Gripping device and robotic device comprising a gripping device

Abstract

A gripping device is disclosed. The gripping device includes a first finger, a second finger facing the first finger, a first link having a first end connected to the first finger, a second link having a first end connected to the second finger, and a differential device including a motor and configured to connect a second end of the first link and a second end of the second link, wherein, when the motor is driven, the differential device rotates the first link and the second link in different directions, and when the second link is rotated in a first direction by an external force, the differential device rotates the first link in the first direction.

Description

Technical Field

[0001] This disclosure relates to a gripping device, and more specifically, to a gripping device and a robotic device including the gripping device, wherein the gripping device has an improved structure to stably grip an object even when an external force is applied. Background Technology

[0002] With the development of electronic technology, various electronic devices have been developed. Specifically, in recent years, various robotic devices have been developed to perform tasks on behalf of humans in industrial fields, medical care, space, and household chores. Such robotic devices may include gripping devices capable of performing various tasks (such as grasping objects, assembling objects, transporting objects, welding objects, etc.).

[0003] On the other hand, when external forces are applied to the gripping device, the following risks exist: the gripping device may drop the object it is gripping, and the dropped object may be damaged; the motor may malfunction; the rigid gripping device or an obstacle that collides with the gripping device may be damaged; or the gripping device may collide with the user, causing injury. Therefore, an active adaptive device has been developed that detects external forces in advance using sensors or controls the movement of the gripping device after the external force is applied. However, when the sensor readings are inaccurate or when the external force is unavoidable even if it is detected in advance, there is a very high risk of damage to the object colliding with the gripping device or injury to the user.

[0004] Therefore, there is an increasing need for a gripping device with a passively adaptive mechanical structure that can effectively absorb impacts by flexibly responding to external forces without requiring separate sensing or control processes. Summary of the Invention

[0005] Technical issues

[0006] A gripping device and a robotic device including the gripping device are provided, wherein the gripping device has an improved structure to stably grip an object even when an external force is applied.

[0007] Other aspects will be set forth in part in the description which follows, and in part will be apparent from the description or may be learned by practice of the embodiments presented.

[0008] Technical solution

[0009] According to one aspect of this disclosure, a gripping device may include: a first finger; a second finger configured to face the first finger; a first link configured to have a first end connected to the first finger; a second link configured to have a first end connected to the second finger; and a differential device including a motor and configured to connect a second end of the first link and a second end of the second link. When the motor is driven, the differential device may cause the first link and the second link to rotate in different directions. When the second link is rotated in a first direction by an external force, the differential device may cause the first link to rotate in the first direction.

[0010] The first link may include a first gear region at a second end of the first link, the second link may include a second gear region at a second end of the second link, and the differential device may include: a first gear configured to engage with the first gear region; a second gear configured to interlock with the first gear and rotate relative to the first gear; and a third gear configured to engage with the second gear region and the second gear.

[0011] The differential device may include: a ring gear configured to be disposed between the first gear and the second gear, and configured to be rotated by the motor.

[0012] The first gear region and the second gear region have the same gear ratio.

[0013] The differential device may include: a first shaft configured to have a first end connected to the first gear and rotatably integrally with the first gear; and a second shaft configured to have a first end connected to the second gear and rotatably integrally with the second gear. The first shaft and the second shaft may be arranged coaxially.

[0014] The differential device may include: a ring gear configured to be disposed between the first gear and the second gear and configured to be rotated by the motor; a side gear configured to be connected to a second end of the first shaft and configured to rotate integrally with the first shaft; a first star shaft and a second star shaft configured to be disposed parallel to the first shaft and configured to rotate integrally with the ring gear; a first star gear engaging the side gear and configured to be rotatably supported on the first star shaft; and a second star gear engaging the first star gear and the second gear and configured to be rotatably supported on the second star shaft.

[0015] The first gear region and the third gear may be arranged on opposite sides of the central axis of the first shaft and the second shaft.

[0016] The differential device may include a ring gear configured to be disposed between the first gear and the second gear and configured to be rotated by the motor. The first shaft may pass through the ring gear.

[0017] The differential device may include: a first cam member configured to be connected parallel to the first shaft; and a second cam member configured to be connected parallel to the second shaft and to contact the first cam member.

[0018] The differential device may include: a bolt configured to be fixedly disposed inside at least one of the first shaft and the second shaft; and a pressing member configured to connect at least one of the first cam member and the second cam member to the bolt.

[0019] The pressing component may include a compression spring.

[0020] The first shaft and the second shaft may include keyways formed on their inner surfaces. The first cam member and the second cam member may be inserted along the keyways formed in the first shaft and the second shaft, respectively.

[0021] The first cam member and the second cam member may include concave surfaces facing each other.

[0022] The gripping device may further include a housing configured to rotatably support a second end of each of the first and second links.

[0023] According to one aspect of this disclosure, a robotic device may include: an image sensor configured to detect the shape of an object; a grasping device including a first finger, a second finger, a first link configured to have a first end connected to the first finger, a second link configured to have a first end connected to the second finger, and a differential device including a motor and configured to connect a second end of the first link and a second end of the second link; and a processor configured to control the grasping device such that the first finger and the second finger are spaced apart by a distance corresponding to the thickness of the object detected by the image sensor. Attached Figure Description

[0024] Figure 1 This is a side view of the gripping device according to an embodiment.

[0025] Figure 2 This is a side view of the gripping device with the housing removed, according to an embodiment; Figure 3 According to the embodiments Figure 2 A perspective view of the gripping device.

[0026] Figure 4 This is a block diagram of a robotic device according to an embodiment.

[0027] Figure 5 This is a perspective view of a gripping device according to an embodiment, in which the first and second fingers move in opposite directions to be spaced apart from each other. Figure 6 According to the embodiments Figure 5 A side view of the gripping device.

[0028] Figure 7 This is a perspective view of a gripping device according to an embodiment, showing the first and second fingers moving in the same direction by an external force applied to the gripping device. Figure 8 According to the embodiments Figure 7 A side view of the gripping device.

[0029] Figure 9 This illustrates an embodiment. Figure 7 A side view of the first and second fingers of the gripping device moving in opposite directions.

[0030] Figure 10 This is a perspective view of the first cam member and the second cam member according to an embodiment; Figure 11 This is a cross-sectional view of the first cam member and the second cam member according to an embodiment.

[0031] Figure 12 This is a perspective view showing the state in which one of the first cam member and the second cam member according to an embodiment is twisted. Detailed Implementation

[0032] It should be understood that the embodiments described below are illustrated illustratively to aid in understanding this disclosure, and this disclosure may be implemented with various modifications different from the embodiments described herein. However, in the following description of this disclosure, detailed descriptions and specific points will be omitted where it is determined that detailed descriptions of relevant known functions or relevant known components may unnecessarily obscure the subject matter of this disclosure. Furthermore, the drawings are not shown to scale, but the dimensions of some components may be enlarged to aid in understanding this disclosure.

[0033] In consideration of the function of this disclosure, the terminology used in the specification and claims has been chosen to be generic. However, these terms may vary depending on the intent of those skilled in the art, legal or technical interpretations, and the emergence of new technologies. Additionally, some terms are arbitrarily chosen by the applicant. These terms may be interpreted as they are defined in the specification, and may also be interpreted based on the general content of the specification and well-known technical knowledge in the art, without requiring specific terminology definitions.

[0034] In this disclosure, the terms "have", "may have", "include", "may include", etc., indicate the presence of a corresponding feature (e.g., a value, function, operation, component such as a part, etc.) and do not exclude the presence of other features.

[0035] Furthermore, the specification describes the essential components necessary for describing the various embodiments of this disclosure, but is not intended to limit the scope of the invention. Therefore, some components may be changed or omitted, and other components may be added. Additionally, components may be arranged to be distributed across different independent devices.

[0036] Furthermore, embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings and the content described therein, but the present disclosure is not limited to or restricted to these embodiments.

[0037] The present disclosure will be described in more detail below with reference to the accompanying drawings.

[0038] Figure 1 This is a side view of the gripping device according to an embodiment. Figure 2 This is a side view of the gripping device with the housing removed, according to an embodiment. Figure 3 According to the embodiments Figure 2 A perspective view of the gripping device.

[0039] Reference Figures 1 to 3 According to embodiments of the present disclosure, the gripping device 1 may include a first finger 10, a second finger 20, a first link 110, a second link 120, a differential device 200, and a housing 300.

[0040] The first finger 10 and the second finger 20 may be arranged facing each other and spaced apart by a predetermined distance to form a space in which the object to be grasped is arranged. The facing surfaces of the first finger 10 and the second finger 20 may be parallel.

[0041] As the differential device 200 (described below) drives the first link 110 and the second link 120, the interval between the first finger 10 and the second finger 20 can be adjusted.

[0042] The first link 110 can support the first finger 10. The first end 111 of the first link 110 can be connected to the first finger 10, and the second end 112 of the first link 110 can be rotatably connected to the housing 300.

[0043] The second link 120 can support the second finger 20. The first end 121 of the second link 120 can be connected to the second finger 20, and the second end 122 of the second link 120 can be rotatably connected to the housing 300.

[0044] The first link 110 and the second link 120 may have a straight shape and may have the same length.

[0045] The first link 110 may include a first gear region 113 at its second end 112, and the second link 120 may also include a gear region 123 at its second end 122. The gear region 113 of the first link 110 and the gear region 123 of the second link 120 may be arranged to engage with gears of the differential device 200, which will be described later. Thus, when the gear region 113 of the first link 110 and the gear region 123 of the second link 120 are rotated via the differential device 200, the first link 110 and the second link 120 may rotate about their second ends 112 and 122, respectively, such that the spacing between the first finger 10 and the second finger 20 may be adjusted.

[0046] Additionally, the housing 300 can rotatably support the second end 112 of the first link 110 and the second end 122 of the second link 120.

[0047] The first end 111 of the first link 110 can be connected to the first point 11 of the first finger 10, and the first end 121 of the second link 120 can be connected to the first point 21 of the second finger 20.

[0048] In addition, the gripping device 1 may also include a third link 130 and a fourth link 140.

[0049] The third link 130 can be connected to the second point 12 of the first finger 10 and can be arranged parallel to the first link 110. The distance S1 between the second end 112 of the first link 110 and the second end 132 of the third link 130 can have the same length as the distance D1 between the first point 11 and the second point 12 of the first finger 10.

[0050] The fourth link 140 can be connected to the second point 22 of the second finger 20 and can be arranged parallel to the second link 120. The distance S2 between the second end 122 of the second link 120 and the second end 142 of the fourth link 140 can have the same length as the distance D2 between the first point 21 and the second point 22 of the second finger 20.

[0051] Because a region of the first link 110, the third link 130, and the first finger 10 has a generally parallelogram shape that follows the first link 110 and the third link 130, the first finger 10 can maintain a horizontal shape even when the first link 110 and the third link 130 rotate.

[0052] Similarly, because a region of the second link 120, the fourth link 140, and the second finger 20 has a generally parallelogram shape following the second link 120 and the fourth link 140, the second finger 20 can maintain a horizontal shape even when the second link 120 and the fourth link 140 rotate.

[0053] In other words, the first link 110 and the third link 130, as well as the second link 120 and the fourth link 140, can each have a four-bar linkage structure. The first link 110, the third link 130, the first finger 10, and the housing 300 can have a closed-loop shape connecting a total of four contacts. Similarly, the second link 120, the fourth link 140, the second finger 20, and the housing 300 can also have a closed-loop shape connecting a total of four contacts.

[0054] Therefore, because the four-bar linkage with a parallelogram shape supports the first finger 10 and the second finger 20 respectively, the first finger 10 and the second finger 20 can stably grasp the object while maintaining a horizontal state.

[0055] The differential device 200 can connect to the second end 112 of the first link 110 and the second end 122 of the second link 120, and may include a motor 201.

[0056] When the motor 201 is driven, the differential device 200 can cause the first link 110 and the second link 120 to rotate in different directions. Therefore, because the first finger 10 and the second finger 20 move away from or closer to each other, the gripping device 1 can perform a gripping operation.

[0057] Furthermore, when one of the first link 110 and the second link 120 is rotated in a first direction by an external force, the differential device 200 can also cause the other of the first link 110 and the second link 120 to rotate in the first direction. Here, the first direction can be either the R1 direction or the R2 direction.

[0058] Therefore, even if an external force is unintentionally applied to at least one of the first finger 10, the second finger 20, the first link 110, and the second link 120, the gripping device 1 will not drop the object being gripped and can maintain the gripping force because the first link 110 and the second link 120 rotate in the same direction.

[0059] The differential device 200 may include a first gear 210, a second gear 220 and a third gear 230.

[0060] The first gear 210 can engage with the first gear region 113. The second gear 220 can be interlocked with the first gear 210 to rotate in the same direction as the first gear 210 or in a direction different from the first gear 210. The third gear 230 can engage with the second gear region 123 and the second gear 220.

[0061] The first gear 210 and the first gear region 113 may have the same width and may be arranged on the same plane (e.g., the YZ plane).

[0062] The third gear 230, the second gear region 123, and the second gear 220 may have the same width and may be arranged on the same plane (e.g., the YZ plane).

[0063] That is, the first link 110 can rotate in the opposite direction to the rotation direction of the first gear 210, and the second link 120 can rotate in the same direction as the rotation direction of the second gear 220 via the third gear 230.

[0064] The first gear 210 and the second gear 220 of the differential device 200 can rotate in the same direction or in different directions.

[0065] When the ring gear 240 of the differential device 200 rotates via the drive motor 201, the first gear 210 and the second gear 220 can rotate in the same direction. Therefore, when either the first gear 210 or the second gear 220 rotates in one direction by applying an external force to at least one of the first finger 10, the second finger 20, the first connecting rod 110, and the second connecting rod 120, the other of the first gear 210 and the second gear 220 can rotate in the opposite direction.

[0066] The differential device 200 may include a ring gear 240 disposed between a first gear 210 and a second gear 220 and rotated by a motor 201. The differential device 200 may also include a pinion 202, wherein the pinion 202 is rotated by the motor 201 and engages with the ring gear 240, and when the pinion 202 is rotated by the motor 201, the ring gear 240 may rotate in the opposite direction to the pinion 202.

[0067] In addition, the differential device 200 may include a first shaft 271 and a second shaft 272, wherein the first shaft 271 has a first end that supports and rotates integrally with the first gear 210, and the second shaft 272 supports and rotates integrally with the second gear 220.

[0068] The first shaft 271 and the second shaft 272 can be arranged coaxially, and therefore the first gear 210 and the second gear 220 can rotate coaxially. In addition, the first shaft 271 and the second shaft 272 can be spaced apart from each other and rotate independently of each other.

[0069] The gear region 113 of the first link 110 and the third gear 230 may be arranged on opposite sides of the central axis A of the first shaft 271 and the second shaft 272. The gear region 113 of the first link 110 may be arranged on the +Z direction side of the central axis A of the first shaft 271 and the second shaft 272, and the third gear 230 may be arranged on the -Z direction side of the central axis A of the first shaft 271 and the second shaft 272.

[0070] The first shaft 271 can pass through the ring gear 240 and can rotate independently without contacting the ring gear 240.

[0071] The differential device 200 may also include a side gear 250, a first star shaft 261, a second star shaft 262, a first star gear 263, and a second star gear 264.

[0072] The side gear 250 can be supported by the first shaft 271 and can rotate integrally with the first shaft 271. That is, the first shaft 271 can support the first gear 210 arranged at the first end of the first shaft 271 and the side gear 250 arranged at the second end of the first shaft 271, and can rotate integrally with the first gear 210 and the side gear 250.

[0073] The first star-shaped shaft 261 and the second star-shaped shaft 262 can be arranged parallel to the first shaft 271 and can rotate integrally with the ring gear 240. The first star-shaped shaft 261 and the second star-shaped shaft 262 can be arranged alternately along the circumference of the ring gear 240.

[0074] The first star gear 263 can be rotatably supported on the first star shaft 261 and can be arranged to engage with the side gear 250.

[0075] The second star gear 264 can be rotatably supported on the second star shaft 262 and can be arranged to engage with the first star gear 263 and the second gear 220.

[0076] For example, when the ring gear 240 rotates in one direction, the first star shaft 261 and the second star shaft 262, which are integrally formed with the ring gear 240, can also rotate in the same direction as the ring gear 240, and the first star gear 263 and the second star gear 264 can rotate around the central axis A of the first shaft 271 and the second shaft 272 in the same direction as the ring gear 240 without either of them rotating.

[0077] Therefore, the side gear 250, which engages with the first star gear 263, can also rotate in the same direction as the ring gear 240, and the first shaft 271 and the first gear 210, which are integrally formed with the side gear 250, can also rotate in the same direction as the ring gear 240. Similarly, the second gear 220, which engages with the second star gear 264, can also rotate in the same direction as the ring gear 240.

[0078] In other words, when the motor 201 is driven to rotate the ring gear 240, the first gear 210 and the second gear 220 can both rotate in the same direction as the ring gear 240.

[0079] Furthermore, when the first gear 210 rotates first, the first shaft 271 and the side gear 250, which are integrally formed with the first gear 210, can rotate in the same direction as the first gear 210. Subsequently, the first star gear 263, which engages with the side gear 250, can rotate relative to the first star shaft 261 in the opposite direction to the first gear 210, and the second star gear 264, which engages with the first star gear 263, can rotate relative to the second star shaft 262 in the same direction as the first gear 210.

[0080] Finally, the second gear 220, which engages with the second star gear 264, can rotate in the opposite direction to the first gear 210. That is, when the first gear 210 rotates first, the second gear 220 can rotate in the opposite direction to the first gear 210. Conversely, in the case where the above power transmission process is reversed, when the second gear 220 rotates first, the first gear 210 can rotate in the opposite direction to the second gear 220.

[0081] In other words, when the ring gear 240 rotates via the motor 201, the differential device 200 can cause the first gear 210 and the second gear 220 to rotate in the same direction. Alternatively, when an external force is applied to at least one of the first finger 10, the second finger 20, the first connecting rod 110, and the second connecting rod 120, the differential device 200 can cause the first gear 210 and the second gear 220 to rotate in different directions.

[0082] Although the structure of the differential device 200 described above has been implemented as a type of multiple spur gears, it is not limited thereto and can also be implemented as a type of bevel gears.

[0083] Figure 4 This is a block diagram of a robotic device according to an embodiment.

[0084] Reference Figure 4 The robot device 1000 according to embodiments of the present disclosure may include a gripping device 1, a processor 400, an image sensor 500, and a pressure sensor 600.

[0085] The gripping device 1 may include a first finger 10, a second finger 20, a first link 110 and a second link 120 for supporting the first finger 10 and the second finger 20 respectively, and a differential device 200, wherein the differential device 200 includes a first gear 210, a second gear 220 and a third gear 230, wherein the first gear 210 engages with the gear region 113 of the first link 110, the second gear 220 rotates by interlocking with the first gear 210, and the third gear 230 engages with the gear region 123 of the second link 120 and the second gear 220.

[0086] Since the detailed structure of the gripping device 1 has been described above, the parts of the construction of the gripping device 1 that overlap with the above example may be simplified or omitted in the following text.

[0087] The processor 400 controls the overall operation of the robot device 1000. For this purpose, the processor 400 may include a central processing unit (CPU) or an application processor (AP). Optionally, the processor 400 may be implemented as at least one general-purpose processor, digital signal processor, application-specific integrated circuit (ASIC), system-on-a-chip (SoC), microcomputer (MICOM), driver integrated circuit (IC), etc.

[0088] Image sensor 500 can detect at least one of the shape and position of an object. Image sensor 500 can be a camera configured to photograph objects around robotic device 1000. For example, image sensor 500 can be implemented as a three-dimensional (3D) camera or a depth camera.

[0089] Such an image sensor 500 can be arranged on the main body or head of the robot device 1000, but the location is not limited to this, and the image sensor 500 can be arranged at various locations (such as the first link 110 and the second link 120 of the gripping device 1, and the first finger 10 and the second finger 20).

[0090] The processor 400 can receive information about the shape and position of an object detected by the image sensor 500, and analyze the information to determine the object's position, size, shape, type, etc. The processor 400 can determine the object's size, shape, type, etc. by recognizing the object via an object recognition algorithm, and determine the object's position based on the object's depth information.

[0091] Image sensor 500 detects the position and shape of the object to be grasped and sends information about the detected position and shape to processor 400. Processor 400 compares the information received from image sensor 500 with shape information of various objects stored in memory to determine the type and position of the object.

[0092] Therefore, the processor 400 can control the gripping device 1 to move to a position adjacent to the object to be gripped. Thereafter, the processor 400 can control the gripping device such that the first finger 10 and the second finger 20 have a spacing corresponding to the thickness of the object detected by the image sensor. In this case, the spacing between the first finger 10 and the second finger 20 can be substantially equal to the thickness of the object to be gripped, and the first finger 10 and the second finger 20 can easily grip the object.

[0093] Additionally, the robot device 1000 may also include a pressure sensor 600, wherein the pressure sensor 600 measures the pressure applied to at least one of the first finger 10 and the second finger 20. Furthermore, the processor 400 may control the operation of the gripping device 1 based on the values ​​measured by the pressure sensor 600.

[0094] The pressure sensor 600 can measure the pressure applied to at least one of the first finger 10 and the second finger 20. For example, the pressure sensor 600 may include a piezoelectric element or a load cell to convert the pressure applied to at least one of the first finger 10 and the second finger 20 into an electrical signal and send the electrical signal to the processor 400.

[0095] Pressure sensor 600 may be arranged on the opposing surfaces of the first finger 10 and the second finger 20. Two pressure sensors 600 may be arranged on both the first finger 10 and the second finger 20, or one pressure sensor 600 may be arranged on one of the first finger 10 and the second finger 20.

[0096] When the gripping device 1 grips an object, the pressure sensor 600 can detect the pressure applied by the object to the first finger 10 and the second finger 20, convert the pressure into an electrical signal, and send the electrical signal to the processor 400.

[0097] When the object to be grasped is placed between the first finger 10 and the second finger 20, the grasping device 1 can perform a grasping operation via the differential device 200 of the grasping device 1. During this process, the object can apply pressure to the first finger 10 and the second finger 20, and the pressure sensor 600 can detect the pressure value.

[0098] The processor 400 can control the gripping operation of the gripping device 1 based on the values ​​measured by the pressure sensor 600. When the measured pressure value reaches the critical pressure value by comparing the pressure value measured by the pressure sensor 600 with the critical pressure value stored in the memory, the processor 400 can control the drive of the differential device 200 to stop the gripping device 1.

[0099] Therefore, the robot device 1000 according to the embodiments of this disclosure can prevent the object from being damaged due to excessive pressure or slipping off the gripping device 1 due to insufficient pressure, and can stably grip the object with appropriate gripping force.

[0100] Figure 5 This is a perspective view of a gripping device according to an embodiment, in which the first and second fingers move in opposite directions to space each other apart. Figure 6 According to the embodiments Figure 5 A side view of the gripping device.

[0101] Reference Figure 5 and Figure 6 When the pinion 202 rotates along the R2 direction via the motor 201, the ring gear 240 engaged with the pinion 202 and the multiple star shafts 261 and 262 integrally formed with the ring gear 240 can rotate along the R1 direction.

[0102] The R1 and R2 directions represent the rotational directions of each component in the YZ plane, and they can be opposite to each other.

[0103] The first star gear 263 and the second star gear 264 can rotate together with the first star shaft 261 and the second star shaft 262 in the direction of R1 relative to the central axis A of the first shaft 271 and the second shaft 272.

[0104] The side gear 250, which engages with the first star gear 263, and the first shaft 271 and first gear 210, which are integrally formed with the side gear 250, can rotate in the R2 direction. In addition, the second gear 220, which engages with the second star gear 264, can also rotate in the R2 direction.

[0105] The gear region 113 of the first connecting rod 110, which engages with the first gear 210, can rotate in the direction of R1. The third gear 230, which engages with the second gear 220, can rotate in the direction of R1, and the gear region 123 of the second connecting rod 120, which engages with the third gear 230, can rotate in the direction of R2.

[0106] In other words, when the pinion 202 rotates in the R2 direction, the first connecting rod 110 can rotate around its second end 112 in the R1 direction, and the second connecting rod 120 can rotate around its second end 122 in the R2 direction. Therefore, the distance D between the first finger 10 and the second finger 20 can be increased.

[0107] Conversely, when the pinion 202 rotates in the R1 direction, the above process is reversed, allowing the first connecting rod 110 to rotate about its second end 112 in the R2 direction, and the second connecting rod 120 to rotate about its second end 122 in the R1 direction. Therefore, the distance D between the first finger 10 and the second finger 20 can be reduced.

[0108] In other words, because the gap between the first finger 10 and the second finger 20 is increased or decreased by a motor 201 of the differential device 200, an object can be gripped stably.

[0109] Furthermore, since the gear region 113 of the first link 110 and the gear region 123 of the second link 120 have the same gear ratio, the first link 110 and the second link 120 can rotate at the same angle.

[0110] Figure 7 This is a perspective view of a gripping device according to an embodiment, showing the first and second fingers moving in the same direction by an external force applied to the gripping device. Figure 8 According to the embodiments Figure 7 A side view of the gripping device.

[0111] Reference Figure 7 and Figure 8 An external force in the +Z direction can be applied to at least one of the first finger 10, the second finger 20, the first link 110, the second link 120, the third link 130, and the fourth link 140.

[0112] For example, when an external force in the +Z direction is applied to the second link 120, the second link 120 can rotate about its first end 121 in the R1 direction. Therefore, the gear region 123 of the second link 120 can also rotate in the R1 direction.

[0113] The third gear 230, which engages with the gear region 123 of the second link 120, can rotate in the R2 direction, and the second gear 220, which engages with the third gear 230, can rotate in the R1 direction.

[0114] The second star gear 264, which engages with the second gear 220, can rotate about the second star shaft 262 in the R2 direction, and the first star gear 263, which engages with the second star gear 264, can rotate about the first star shaft 261 in the R1 direction.

[0115] The side gear 250, which is engaged with the first star gear 263, can rotate in the R2 direction, and the first shaft 271 and the first gear 210, which are integrally formed with the side gear 250, can also rotate in the R2 direction.

[0116] The gear region 113 of the first link 110, which engages with the first gear 210, can rotate in the R1 direction, so the first link 110 can rotate about the first end 111 of the first link 110 in the R1 direction.

[0117] When the second link 120 rotates in the R1 direction by an external force, the first link 110 can also rotate in the same R1 direction as the second link 120. That is, even when an external force is applied to the gripping device 1, because the first link 110 and the second link 120 rotate in the same direction, the gripping device 1 will not drop the gripped object and will maintain the gripping force.

[0118] The gear region 113 of the first link 110 and the gear region 123 of the second link 120 can have the same gear ratio. Therefore, since the first link 110 and the second link 120 rotate at the same angle, the gap D between the first finger 10 and the second finger 20 is also maintained, so that the grasped object will not fall.

[0119] In other words, the gripping device 1 according to the embodiments of the present disclosure may have a passively adaptive mechanical structure that can effectively absorb impact by flexibly responding to external forces without a separate sensing or control process.

[0120] Furthermore, because the first link 110 and the second link 120 are not fixed and rotate in the same direction as the external force, the user who collides with the gripping device 1 will not be injured, or the obstacle that collides with the gripping device 1 will not be damaged.

[0121] Furthermore, even when an external force is applied to the gripping device 1, damage to the motor 201 due to the external force can be prevented because only the first star gear 263 and the second star gear 264 rotate, while the first star shaft 261 and the second star shaft 262, the ring gear 240 and the pinion 202 do not rotate.

[0122] Figure 9 This illustrates an embodiment. Figure 7 A side view of the first and second fingers of the gripping device moving in opposite directions.

[0123] Reference Figure 9 When the pinion 202 rotates along the R2 direction via the motor 201, according to the above process, the first connecting rod 110 can rotate around the second end 112 of the first connecting rod 110 along the R1 direction, and the second connecting rod 120 can rotate around the second end 122 of the second connecting rod 120 along the R2 direction.

[0124] Therefore, the first finger 10 and the second finger 20 can interact with... Figure 2The gripping device 1 according to the embodiments of the present disclosure can grasp objects at different positions. That is, it can grasp objects not only located in the middle, but also located at various positions along the Z-axis.

[0125] Figure 10 This is a perspective view of the first cam member and the second cam member according to an embodiment. Figure 11 This is a cross-sectional view of the first cam member and the second cam member according to an embodiment. Figure 12 This is a perspective view showing the state in which one of the first cam member and the second cam member according to an embodiment is twisted.

[0126] Reference Figures 10 to 12 The differential device 200 may include a first cam member 281 and a second cam member 282.

[0127] The first cam member 281 can be connected in parallel to the first shaft 271, and the second cam member 282 can be connected in parallel to the second shaft 272 and contact the first cam member 281.

[0128] The first shaft 271 may have a keyway 271a formed on the inner surface of the first shaft 271, and the second shaft 272 may have a keyway 272a formed on the inner surface of the second shaft 272. The first cam member 281 and the second cam member 282 may be inserted along the keyway 271a formed in the first shaft 271 and the keyway 272a formed in the second shaft 272, respectively, to connect to the first shaft 271 and the second shaft 272.

[0129] Therefore, the first cam member 281 and the second cam member 282 can rotate integrally with the first shaft 271 and the second shaft 272, and can move relative to each other only along the axial direction of the first shaft 271 and the second shaft 272.

[0130] The first shaft 271 and the second shaft 272 are spaced apart from each other, but the first cam member 281 and the second cam member 282 connected thereto can contact each other.

[0131] The first cam member 281 and the second cam member 282 may be arranged along the X-axis. The first cam member 281 and the second cam member 282 may have concave surfaces 281a and 282a facing each other. The surfaces 281a of the first cam member 281 and 282a of the second cam member 282 may have such a shape that their middle region is concave and a portion of their peripheral region protrudes to engage with each other.

[0132] Furthermore, the differential device 200 may also include a bolt 291 and a pressing member 292. The bolt 291 may be fixedly disposed inside at least one of the first shaft 271 and the second shaft 272, and the pressing member 292 may connect the bolt 291 to at least one of the first cam member 281 and the second cam member 282. The pressing member 292 may be a compression spring that pushes the first cam member 281 or the second cam member 282 from the bolt 291.

[0133] exist Figures 10 to 12 In the diagram, bolt 291 and pressing member 292 are shown arranged inside the first shaft 271, but their positions are not limited thereto.

[0134] When a threshold or smaller external force is applied to the gripping device 1, the first shaft 271 and the second shaft 272 may not rotate due to the frictional force acting between the first cam member 281 and the second cam member 282 via the pressing member 292. Therefore, the first finger 10 and the second finger 20 can be prevented from moving unintentionally due to small forces (e.g., gravity) exerted by the gripping device 1 itself.

[0135] When a threshold or greater external force is applied to the gripping device 1, the pressing member 292 retracts, and the first cam member 281 or the second cam member 282 enters the first shaft 271 or the second shaft 272, respectively. As a result, the first cam member 281 and the second cam member 282 can be twisted and rotated to space them apart from each other. Therefore, to prevent the gripping device 1 from being unintentionally operated, the external force can be selected by the first cam member 281 and the second cam member 282 in contact with each other, as well as the pressing member 292, and the above-mentioned force can be applied only to a threshold or greater external force. Figure 7 and Figure 8 The passive adaptation process described.

[0136] Embodiments of this disclosure have been shown and described above, but this disclosure is not limited to the specific embodiments described above, and any person skilled in the art to which this disclosure pertains may make various modifications without departing from the spirit of this disclosure as claimed in the claims, and such modifications are intended to fall within the scope of the claims.

Claims

1. A gripping device, comprising: First finger-shaped component; The second finger is configured to face the first finger; The first link is configured to have a first end connected to the first finger; The second link is configured to have a first end connected to the second finger; as well as The differential device includes a motor and is configured to connect a second end of the first link and a second end of the second link. When the motor is driven, the differential device causes the first connecting rod and the second connecting rod to rotate in different directions, and When the second connecting rod rotates in the first direction under external force, the differential device causes the first connecting rod to rotate in the first direction. The differential device further includes: The first gear is configured to engage with the first connecting rod. The second gear is configured to interlock with the first gear and rotate relative to the first gear. The third gear is configured to engage with the second connecting rod and the second gear, and A ring gear is configured to be arranged between the first gear and the second gear, and is configured to be rotated by the motor such that the first gear and the second gear rotate in the same direction.

2. The gripping device according to claim 1, wherein, The first link includes a first gear region at a second end of the first link, and the second link includes a second gear region at a second end of the second link, and The first gear is configured to engage with the first gear region, and the third gear is configured to engage with the second gear region and the second gear.

3. The gripping device according to claim 2, wherein, The first gear region and the second gear region have the same gear ratio.

4. The gripping device according to claim 2, wherein, The differential device also includes: The first shaft is configured to have a first end connected to the first gear and rotate integrally with the first gear, and The second shaft is configured to have a first end connected to the second gear and to rotate integrally with the second gear, and The first axis and the second axis are arranged coaxially.

5. The gripping device according to claim 4, wherein, The differential device also includes: A side gear is configured to connect to the second end of the first shaft and to rotate integrally with the first shaft. The first and second star-shaped shafts are configured to be arranged parallel to the first shaft and to rotate integrally with the ring gear. A first star gear engages with the side gear and is configured to be rotatably supported on the first star shaft. The second star gear engages with the first star gear and the second gear and is configured to be rotatably supported on the second star shaft.

6. The gripping device according to claim 4, wherein, The first gear region and the third gear are arranged on opposite sides of the central axis of the first shaft and the second shaft.

7. The gripping device according to claim 4, wherein, The first shaft passes through the ring gear.

8. The gripping device according to claim 4, wherein, The differential device also includes: The first cam member is configured to be connected parallel to the first shaft, and The second cam member is configured to be connected parallel to the second shaft and to contact the first cam member.

9. The gripping device according to claim 8, wherein, The differential device also includes: Bolts are configured to be fixedly arranged inside at least one of the first shaft and the second shaft, and The pressing member is configured to connect at least one of the first cam member and the second cam member to the bolt.

10. The gripping device according to claim 9, wherein, The pressing component includes a compression spring.

11. The gripping device according to claim 8, wherein, The first shaft and the second shaft include keyways formed on their inner surfaces, and The first cam member and the second cam member are inserted along the keyway formed in the first shaft and the keyway formed in the second shaft, respectively.

12. The gripping device according to claim 8, wherein, The first cam member and the second cam member include concave surfaces facing each other.

13. The gripping device according to claim 1, further comprising: The housing is configured to rotatably support the second end of each of the first and second links.

14. A robotic device, comprising: Image sensors are configured to detect the shape of objects; The gripping device according to any one of claims 1 to 13, and The processor is configured to control the gripping device such that the first and second fingers are spaced apart by a distance corresponding to the thickness of the object detected by the image sensor.

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