger joint during the pinching operation of the finger. . In the straightening operation, even if the motor is precisely controlled, the joint may be momentarily bent due to the inertia of the finger, and the finger joint is protected by stopping it mechanically through the stopper protrusion. When the finger motion is completed, the stopper protrusion may be in close contact with the rear top of the adjacent finger joint. This enables a stable stopping operation.
한편, 도 3은 본 발명의 일 실시예에 따른 로봇의 핸드 모듈에 스프링이 적용된 도면으로써, 인접하는 두 개의 손가락마디부들은 관절에 해당하는 회전축(P)으로 연결되며, 회전축(P)에는 스프링(S)이 설치되고, 스프링(S)의 양단(S10,S30)은 각각 인접하는 손가락마디부들(500,700)에 걸림으로써 구동모터(M)의 동작시점 또는 정지시점에 손가락마디부들의 떨림을 방지할 수 있다. 손가락마디부 각각에는 하우징의 내부에 기어세트들이 내장되고, 그에 따라 관성이 어느 정도 존재한다. 따라서, 모터의 구동시작 또는 정지시점에는 손가락마디부들이 떨리는 현상이 발생되었다. 이를 방지하기 위해 각각의 손가락마디부들의 회전축에 스프링을 설치하고, 스프링(S)의 양단은 각각 인접하는 손가락마디부들에 걸리도록 함으로써 구동모터(M)의 동작시점 또는 정지시점에 손가락마디부들의 떨림 현상을 방지할 수 있는 것이다.On the other hand, Figure 3 is a spring applied to the hand module of the robot according to an embodiment of the present invention, the two adjacent finger joints are connected to the rotation axis (P) corresponding to the joint, the spring to the rotation axis (P) (S) is installed, and both ends (S10, S30) of the spring (S) is respectively caught by the adjacent finger joints (500, 700) to prevent the shaking of the finger joints at the time of operation or stop of the driving motor (M) can do. Each of the finger joints has gear sets embedded in the housing, so that there is some inertia. Therefore, the finger joints tremble at the start or stop of the motor. In order to prevent this, a spring is installed on the axis of rotation of each of the finger joints, and both ends of the spring S are caught by adjacent finger joints, respectively, so that the finger joints of the finger joints at the time of operation or stop of the driving motor M are fixed. This can prevent the shaking.
본 발명의 로봇의 핸드 모듈에 따르면, 손바닥과 손가락으로 구성되고, 각각의 손가락들은 복수의 마디로 이루어지며 각각 개별적인 모터를 통해 구동됨으로써 손가락 전체의 움직임과 손가락 각각의 개별적인 제어가 가능하고, 손가락의 안정적인 모션 제어가 가능하며, 작은 용량의 모터로도 손가락에 지지력을 부여할 수 있다.According to the hand module of the robot of the present invention, a palm and a finger, each finger is composed of a plurality of nodes and each is driven by a separate motor, so that the movement of the entire finger and the individual control of each finger is possible, Stable motion control is possible, and even a small motor can provide support to the fingers.
본 발명의 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당 업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.While shown and described in connection with specific embodiments of the present invention, it is within the skill of the art that various changes and modifications can be made therein without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.
[부호의 설명][Description of the code]
M : 구동모터 100 : 베이스 하우징M: drive motor 100: base housing
300,500,700 : 손가락마디부300,500,700: Finger joint
Claims (13)
- 손바닥을 이루는 베이스 하우징;A base housing forming a palm;베이스 하우징 내부에 설치된 구동모터; 및A drive motor installed in the base housing; And복수의 맞물린 기어로 구성된 기어세트가 각각 내장되고, 구동모터의 회전력이 기어세트에 순차적으로 전달되어 손가락의 오므림 동작과 폄 동작시 연동되어 함께 움직이는 복수의 손가락마디부;를 포함하는 로봇의 핸드 모듈.A plurality of interlocked gear sets, each of which includes a plurality of interlocked gears, and a rotational force of the driving motor is sequentially transmitted to the gear set, so that a plurality of finger nodes move together with the pinch movement of the finger and move the finger together; module.
- 청구항 1에 있어서,The method according to claim 1,구동모터의 출력축은 베이스 하우징으로부터 돌출된 웜기어이며 베이스 하우징에 연결된 손가락마디부에 회전력을 전달하는 것을 특징으로 하는 로봇의 핸드 모듈.The output shaft of the drive motor is a worm gear that protrudes from the base housing and the hand module of the robot, characterized in that to transmit the rotational force to the finger joint connected to the base housing.
- 청구항 1에 있어서,The method according to claim 1,기어세트는 스타트기어, 전달기어, 엔드기어가 순차적으로 맞물려 구성되고, 스타트기어는 이전 손가락마디부 또는 베이스 하우징에 마련된 고정기어에 맞물려 있어 해당 손가락마디부의 회전시 회전하며 전달기어와 엔드기어를 회전시키고, 엔드기어는 다음 손가락마디부에 고정됨으로써 다음 손가락마디부가 해당 손가락마디부와 함께 회전될 수 있도록 하는 것을 특징으로 하는 로봇의 핸드 모듈.The gear set is composed of a start gear, a transmission gear, and an end gear sequentially engaged. The start gear is engaged with a fixed gear provided in a previous finger joint or a base housing, and rotates when the corresponding finger joint is rotated, and the transmission gear and the end gear rotate. And the end gear is fixed to the next finger joint so that the next finger joint can be rotated together with the corresponding finger joint.
- 청구항 1에 있어서,The method according to claim 1,베이스 하우징측에 설치된 제1손가락마디부에는 제1입력기어가 고정되어 있고, 제1입력기어는 구동모터의 출력축과 연결되어 구동모터의 회전시 제1손가락마디부가 회전되는 것을 특징으로 하는 로봇의 핸드 모듈.The first input gear is fixed to the first finger joint installed on the base housing side, and the first input gear is connected to the output shaft of the driving motor so that the first finger joint is rotated when the driving motor is rotated. Hand module.
- 청구항 4에 있어서,The method according to claim 4,베이스 하우징에는 베이스고정기어가 고정되고, 제1손가락마디부의 제1기어세트의 스타트기어는 베이스고정기어에 맞물려 있어 제1손가락마디부의 회전시 제1기어세트가 회전되는 것을 특징으로 하는 로봇의 핸드 모듈.The base fixing gear is fixed to the base housing, and the start gear of the first gear set of the first finger joint is engaged with the base fixing gear so that the first gear set is rotated when the first finger joint is rotated. module.
- 청구항 5에 있어서,The method according to claim 5,제1기어세트의 엔드기어는 제2손가락마디부에 고정된 제2입력기어에 맞물려 있어 제1기어세트의 회전시 제2손가락마디부가 회전되는 것을 특징으로 하는 로봇의 핸드 모듈.The end gear of the first gear set is engaged with the second input gear fixed to the second finger node portion, so that the second finger node portion is rotated when the first gear set is rotated.
- 청구항 6에 있어서,The method according to claim 6,제2손가락마디부의 제2기어세트의 스타트기어는 제1손가락마디부에 고정된 제1고정기어에 맞물려 있어 제2손가락마디부의 회전시 제2기어세트가 회전되는 것을 특징으로 하는 로봇의 핸드 모듈.The start gear of the second gear set of the second finger node portion is engaged with the first fixed gear fixed to the first finger node portion so that the second gear set is rotated when the second finger node portion rotates. .
- 청구항 7에 있어서,The method according to claim 7,제2손가락마디부의 제2기어세트의 엔드기어는 제3손가락마디부에 고정된 제3입력기어에 맞물려 있어 제2기어세트의 회전시 제3손가락마디부가 회전되는 것을 특징으로 하는 로봇의 핸드 모듈.The end gear of the second gear set of the second finger node portion is engaged with the third input gear fixed to the third finger node portion, so that the third finger node portion is rotated when the second gear set is rotated. .
- 청구항 1에 있어서,The method according to claim 1,각각의 기어세트는 짝수개의 기어가 맞물려 구성된 것을 특징으로 하는 로봇의 핸드 모듈.Each gear set is a hand module of the robot, characterized in that the even gear is configured to mesh.
- 청구항 8에 있어서,The method according to claim 8,각각의 입력기어들과 고정기어들은 동일한 사이즈인 것을 특징으로 하는 로봇의 핸드 모듈.Hand module of the robot, characterized in that each of the input gear and the fixed gear is the same size.
- 청구항 1에 있어서,The method according to claim 1,손가락마디부의 전방 상단에는 스토퍼 돌기가 돌출되고, 스토퍼 돌기는 손가락의 폄 동작시 인접하는 손가락마디부의 후방 상단을 지지함으로써 손가락이 펴지는 정도를 제한하는 것을 특징으로 하는 로봇의 핸드 모듈.A stopper protrusion protrudes from the front upper end of the finger node portion, and the stopper protrusion restricts the degree of spreading of the finger by supporting a rear upper end of an adjacent finger node portion during the squeezing operation of the finger.
- 청구항 11에 있어서,The method according to claim 11,손가락의 폄 동작이 완료된 경우 스토퍼 돌기는 인접하는 손가락마디부의 후방 상단을 덮으며 밀착되는 것을 특징으로 하는 로봇의 핸드 모듈.The stopper protrusion when the finger motion is completed, the hand module of the robot, characterized in that the close contact covering the rear top of the adjacent finger joints.
- 청구항 11에 있어서,The method according to claim 11,인접하는 두 개의 손가락마디부들은 회전축으로 연결되며, 회전축에는 스프링이 설치되고, 스프링의 양단은 각각 인접하는 손가락마디부들에 걸림으로써 구동모터의 동작시점 또는 정지시점에 손가락마디부들의 떨림을 방지하는 것을 특징으로 하는 로봇의 핸드 모듈.Two adjacent finger joints are connected by a rotating shaft, and a spring is installed on the rotating shaft, and both ends of the spring are caught by adjacent finger joints to prevent shaking of the finger joints at the time of operation or stop of the driving motor. Hand module of the robot, characterized in that.
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| KR10-2016-0176376 | 2016-12-22 |
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| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
| WO2021147667A1 (en) * | 2020-01-22 | 2021-07-29 | 京东数科海益信息科技有限公司 | Mechanical hand |
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