Finger assembly and robot including same

Abstract

Disclosed are a finger assembly and a robot. The invention includes a main frame, a finger tip portion rotatably connected to the main frame, and a belt portion connected to the finger tip portion.

Description

Technical Field

[0001] The present invention relates to a device, and more specifically, to a finger assembly and a robotic hand including the finger assembly. Background Technology

[0002] Generally, robotic arms can be configured on various equipment and perform various tasks. Such robotic arms can include various linkage structures to achieve a structure similar to a human hand.

[0003] If a linkage structure is used in a robotic arm, the linkage structure may limit the robotic arm's range of motion due to its limited range of motion, making it difficult to achieve various movements. Summary of the Invention

[0004] However, with the increasing sophistication of industrial structures, it is necessary to work on objects with various external surfaces, and it is crucial to prevent damage to these objects by adjusting minute forces.

[0005] Embodiments of the present invention provide a finger assembly and a robotic hand including the finger assembly.

[0006] One aspect of the present invention can provide a finger assembly comprising: a main frame; a fingertip rotatably connected to the main frame; and a strap connected to the fingertip.

[0007] Embodiments of the present invention are capable of grasping objects with various outer surfaces or shapes. Furthermore, because embodiments of the present invention are capable of grasping various objects, they are able to perform various tasks.

[0008] The embodiments of the present invention can achieve movements similar to those of a human hand. Attached Figure Description

[0009] Figure 1 This is a perspective view showing a robotic arm according to an embodiment of the present invention.

[0010] Figure 2 It is shown Figure 1 The diagram shows a cross-sectional view of the finger assembly of the robotic hand.

[0011] Figure 3 It is shown Figure 2 A three-dimensional view of a portion of the finger component shown.

[0012] Figure 4 It is shown Figure 1 A three-dimensional view of a portion of the robotic arm shown.

[0013] Figure 5 It is shown Figure 4 A top view of a portion of the robotic arm shown.

[0014] Figure 6It is shown Figure 2 A cross-sectional view showing the movement of the finger assembly of the robotic arm.

[0015] Figure 7 It is shown Figure 1 A three-dimensional view of a portion of the robotic arm shown.

[0016] Figure 8 It is shown Figure 7 A top view of a portion of the robotic arm shown.

[0017] Figure 9 It is shown Figure 1 A 3D diagram showing the movements of the robotic arm.

[0018] Figure 10 It is shown Figure 9 A cross-sectional view of a portion of the robotic arm shown.

[0019] Figure 11 It is shown Figure 1 A 3D diagram showing the movements of the robotic arm.

[0020] Figure 12 It is shown Figure 11 A cross-sectional view of a portion of the robotic arm shown. Detailed Implementation

[0021] One aspect of the present invention can provide a finger assembly comprising: a main frame; a fingertip rotatably connected to the main frame; and a strap connected to the fingertip.

[0022] In addition, the aforementioned strip can be flexible.

[0023] Additionally, one of the main frame and the fingertip may include an insertion part, and the other of the main frame and the fingertip may include a path guide part that guides the movement of the insertion part by allowing it to be inserted in a movable manner.

[0024] In addition, the aforementioned path guide can be a curved shape with an elongated hole.

[0025] Another aspect of the present invention can provide a robotic hand, including a main body and a finger assembly connected to the main body. The finger assembly includes: a main frame rotatably connected to the main body; a fingertip rotatably connected to the fingertip of the main frame; and a strap connected to the fingertip and connected to the main body.

[0026] Additionally, it may include a belt drive unit that is connected to the belt and changes the position of the portion connected to the belt.

[0027] In addition, there may be multiple finger components, and each finger component is interconnected with the drive unit.

[0028] Additionally, the aforementioned belt drive unit may include: a drive unit disposed inside the aforementioned main body; a guide unit connected to the aforementioned drive unit and rotating therethrough; and a linear motion unit connected to the aforementioned belt unit and disposed on the aforementioned guide unit, performing linear motion on the aforementioned guide unit.

[0029] In addition, the aforementioned finger assembly may have multiple components, and the main body includes: a support portion for rotatably connecting one of the multiple finger assemblies; and a rotating portion rotatably connected to the support portion and for rotatably connecting another of the multiple finger assemblies.

[0030] Additionally, a rotary drive unit may be included, which connects the rotary part and the support part and causes the rotary part to rotate.

[0031] Additionally, it may include a finger drive unit disposed on the main body and connected to the finger assembly, which causes the finger assembly to rotate.

[0032] In addition, the aforementioned strip can be flexible.

[0033] Additionally, one of the main frame and the fingertip may include an insertion part, and the other of the main frame and the fingertip may include a path guide part that guides the movement of the insertion part by allowing it to be inserted in a movable manner.

[0034] If refer to and append Figure 1 The invention will become clear from the detailed description of the embodiments. However, the invention is not limited to the embodiments disclosed below and can be implemented in various different forms. These embodiments are provided for the purpose of complete disclosure and to fully inform those skilled in the art of the scope of the invention. The invention is defined only by the scope of the claims. Furthermore, the terminology used in this specification is for describing embodiments and not for limiting the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise. The terms "comprises" and / or "comprising" as used in the specification do not exclude the presence or addition of one or more other constituent elements, steps, actions, and / or elements among the mentioned components, steps, actions, and / or elements. While terms such as "first" and "second" can be used to describe various constituent elements, the constituent elements are not limited by the terms. The terms are used only for the purpose of distinguishing one constituent element from others.

[0035] Figure 1 This is a perspective view showing a robotic arm according to an embodiment of the present invention.

[0036] refer to Figure 2 The robotic arm 10 may include a main body 100, a finger assembly 200, a finger drive unit 300, a belt drive unit (not shown), and a rotation drive unit 500.

[0037] The main body 100 can be connected to a robot or the like. In this case, the main body 100 can be rotatably connected to or fixed to the robot or the like. This main body 100 may include a support portion 110 connected to the robot or the like, and a rotating portion 120 rotatably connected to the support portion 110. In this case, at least one rotating portion 120 may be provided. In this case, when multiple rotating portions 120 are provided, the multiple rotating portions 120 can be connected to the support portion 110 and rotate simultaneously.

[0038] The main body 100 described above can be connected to at least one finger assembly 200. In this case, when multiple finger assemblies 200 are provided, they can be configured to be separate from each other. These multiple finger assemblies 200 can grasp objects. In this configuration, one of the multiple finger assemblies 200 is rotatably connected to the support 110, and another of the multiple finger assemblies 200 is rotatably connected to the rotating part 120. In this case, the other finger assembly 200 connected to the rotating part 120 can rotate around the main body 100 while the rotating part 120 rotates.

[0039] The finger assembly 200 may include a main frame 210, a fingertip portion 220, and a strap portion 230. The main frame 210 may be rotatably connected to the main body portion 100. In this case, the main frame 210 may be a configuration consisting of multiple frames connected together. The fingertip portion 220 may be rotatably connected to the main frame 210. One surface of the fingertip portion 220 may be flat. In this case, one of the fingertip portion 220 and the main frame 210 may include an insertion portion 600. Furthermore, the other of the fingertip portion 220 and the main frame 210 may include a path guide portion 700. The insertion portion 600 is inserted into the path guide portion 700 and moves, and the path guide portion 700 may guide the movement of the insertion portion 600. In this case, the insertion portion 600 is formed as a protrusion extending from the outer surface of one of the fingertip portion 220 and the main frame 210, and the path guide portion 700 may be a groove in the form of an elongated hole. In the following description, for ease of explanation, the case in which the fingertip 220 includes the insertion portion 600 and the main frame 210 includes the path guide portion 700 will be described in detail.

[0040] The strap portion 230 can be connected to the fingertip portion 220 to change the posture of the fingertip portion 220. In this case, one side of one end of the fingertip portion 220 is rotatably connected to the main frame 210 as described above, and the other side of one end of the fingertip portion 220 is connected to the strap portion 230. The strap portion 230 can be flexible. For example, the strap portion 230 can be a mixture of synthetic resin and natural fibers. In particular, the strap portion 230 can have a certain degree of strength so that its shape can be changed but it cannot be elongated. The strap portion 230, as described above, can be connected to the aforementioned belt drive unit, changing the posture of one side of the fingertip portion 220 as the belt drive unit moves.

[0041] The finger drive unit 300 can be disposed on the main body 100 and connected to a finger assembly 200. In this case, the finger drive unit 300 can cause the finger assembly 200 to rotate on its own.

[0042] The aforementioned belt drive unit can be connected to the belt portion 230 to change the position of the belt drive unit portion connected to the belt portion 230.

[0043] The rotary drive unit 500 can connect the support unit 110 and the rotating unit 120. The rotary drive unit 500 can rotate the rotating unit 120.

[0044] On the other hand, if we observe the movements of the robotic arm 10 as described above, we can see that the robotic arm 10 can grasp various objects. Specifically, the robotic arm 10 can grasp objects with uniform surfaces or objects with irregular surfaces, such as objects with curved surfaces.

[0045] For example, the robotic arm 10 can support an object using only its fingertips 220. In this case, the rotation drive 500 can be activated to adjust the spacing between the finger components 200. For example, when the rotation drive 500 is activated, each finger component 200 rotates about the main body 100, thereby widening or narrowing the spacing between the fingertips 220 of each finger component 200. When grasping an object, the rotation drive 500 can widen the spacing between the fingertips 220 of each finger component 200. Then, the finger drive 300 can be activated to separate the space between the fingertips 220 of each finger component 200 in a manner corresponding to the surface dimensions of the object. At this time, the determination of the type of object or the measurement of the surface of the object can be calculated using separately provided radar, cameras, etc., and the control described above can be performed based on this.

[0046] After the operation described above is performed, or during the operation described above is performed, the drive unit can be activated to arrange the flat surface of the fingertip 220 of each finger assembly 200 as follows: Figure 2 As shown. In the case described above, with Figure 1Based on this, the flat surfaces of the fingertip portion 220 can be arranged to form a flat upper surface perpendicular to the main body portion 100.

[0047] After the above process is completed, the movement of the finger drive unit 300 and the belt drive unit can be controlled to adjust the space between the fingertips 220 and grasp the object. At this time, the belt drive unit can change the length of the belt portion 230 protruding from the main body 100 so that the flat surfaces of each fingertip 220 are configured as described above with the movement of the finger drive unit 300. In this case, the portion of the main body 100 for inserting or pulling out the belt portion 230 is formed as a curved surface, thereby minimizing the friction between the belt portion 230 and the main body 100 when inserting or pulling out the belt portion 230.

[0048] Specifically, in the case described above, when grasping an object with the fingertip 220, the surface of the object contacted by the fingertip 220 can be uniform. In this case, when the object is hexahedral, the gripping force can be maximized by keeping the flat surface of the fingertip 220 parallel to the surface of the object. Furthermore, when the object is cylindrical, since the flat surface of the fingertip 220 is the same as the surface on which the tangent is arranged on the outer surface of the object, the object can be prevented from sliding off the flat surface of the fingertip 220.

[0049] In addition to the above, the robotic arm 10 can also grasp objects with irregular surfaces. In this case, the surface of the object can contact the outer surface of the strap portion 230 of each finger assembly 200. Then, the position of each finger assembly 200 can be adjusted to grasp the object by controlling the rotation drive unit 500, the aforementioned finger drive unit 300, and the aforementioned strap drive unit. Then, when the object is fully inserted into the space between the multiple finger assemblies 200, the aforementioned finger drive unit 300 and the aforementioned strap drive unit can be controlled to grasp the object.

[0050] Specifically, when the finger drive unit 300 is activated, the main frame 210 rotates while approaching the outer surface of the main body 100. In this situation, the outer surface of the strap 230 can contact the surface of the object. At this time, the strap drive unit can be activated to adjust the posture of the fingertip 220.

[0051] As described above, when the surface of an object comes into contact with each of the belt portions 230, the shape of the belt portions 230 can change in a manner corresponding to the surface of the object. In this case, the belt drive unit can adjust the length of the belt portion 230 pulled out from the main body 100 so that the belt portion 230 can be pulled out or inserted into the outside of the main body 100.

[0052] Furthermore, the fingertip 220 can rotate around the main frame 210 as a function of the aforementioned drive unit, and the flat portion of the fingertip 220 can face the outer surface of the object. In this case, the flat portion of the fingertip 220 can face other finger components 200 or face... Figure 2 The upper surface of the main body 100. The insertion part 600 moves freely on the path guide part 700, which helps the fingertip 220 to freely change its posture. At this time, the movement of the fingertip 220 as described above can be performed simultaneously in multiple finger assemblies 200. Furthermore, when the finger drive part 300 is not in motion, the shape of the band part 230 varies to different degrees depending on the surface of the irregular object; therefore, the posture of the fingertip 220 of each finger assembly 200 may also differ from one another.

[0053] Therefore, the robotic arm 10 can freely grasp objects with irregular outer surfaces. In addition, the robotic arm 10 can also grasp objects with uniform surfaces through its fingertips 220.

[0054] By operating in a manner corresponding to various objects, the manufacturing performance of the robotic arm 10 can be improved. Furthermore, in the robotic arm 10, since the belt portion 230 corresponds to the surface shape of the object, the force applied to the object is dispersed, thereby preventing damage to the object when gripping it.

[0055] The components of the robotic arm 10 will be described in detail below.

[0056] Figure 1 It is shown Figure 3 The diagram shows a cross-sectional view of the finger assembly of the robotic hand. Figure 2 It is shown Figure 2 A three-dimensional view of a portion of the finger component shown.

[0057] refer to Figure 3 and Figure 4 The finger assembly 200 can be connected to the finger drive unit 300. In this case, the finger drive unit 300 can be disposed inside the support unit 110 or the rotating unit 120. When multiple finger assemblies 200 are provided, multiple finger drive units 300 can be provided to independently drive each finger assembly 200. In this case, each finger drive unit 300 can be individually connected to each finger assembly 200.

[0058] The finger drive unit 300 described above may include: a first finger drive gear 310 connected to the finger assembly 200, a second finger drive gear 320 connected to the first finger drive gear 310, a third finger drive gear 330 connected to the second finger drive gear 320, and a first drive unit 340 connected to the third finger drive gear 330. In this case, the first finger drive gear 310 may be fixed to the main frame 210 or integrally formed on the outer surface of the main frame 210. The first finger drive gear 310 is fan-shaped, allowing the main frame 210 to move within a certain rotation angle range. In this case, a stop may be formed on the first finger drive gear 310 to prevent the main frame 210 from leaving the rotation angle range. This stop may be formed as a protrusion protruding towards the inner surface of the main body 100. A groove may be formed on the inner surface of the main body 100 for the insertion of the stop and to limit the rotation angle of the stop.

[0059] The second finger drive gear 320 can be connected to the first finger drive gear 310. In this case, the second finger drive gear 320 can transmit driving force to the first finger drive gear 310. The second finger drive gear 320 may include at least one gear. For example, the second finger drive gear 320 may include a first gear (not shown) and a second gear (not labeled) connected to each other. In this case, the first gear can be connected to the first finger drive gear 310, and the second gear can be connected to the third finger drive gear 330.

[0060] The third finger drive gear 330 can transmit driving force to the second finger drive gear 320. In this case, the rotation axes of the third finger drive gear 330 and the second finger drive gear 320 can be arranged in different directions. In this case, the third finger drive gear 330 can be formed in a helical gear shape, and the second finger drive gear 320 can be formed in a spur gear shape.

[0061] The first drive unit 340 can cause the third finger to drive the gear 330 to rotate. In this case, the first drive unit 340 may include a motor. As another embodiment, the first drive unit 340 may also include a motor and a reducer.

[0062] If we observe the operation of the finger drive unit 300 as described above, we can see that the operation of the first drive unit 340 can cause the third finger drive gear 330 to rotate. The third finger drive gear 330 can cause the second finger drive gear 320 to rotate, and the second finger drive gear 320 can cause the first finger drive gear 310 to rotate.

[0063] The main frame 210 can rotate along with the rotation of the first finger drive gear 310. At this time, the rotation direction of the main frame 210 can vary depending on the rotation direction of the rotation axis of the first drive unit 340 caused by the action of the first drive unit 340.

[0064] As described above, when the finger drive unit 300 is activated, the angle formed between the main frame 210 and the outer surface of the support 110 or the rotating part 120 can become different. That is, depending on the operation of the finger drive unit 300, the main frame 210 can move closer to or further away from the support 110 or the rotating part 120. In particular, when multiple finger assemblies 200 are provided, the operation of the finger drive unit 300 can be used to grasp or release an object.

[0065] Figure 1 It is shown Figure 5 A three-dimensional view of a portion of the robotic arm shown. Figure 4 It is shown Figure 6 A top view of a portion of the robotic arm shown. Figure 2 It is shown Figure 4 to Figure 6 A cross-sectional view showing the movement of the finger assembly of the robotic arm.

[0066] refer to Figure 4 The belt drive unit 400 can adjust the length of the belt portion 230 of at least one finger assembly 200 pulled out of the main body 100. In particular, having a belt drive unit 400 allows for simultaneous adjustment of the length of the belt portions 230 of multiple finger assemblies 200.

[0067] The belt drive unit 400 can be disposed inside the support unit 110. Specifically, the belt drive unit 400 may include a second drive unit 410, a first belt drive gear 420, a second belt drive gear 430, a third belt drive gear 440, a fourth belt drive gear 450, a guide unit 460, and a linear motion unit 470.

[0068] The second drive unit 410 may be the same as or similar to the first drive unit 340 described above, so detailed description is omitted.

[0069] The first drive gear 420 can be connected to the second drive unit 410. In addition, the second drive gear 430 can be connected to the first drive gear 420 and can be connected to the guide 460 connected to one of the plurality of finger assemblies 200.

[0070] The third drive gear 440 can be connected to the second drive gear 430 and also to the fourth drive gear 450. In this case, the fourth drive gear 450 can be connected to another guide 460 among the multiple finger assemblies 200 connected to the second drive gear 430. In this configuration, the third drive gear 440 not only transmits the rotational force of the second drive gear 430 to the fourth drive gear 450, but also ensures that the rotational speeds of the second drive gear 430 and the fourth drive gear 450 are the same.

[0071] The guide portion 460 can be connected to the second belt drive gear 430 or the fourth belt drive gear 450. In this case, threads can be formed on the outer surface of the guide portion 460. In particular, as described above, the guide portion 460 can be rotatably connected to the support portion 110, so that it can rotate with the rotation of the fourth belt drive gear 450 or the second belt drive gear 430.

[0072] The linear motion unit 470 can move linearly along the length of the guide 460 as the guide 460 rotates. In this case, the direction of motion of the linear motion unit 470 can vary depending on the rotation direction of the guide 460. For example, the linear motion unit 470 can move towards a direction that allows it to rotate according to the rotation direction of the guide 460. Figure 7 The guide portion 460 moves up and down based on the reference. At this time, there are multiple linear motion portions 470, and each linear motion portion 470 is connected to one end of the band portion 230 of each finger assembly 200, so that as the linear motion portion 470 moves, one end of the band portion 230 can also move together.

[0073] The posture of the fingertip 220 relative to the main frame 210 can change according to the movement of the belt drive 400 as described above. For example, when the belt drive 400 is actuated without moving the main frame 210, the fingertip 220 can rotate around the portion connected to the main frame 210. In this case, the insertion portion 600 can move along the path guide portion 700, and the direction facing the flat portion of the fingertip 220 can become different.

[0074] Specifically, when the second drive unit 410 rotates, the first belt drive gear 420 rotates, thereby causing the second belt drive gear 430 to rotate. In this case, the guide unit 460 connected to the second belt drive gear 430 rotates, and the linear motion unit 470 moves, thereby changing the posture of one of the fingertips 220 in the plurality of finger assemblies 200.

[0075] Furthermore, as described above, when the second drive gear 430 rotates, the third drive gear 440 and the fourth drive gear 450 can rotate simultaneously and sequentially. At this time, the guide portion 460 connected to the fourth drive gear 450 rotates due to the rotation of the fourth drive gear 450, and the linear motion portion 470 moves linearly. In this situation, the posture of another fingertip 220 in the plurality of finger assemblies 200 can change.

[0076] In the case described above, by causing a linear movement in one of the ends of the band portion 230 of each finger assembly 200 connected to the linear motion portion 470, the fingertips 220 of each finger assembly 200 connected to the other end of the band portion 230 can simultaneously maintain the same posture.

[0077] On the other hand, the drive unit 400 described above is disposed on the support unit 110, so that it is not affected by the rotation of the main frame 210 or the rotation of the rotating unit 120.

[0078] Figure 1 It is shown Figure 8 A three-dimensional view of a portion of the robotic arm shown. Figure 7 It is shown Figure 7 A top view of a portion of the robotic arm shown.

[0079] refer to Figure 8 and Figure 9 The rotation drive unit 500 can rotate the rotating part 120 around the support part 110. In this case, when multiple rotating parts 120 are provided, the rotation drive unit 500 can simultaneously rotate each of the multiple rotating parts 120 around the support part 110.

[0080] The rotary drive unit 500 may include a third drive unit 510, a first rotary drive gear 520, a second rotary drive gear 530, and a third rotary drive gear 540. Since the third drive unit 510 is the same as or similar to the first drive unit 340 described above, a detailed description is omitted.

[0081] The first rotary drive gear 520 can be connected to the third drive unit 510 and rotate. At this time, the first rotary drive gear 520 can be rotatably disposed on the support unit 110.

[0082] The second rotary drive gear 530 can be connected to the first rotary drive gear 520 and can be rotatably disposed on the support portion 110. In this case, the second rotary drive gear 530 can be formed as a multi-stage gear and can rotate according to the rotation of the first rotary drive gear 520. For example, the gear disposed at the lower end of the second rotary drive gear 530 can contact the first rotary drive gear 520, and the gear disposed at the upper end of the second rotary drive gear 530 can contact the third rotary drive gear 540.

[0083] The third rotary drive gear 540 can be connected to the second rotary drive gear 530 and can be rotatably disposed on the support portion 110. In this case, a rotating portion 120 can be fixed to one end of the third rotary drive gear 540. In this case, multiple third rotary drive gears 540 can be provided to be connected to each rotating portion 120.

[0084] In the case described above, the rotary drive unit 500 can operate when the rotary unit 120 rotates. Specifically, when the third drive unit 510 is activated, the third drive unit 510 can rotate the first rotary drive gear 520.

[0085] When the first rotary drive gear 520 rotates, the third rotary drive gear 540 can be rotated by the second rotary drive gear 530. When the third rotary drive gear 540 rotates, the rotating part 120 connected to the third rotary drive gear 540 can rotate around the support part 110.

[0086] In the case described above, since the plurality of rotating parts 120 rotate around the support part 110, the distance between each finger assembly 200 disposed on the support part 110 and each rotating part 120 can be changed. That is, the plurality of rotating parts 120 can rotate clockwise or counterclockwise around the support part 110.

[0087] Figure 1 It is shown Figure 10 A 3D diagram showing the movements of the robotic arm. Figure 9 It is shown Figure 6 The image shows a cross-sectional view of a portion of the robotic arm. In the following text, for ease of explanation, it will be referred to as... Figure 9 The same reference numerals indicate the same parts.

[0088] refer to Figure 10 and Figure 10 The robotic arm 10 can grasp item M. At this time, the robotic arm 10 can grasp item M through various methods.

[0089] For example, the robotic arm 10 can grasp an object M using its fingertips 220. In this case, the first drive unit 340 of the robotic arm 10 can operate based on signals input from the outside. These signals may include information such as the size and shape of the object M. When the first drive unit 340 operates, the main frame 210 can rotate. In this case, the main frames 210, which are separated from each other, can move closer together or further apart. The spacing between the main frames 210 can be adjusted to ensure sufficient space for inserting the object M.

[0090] In the case described above, the second drive unit 410 can be activated to arrange the fingertips 220 in such a way that one side of each fingertip 220 disposed on the side of the article M is parallel to each other. At this time, in order to align the positions of the fingertips 220 as described above, the length of the strap 230 pulled out from the main body 100 can be adjusted according to the operation of the second drive unit 410.

[0091] In the case where the finger assembly 200 grasps the item M as described above, it can be as follows: Figure 11 The object M is shown being held.

[0092] Figure 1 It is shown Figure 12 A 3D diagram showing the movements of the robotic arm. Figure 11 It is shown Figure 6 The image shows a cross-sectional view of a portion of the robotic arm. In the following text, for ease of explanation, it will be referred to as... Figure 11 The same reference numerals indicate the same parts.

[0093] refer to Figure 12 and Figure 12 The robotic arm 10 can grasp the object M through the fingertip 220 and the belt 230.

[0094] Specifically, after grasping the item M with the fingertip 220, if the strap 230 is continuously inserted into the main body 100, the fingertip 220 can rotate while moving linearly along the path guide 700. In particular, the insertion part 600 can rotate within the path guide 700 according to the position of the item M while moving linearly along the path guide 700.

[0095] When the fingertip 220 moves as described above, the article M can move from the fingertip 220 toward the strap 230, thereby contacting both the fingertip 220 and the strap 230. When the article M contacts the strap 230, the outer surface of the strap 230 can contact the outer surface of the article M and become a shape similar to the outer surface shape of the article M. For example, as... Figure 12 As shown, when the item M is a curved surface, the outer surface of the strip 230 can be rounded to correspond to the curved surface.

[0096] As described above, when the linear motion section 470 continues to move, the fingertip section 220 can, as ​ The finger is fully rotated and comes into contact with the upper part of the article M. At this time, the shape of the strap 230 can be changed to correspond to the outer surface of the article M. In this case, the article M can be completely fixed inside the finger assembly 200 by the fingertip 220, the strap 230 and the main body 100.

[0097] Therefore, the robotic arm 10 described above is capable of grasping articles M with various outer surfaces. Furthermore, the robotic arm 10 is capable of grasping articles M with uneven surfaces through a simple structure.

[0098] Although the invention has been described with reference to the preferred embodiments mentioned above, various modifications or variations can be made without departing from the spirit and scope of the invention. Therefore, any such modifications or variations that fall within the spirit of the invention are included within the scope of the appended claims.

[0099] Industrial utilization potential

[0100] According to one embodiment of the present invention, a finger assembly and a robotic hand are provided for use in robots and the like, which can be used to grasp objects of various shapes. Embodiments of the present invention can be applied to home robots, industrial robots, and the like.

Claims

1. A finger assembly adapted to be connected to the body portion of a robotic hand, wherein, The finger assembly includes: Main framework; The fingertips are rotatably connected to the main frame; and A band is attached to the fingertip, wherein the band is flexible and configured to be driven to be pulled out or inserted into the body to change the posture of the fingertip, such that the fingertip and the band are adapted to contact an object to be grasped, and when the band contacts the object, the shape of the band changes to correspond to the surface shape of the object.

2. The finger assembly according to claim 1, wherein, One of the main frame and the fingertip includes an insertion portion. The other of the main frame and the fingertip includes a path guide that guides the movement of the insertion part so that it can be inserted in a movable manner.

3. The finger assembly according to claim 2, wherein, The path guide is a curved section in the shape of an elongated hole.

4. A robotic arm, in, include: Main body; and A finger assembly connected to the main body; The finger assembly includes: The main frame is rotatably connected to the main body. The fingertip is rotatably connected to the end of the main frame; and A strap portion, connected to the fingertip portion and to the body portion, wherein the strap portion is flexible and configured to be driven to be pulled out or inserted into the body portion to change the posture of the fingertip portion, such that the fingertip portion and the strap portion are adapted to contact an object to be grasped, and when the strap portion contacts the object, the shape of the strap portion changes to correspond to the surface shape of the object.

5. The robotic arm according to claim 4, wherein, It also includes a belt drive unit, which is connected to the belt and changes the position of the portion connected to the belt.

6. The robotic arm according to claim 5, wherein, The finger assembly has multiple components. Each of the finger components is interconnected with the belt drive unit.

7. The robotic arm according to claim 5, wherein, The drive unit includes: The drive unit is disposed inside the main body. The guide section is connected to the drive section and rotates; and A linear motion unit is connected to the belt portion and disposed on the guide portion, and performs linear motion on the guide portion.

8. The robotic arm according to claim 4, wherein, The finger assembly has multiple components. The main body includes: A support portion for rotatably connecting one of the plurality of finger assemblies; and A rotating part is rotatably connected to the support part and is rotatably connected to another of the plurality of finger assemblies.

9. The robotic arm according to claim 8, wherein, It also includes a rotary drive unit that connects the rotating part and the support part and causes the rotating part to rotate.

10. The robotic arm according to claim 4, wherein, It also includes a finger drive unit, which is disposed on the main body and connected to the finger assembly, and causes the finger assembly to rotate.

11. The robotic arm according to any one of claims 4 to 10, wherein, One of the main frame and the fingertip includes an insertion portion. The other of the main frame and the fingertip includes a path guide that guides the movement of the insertion part so that it can be inserted in a movable manner.

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