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1. WO2015194806 - ROBOT FINGER STRUCTURE

Publication Number WO/2015/194806
Publication Date 23.12.2015
International Application No. PCT/KR2015/005986
International Filing Date 15.06.2015
IPC
B25J 15/08 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
08having finger members
B25J 13/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
02Hand grip control means
CPC
B25J 13/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
02Hand grip control means
B25J 15/08
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
08having finger members
Applicants
  • 한국과학기술연구원 KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY [KR]/[KR]
Inventors
  • 김기훈 KIM, Keehoon
Agents
  • 김순영 KIM, Sun-young
Priority Data
10-2014-007274716.06.2014KR
Publication Language Korean (ko)
Filing Language Korean (KO)
Designated States
Title
(EN) ROBOT FINGER STRUCTURE
(FR) STRUCTURE DE DOIGT DE ROBOT
(KO) 로봇 손가락 구조체
Abstract
(EN) A robot finger structure comprises: a motor; a crankshaft rotated by the motor; a crank connected to the crankshaft so as to rotate with respect to the crankshaft; a first joint link connected to the crank at a first joint; a second joint link connected to the first joint link at a fourth joint; a first connection link connected to the crank at a second joint so as to transmit rotating power of the crank to the second joint link; and a first rigidity-application device for applying a first rigidity restricting the first joint link from freely rotating with respect to the crank. When the crank rotates without coming into contact with an object, the first joint link and the second joint link rotate together with the crank while maintaining the positions relative to each other. When the first joint link comes into contact with the object such that the rotation of the first joint link is stopped, the crank rotates by overcoming the first rigidity, thereby rotating the second joint link with respect to the first joint link.
(FR) L'invention porte sur une structure de doigt de robot, laquelle structure comprend : un moteur ; un vilebrequin que fait tourner le moteur ; une manivelle reliée au vilebrequin de façon à tourner par rapport au vilebrequin ; une première liaison d'articulation reliée à la manivelle au niveau d'une première articulation ; une seconde liaison d'articulation reliée à la première liaison d'articulation au niveau d'une quatrième articulation ; une première liaison de connexion reliée à la manivelle au niveau d'une deuxième articulation de façon à transmettre une puissance de rotation de la manivelle à la seconde liaison d'articulation ; et un premier dispositif d'application de rigidité pour appliquer une première rigidité empêchant la première liaison d'articulation de tourner librement par rapport à la manivelle. Quand la manivelle tourne sans venir en contact avec un objet, la première liaison d'articulation et la seconde liaison d'articulation tournent ensemble avec la manivelle tout en maintenant leur position l'une par rapport à l'autre. Quand la première liaison d'articulation vient en contact avec l'objet, de telle sorte que la rotation de la première liaison d'articulation est arrêtée, la manivelle tourne en vainquant la première rigidité, de façon à faire ainsi tourner la seconde liaison d'articulation par rapport à la première liaison d'articulation.
(KO) 로봇 손가락 구조체는 모터와, 상기 모터에 의해 회전하는 크랭크축과, 상기 크랭크축에 연결되어 상기 크랭크축을 중심으로 회전하는 크랭크와, 제1조인트에서 상기 크랭크와 연결되는 제1마디 링크와, 제4조인트에서 상기 제1마디 링크와 연결되는 제2마디 링크와, 제2조인트에서 상기 크랭크와 연결되며 상기 크랭크의 회전력을 상기 제2마디 링크에 전달하는 제1연결 링크 및 상기 제1마디 링크가 상기 크랭크에 대해 자유 회전하는 것을 구속하는 제1강성을 부여하는 제1강성 부여 기구를 포함하고, 물체와 접촉하지 않은 상태에서 상기 크랭크가 회전하면 상기 제1마디 링크와 상기 제2마디 링크가 서로 상대적 위치를 유지하며 상기 크랭크와 함께 회전하고,상기 제1마디 링크가 물체에 접촉하여 상기 제1마디 링크의 회전이 저지되면 상기 크랭크가 상기 제1강성을 극복하며 회전하여 상기 제2마디 링크를 상기 제1마디 링크에 대해 회전시킨다.
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