Robot hand and control method thereof

Abstract

A robot hand including a first gripper and a second gripper and a method for controlling the robot hand are disclosed. The method for controlling a robot hand disclosed herein may comprise the steps of: recognizing a shape of an object by using a camera; changing the gripping orientation of the first gripper and the second gripper based on the identified shape of the object; grabbing the object by using the first grabber and the second grabber; and rotating the first grabber and the second grabber according to the target position at which the object is to be placed to change the posture of the object.

Description

Technical Field

[0001] The present disclosure relates to a robotic hand and a control method thereof. Background Art

[0002] A mechanical device that uses the action of electricity or magnetism to perform movements similar to those of a human is called a robot. Early robots, such as industrial robots (such as robotic arms or transfer robots), replaced humans in performing dangerous work, simple repetitive work, or work that requires a great deal of force, with the aim of achieving automated work and unmanned work at the production site. However, recently, active research and development has been carried out on humanoid robots that have a similar appearance to humans and coexist with humans in human work and living spaces, providing various services (such as housework).

[0003] In the case of the above humanoid robots, in order to smoothly communicate and cooperate with humans in daily life, a robotic hand is included to grasp an object. The robotic hand can perform precise work and flexible and safe work similar to that of a human hand. Summary of the Invention

[0004] According to an aspect of the present disclosure, a method of controlling a robotic hand including a first gripper and a second gripper includes: recognizing the shape of an object through a camera; changing the grasping orientations of the first gripper and the second gripper based on the recognized shape of the object; grasping the object using the first gripper and the second gripper; and rotating the first gripper and the second gripper according to a target position where the object is to be placed to change the orientation of the object.

[0005] The operation of grasping the object may include: grasping the object with a first grasping orientation by moving the first gripper and the second gripper from a spaced-apart state to be closer together, or when the first gripper and the second gripper are in a contact state, grasping the object with a second grasping orientation by rotating the first gripper and the second gripper in opposite directions to each other.

[0006] The first grasping orientation may include the first gripper and the second gripper being arranged in parallel.

[0007] The operation of grasping the object may include moving the first gripper and the second gripper parallel to each other toward the object.

[0008] The operation of rotating the first gripper and the second gripper to change the orientation of the object may include: recognizing the rotation angles of the first gripper and the second gripper according to the target position where the object is to be placed; and rotating the first gripper and the second gripper in the same direction by the recognized rotation angles.

[0009] According to one aspect of the present disclosure, a robotic hand includes: a support member; a first link member and a second link member, respectively and extendably connected to opposite sides of the support member; a first finger member including a first rear end connected to the first link member; a second finger member including a second rear end connected to the second link member, wherein the second finger member is parallel to the first finger member; a first gripper rotatably connected to a first front end of the first link member; a second gripper rotatably connected to a second front end of the second link member and facing the first gripper; a first driver configured to extendably drive the first link member and the second link member; a second driver configured to drive the first gripper to rotate; and a third driver configured to drive the second gripper to rotate.

[0010] The first finger member and the second finger member can be configured to remain parallel when moving closer to each other in a first direction and moving apart from each other in a second direction.

[0011] The robotic hand may further include: a locking member configured to lock the first finger member and the second finger member when the first gripper and the second gripper are in a contact state.

[0012] The locking member may include: an operation button disposed on the first finger member and facing the second finger member; a locking pin configured to protrude from the first gripper based on the operation button being pressed; a groove member disposed on the second finger member and configured to receive the locking pin; and a hydraulic tube disposed between the operation button and the locking pin.

[0013] The first gripper may include: a first gripping member; a second gripping member extending from the first gripping member; and a third gripping member disposed between the first gripping member and the second gripping member, and the second gripper includes: a fourth gripping member facing the first gripper and configured to grip an object together with the first gripping member; a fifth gripping member extending from the fourth gripping member and configured to grip the object together with the second gripping member; and a sixth gripping member disposed between the fourth gripping member and the fifth gripping member and configured to grip the object together with the third gripping member.

[0014] The second gripping member and the fourth gripping member can be configured to face each other when the first gripper and the second gripper are in a contact state and are rotated in opposite directions to each other.

[0015] The robotic hand may further include: a synchronizer configured to keep the first finger member and the second finger member parallel by linking the extension drives of the first link member and the second link member.

[0016] The synchronizer may include: a first gear chain that connects a first link member and a first finger member with a reduction ratio of 1:2; and a second gear chain that connects a second link member and a second finger member with a reduction ratio of 1:2.

[0017] According to an aspect of the present disclosure, a service robot includes: a base; a bracket connected to the base and arranged perpendicular to the base; a first arm connected to the bracket; a second arm rotatably connected to the first arm; a robot hand connected to the second arm and including a first gripper and a second gripper; and at least one processor configured to: recognize the shape of an object based on an image of the object; control the robot hand to grasp the object by changing the grasping orientations of the first gripper and the second gripper according to the recognition result.

[0018] The robot hand is inclined outward from the second arm with respect to a straight line perpendicular to the horizontal direction of the second arm. The robot hand may further include: a support member; a first link member and a second link member respectively and extendably connected to opposite sides of the support member; a first finger member including a first rear end connected to the first link member; a second finger member including a second rear end connected to the second link member, wherein the second finger member is parallel to the first finger member; a first driver configured to extendably drive the first link member and the second link member; a second driver configured to drive the first gripper to rotate; and a third driver configured to drive the second gripper to rotate. The first gripper is rotatably connected to a first front end of the first link member, and the second gripper is rotatably connected to a second front end of the second link member and faces the first gripper. Description of the Drawings

[0019] The above and other aspects, features, and advantages of specific embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, in which: Figure 1 is a perspective view showing a robot hand according to one or more embodiments; Figure 2 is a view showing the first finger member and the second finger member of the robot hand deployed at a maximum spacing according to one or more embodiments; Figure 3 is a view showing a schematic structure of a first link member and a second finger member connected to a support member of the robot hand according to one or more embodiments; Figure 4 is a view showing Figure 3 the interior of component A shown in; Figure 5a is a view showing an internal structure of a first finger member of the robot hand as a schematic diagram according to one or more embodiments; Figure 5bis a view showing the internal structure of the second finger member of a robotic hand according to one or more embodiments; Figure 6 is a view showing the first finger member and the second finger member of a robotic hand in contact with each other according to one or more embodiments; Figure 7 is a view showing Figure 6 the inside of the component D shown in; Figure 8 is a view showing the first grasping orientation of the first gripper and the second gripper of a robotic hand according to one or more embodiments; Figure 9a is a view showing an example of the first gripper and the second gripper of a robotic hand grasping an object in the first grasping orientation according to one or more embodiments; Figure 9b is a view showing an example of rotating the first gripper and the second gripper of a robotic hand in the same direction according to one or more embodiments; Figure 9c is a view showing an example of a robotic hand placing an object at a target position according to one or more embodiments; Figure 10 is a view showing the second grasping orientation of the first gripper and the second gripper of a robotic hand according to one or more embodiments; Figure 11 is a view showing Figure 10 a plan view of the second grasping orientation of the first gripper and the second gripper shown in; Figure 12a is a view showing an example of the first gripper and the second gripper of a robotic hand grasping an object in the second grasping orientation according to one or more embodiments; Figure 12b is a view showing an example of rotating the first gripper and the second gripper of a robotic hand in the same direction according to one or more embodiments; Figure 12c is a view showing an example of a robotic hand placing an object at a target position according to one or more embodiments; Figure 13 is a view showing the third grasping orientation of the first gripper and the second gripper of a robotic hand according to one or more embodiments; Figure 14a is a view showing an example of the first gripper and the second gripper of a robotic hand grasping an object in the third grasping orientation according to one or more embodiments; Figure 14b is a view showing an example of rotating the first gripper and the second gripper of a robotic hand in the same direction according to one or more embodiments; Figure 14c is a diagram showing an example of a robotic hand placing an object at a target position according to one or more embodiments; Figure 15 is a block diagram of a service robot including a robotic hand according to one or more embodiments; Figure 16 is a flowchart showing a control process of a service robot including a robotic hand according to one or more embodiments; Figure 17 is a flowchart showing in detail a control process of a service robot including a robotic hand according to one or more embodiments; Figure 18 is a diagram showing a service robot including a robotic hand according to one or more embodiments; and Figure 19 is a side view showing an example of a robotic hand coupled to an arm of a service robot including a robotic hand according to one or more embodiments. Detailed Description

[0020] One or more embodiments described in the present disclosure and the configurations shown in the drawings are merely preferred examples of the present disclosure described, and various modified examples may be used to replace one or more embodiments and the drawings when submitting the present disclosure.

[0021] In addition, the same reference numerals or symbols shown in each drawing of the present disclosure represent components or elements that perform substantially the same functions.

[0022] In addition, the terms used in the present disclosure are used to describe one or more embodiments and are not intended to limit the present disclosure described. Unless otherwise stated, singular expressions include plural expressions. It should be understood that terms such as "having" or "including" are used herein to specify the presence of features, numbers, steps, movements, elements, components, or combinations thereof, and do not exclude the presence or possible addition of one or more of other features, numbers, steps, movements, elements, components, or combinations thereof.

[0023] In addition, terms including ordinal numbers (such as "first" and "second") used herein may be used to describe various elements, but the elements are not limited by the above terms, and the terms may be used only for the purpose of distinguishing one element from another. For example, without departing from the scope of the present disclosure, the first element may be represented as the second element, and similarly, the second element may also be represented as the first element. The term "and / or" includes combinations of multiple items described in association or any one of the multiple items described in association.

[0024] In this document, the expression "at least one of a, b, or c" indicates "only a", "only b", "only c", "a and b", "a and c", "b and c", or "all of a, b, and c".

[0025] Terms such as "front end", "back end", "upper part", "lower part", "front surface", "back surface", "upper end", and "lower end" used in the following description are defined based on the drawings, and the shape and position of each element are not limited by the terms.

[0026] Hereinafter, specific embodiments according to the present disclosure will be described in detail with reference to the drawings.

[0027] Figure 1 is a perspective view showing a robotic hand according to one or more embodiments. Figure 2 is a view showing the first finger member and the second finger member of the robotic hand according to one or more embodiments extended at the maximum spacing. Figure 3 is a view showing the structure of the first link member and the second finger member of the support member connected to the robotic hand according to one or more embodiments. Figure 4 is a view showing Figure 3 the interior of component A shown in. In the present disclosure, the robotic hand may refer to a mechanical device having a structure capable of grasping an object, the finger member may refer to a mechanical component having a predetermined length and including a driving device therein, the link member may refer to a mechanical component connecting the finger member to the support member of the robotic hand, and the gripper may refer to a mechanical component directly grasping the object.

[0028] Referring to Figure 1 and Figure 2 , the robotic hand 1 according to one or more embodiments can recognize the shape and orientation of an object, and select a grasping orientation suitable for grasping the object from various grasping orientations based on the recognition result. The robotic hand 1 can grasp the object in the selected grasping orientation and safely transport it to a preset position.

[0029] The robotic hand 1 may include a support member 10, a first link member 20 and a second link member 30 respectively connected to both sides of the support member 10, a first finger member 40 connected to the first link member 20, a second finger member 50 connected to the second link member 30, a first gripper 60 connected to the first finger member 40, and a second gripper 70 connected to the second finger member 50.

[0030] The support member 10 may be a medium to which the robotic hand 1 can be mounted on a robotic arm. When the support member 10 is mounted on the robotic arm, the support member 10 may be electrically connected to the robotic arm. The support member 10 can receive power from a power supply device through the robotic arm and apply the above power to a plurality of motors provided in the robotic hand 1 (for example,Figure 1 the first drive motor 11 (i.e., the first driver) in Figure 5a the second drive motor 41 (i.e., the second driver) in Figure 5b and the third drive motor 51 (i.e., the third driver) in

[0031] The support member 10 may be arranged with the first drive motor 11 for driving the first link member 20 and the second link member 30. The first drive motor 11 may be a stepper motor or a direct current (DC) servo motor capable of driving in forward rotation and reverse rotation. When the first drive motor 11 is driven in forward rotation, the lengths of the first link member 20 and the second link member 30 may be respectively extended. When the first drive motor 11 is driven in reverse rotation, the lengths of the first link member 20 and the second link member 30 may be respectively reduced.

[0032] Based on the lengths of the first link member 20 and the second link member 30 being extended or reduced, the first finger member 40 connected to the first link member 20 and the second finger member 50 connected to the second link member 30 may be configured such that the interval therebetween becomes wider or narrower. The robot hand 1 may perform a motion of grasping an object or a motion of releasing the grasping of an object by changing the interval between the first finger member 40 and the second finger member 50.

[0033] At one end of the support member 10, a coupling member 13 mounted to the robot arm may be provided. At the robot arm, a mounting member may be provided, wherein the coupling member 13 of the support member 10 may be detachably mounted to the mounting member. The coupling member 13 of the support member 10 and the coupling member of the robot arm may be electrically connected by a spring pin connector method. For example, the robot hand 1 may be mounted to a tool magazine provided in the robot. The robot hand 1 may be configured such that the coupling member 13 of the support member 10 is coupled to the mounting member of the robot arm by a tool changing motion of the robot arm. The robot hand 1 may be separated from the tool magazine after being mounted to the robot arm.

[0034] The first link member 20 and the second link member 30 may include a scissor link structure, by which the length thereof can be changed. The scissor link structure may be a structure in which continuously hinged members rotate in opposite directions, and the overall length of the structure is reduced or extended. The first link member 20 and the second link member 30 may receive driving force from the first drive motor 11, and the lengths thereof may be extended or reduced simultaneously. The first link member 20 and the second link member 30 respectively arranged on the left and right sides of the support member move in a direction of moving further apart from each other when the lengths are extended, and move in a direction of approaching each other when the lengths are reduced. As described above, since the first link member 20 and the second link member 30 include a scissor link structure, when the interval between the first finger member 40 and the second finger member 50 becomes narrower, the lengths of the first link member 20 and the second link member 30 are reduced, so that the robotic hand 1 can approach a narrow space without being interfered by surrounding structures.

[0035] In this case, when the first finger member 40 and the second finger member 50 move in a direction of moving further apart from each other or in a direction of approaching each other more closely, they can move in parallel without displacement in the forward or reverse directions. Therefore, the control of the movement in a direction in which the first finger member 40 and the second finger member 50 move further apart or approach each other more closely can be simplified. Here, the forward direction may be a direction of moving along the length direction of the first link member 20 and the second link member 30.

[0036] Referring to Figure 3 , the first link member 20 may include a plurality of links. For example, the first link member 20 may include a first link 21, a second link 22, a third link 23, and a fourth link 24.

[0037] One end of the first link 21 may be hinged to the left side of the support member 10. The opposite end of the first link 21 may be rotatably connected to one end of the second link 22. The opposite end of the second link 22 may be rotatably connected to the rear end of the first finger member 40. Therefore, the first link 21 and the second link 22 can connect the left side of the support member 10 and the rear end of the first finger member 40.

[0038] One end of the third link 23 may be slidably connected to the support member 10. For example, in the support member 10, a slider 15 arranged to be slidable along the length direction of the support member 10 may be included. One end of the third link 23 may be hinged to the left side of the slider 15. The opposite end of the third link 23 may be hinged to one end of the fourth link 24. The third link 23 may be arranged to intersect with the first link 21. The opposite end of the fourth link 24 may be hinged to the second link 22. In Figure 3In it, reference numeral 15’ shows the slider when it is moved toward the rear end of the support member 10. Thus, reference numerals 15 and 15’ denote the same slider.

[0039] The second link member 30 can be symmetrically arranged with respect to the first link member 20 based on the center line C. The second link member 30 can include a plurality of links. For example, the second link member 30 can include a fifth link 31, a sixth link 32, a seventh link 33, and an eighth link 34.

[0040] The length of the fifth link 31 can be substantially the same as the length of the first link 21. One end of the fifth link 31 can be hinged to the right side of the support member 10. The opposite end of the fifth link 31 can be rotatably connected to one end of the sixth link 32.

[0041] The length of the sixth link 32 can be substantially the same as the length of the second link 22. The opposite end of the sixth link 32 can be rotatably connected to the rear end of the second finger member 50. Thus, the fifth link 31 and the sixth link 32 can connect the right side of the support member 10 and the rear end of the first finger member 40.

[0042] The length of the seventh link 33 can be substantially the same as the length of the third link 23. One end of the seventh link 33 can be slidably connected to the support member 10. For example, one end of the seventh link 33 can be hinged to the right side of the slider 15. The opposite end of the seventh link 33 can be hinged to one end of the eighth link 34. The seventh link 33 can be arranged to intersect the fifth link 31. The opposite end of the eighth link 34 can be hinged to the sixth link 32.

[0043] The spacing F1 between the hinge axis H1 of the first link 21 and the hinge axis H2 of the fifth link 31 can be substantially the same as the spacing F2 between the hinge axis H3 of the third link 23 and the hinge axis H4 of the seventh link 33. In addition, the hinge axis H1 of the first link 21 and the hinge axis H3 of the third link 23 can be arranged on a virtual first straight line parallel to the center line C of the support member 10. The hinge axis H2 of the fifth link 31 and the hinge axis H4 of the seventh link 33 can be arranged on a virtual second straight line parallel to the center line C of the support member 10. The positions of the above hinge axes H1, H2, H3, and H4 can be one of the conditions for the parallel movement of the first finger member 40 and the second finger member 50.

[0044] Another condition for the parallel movement of the first finger member 40 and the second finger member 50 can be the following structure: When the lengths of the first link member 20 and the second link member 30 are changed, the fourth link 24 controls the rotation of the first finger member 40 through the first gear train 25, and the eighth link 34 controls the rotation of the second finger member 50 through the second gear train (the second gear system can be substantially the same as the first gear system). The first gear train and the second gear train together act as a synchronizer for the movement of the first finger member 40 and the second finger member 50.

[0045] An example of the first gear train 25 that connects the second link 22 and the fourth link 24 will be described with reference to Figure 4 The fourth link 24 can be gear-connected to the first finger member 40 through the first gear train 25. The first gear train 25 can be provided at the second link 22.

[0046] The first gear train 25 can include a plurality of gears. For example, the first gear train 25 can include a first gear 25a, a second gear 25b, and a third gear 25c. The first gear 25a can be connected to the opposite end of the fourth link 24 and is configured to rotate together with the fourth link 24. The second gear 25b can be disposed between the first gear 25a and the third gear 25c and is configured to transmit the rotational force of the first gear 25a to the third gear 25c. The third gear 25c can be connected to the rear end of the first finger member 40 and is configured to rotate together with the first finger member 40.

[0047] The first gear 25a and the second gear 25b can have substantially the same gear ratio. The third gear 25c can have a gear ratio larger than that of the first gear 25a. For example, the gear ratios of the first gear 25a, the second gear 25b, and the third gear 25c can be 1:1:2, but are not limited thereto, and can be variously changed according to the design. Therefore, when the length of the first link member 20 is changed, the rotation direction of the first finger member 40 can be the direction opposite to the rotation direction of the second link 22. In this case, the rotation angle of the first finger member 40 can be 0.5 times the rotation angle of the second link 22.

[0048] When the length of the first link member 20 is changed, the first finger member 40 can be moved in parallel through the first gear train 25. When the length of the first link member 20 is in the maximum extended state (refer to Figure 2), this length can be a first distance B1 from the rear end of the support member 10 to the front end of the first finger member 40. When the length of the first link member 20 is in a maximum reduced state (refer to FIG. 5), a second distance B2 from the rear end of the support member 10 to the front end of the first finger member 40 can be substantially the same as the first distance B1. Therefore, when the length of the first link member 20 changes, the first finger member 40 can move in parallel, but does not move forward or backward in the first finger member 40. Therefore, the first finger member 40 can simplify the control of the robotic hand 1 because when the length of the first link member 20 changes, there is no forward or backward displacement of the first finger member 40.

[0049] The second finger member 50 can receive a rotational force from the eighth link 34 through a second gear train. The second gear train can include a fourth gear, a fifth gear, and a sixth gear that are the same as or similar to the first gear train 25. For example, the second gear train can include a fourth gear, a fifth gear, and a sixth gear, where the fourth gear is connected to an opposite end of the eighth link 34 and is configured to rotate together with the eighth link 34, the fifth gear is disposed between the fourth gear and the sixth gear and is configured to transmit the rotational force of the fourth gear to the sixth gear, and the sixth gear is connected to the rear end of the second finger member 50 and is configured to rotate together with the second finger member 50. The gear ratio of the fourth gear, the fifth gear, and the sixth gear can be 1:1:2.

[0050] The second link member 30 can receive the driving force of the first driving motor 11, and its length can be changed. The second finger member 50 can move in parallel in a direction opposite to the moving direction of the first finger member 40.

[0051] Figure 5a is a diagram showing a schematic internal structure of a first finger member of a robotic hand according to one or more embodiments. Figure 5b is a diagram showing a schematic internal structure of a second finger member of a robotic hand according to one or more embodiments. Figure 6 is a diagram showing the first finger member and the second finger member of a robotic hand in contact with each other according to one or more embodiments. Figure 7 is a diagram showing Figure 6 the inside of the component D shown in

[0052] Referring to Figure 5a , the first finger member 40 can be configured such that the first gripper 60 is rotatably disposed on the right side of its front end. In the first finger member 40, a second driving motor 41, a first speed reducer 42, and a first force transmission member 43 can be disposed to drive the first gripper 60 to rotate forward and backward.

[0053] The second drive motor 41 can be connected to the first speed reducer 42 to obtain a high rotational output torque by reducing the output rotational speed of the second drive motor 41. The first force transmission member 43 can transmit the forward rotational driving force and the reverse rotational driving force transmitted from the first speed reducer 42 to the first gripper 60. The first force transmission member 43 can include a first pulley 43a connected to the first speed reducer 42, a second pulley 43c connected to the first gripper 60, and a first drive belt 43b configured to interconnect the first pulley 43a and the second pulley 43c.

[0054] The robotic hand 1 can also include an end effector at the front ends of the first finger member 40 and the second finger member 50 so as to grip objects of various shapes with a simple structure. The end effector can refer to a structure for performing random motions such as gripping or rotating an object from the tip of the robotic hand. The end effector can include a first gripper 60 provided at the front end of the first finger member 40 and a second gripper 70 provided at the front end of the second finger member 50. The first gripper 60 and the second gripper 70 can apply degrees of freedom to the front ends of the first finger member 40 and the second finger member 50.

[0055] The robotic hand 1 can grip an object having a substantially flat plate shape (such as a plate) by means of a scissor motion by the first gripper 60 and the second gripper 70. Here, the gripping using the scissor motion can be to grip the object when a part of the first gripper 60 and a part of the second gripper 70 rotate in directions facing each other.

[0056] In order for the first gripper 60 and the second gripper 70 to stably grip an object using a scissor motion, the first finger member 40 and the second finger member 50 can be kept in a mutually locked state. For this purpose, in the first finger member 40, a lock pin 48a as shown in Figure 5a can be provided, and the second finger member 50 can be provided with a groove member 58 into which the lock pin 48a is inserted.

[0057] The operation button 45a can be elastically supported by the first elastic member 45b and protrude to the outside of the first finger member 40. When the first finger member 40 and the second finger member 50 come into contact after moving in a direction of getting closer to each other according to the driving of the first link member 20 and the second link member 30, the operation button 45a can be pressed by a pressing member 55 of the second finger member 50 facing the operation button 45a.

[0058] The locking pin 48a can be pressed by the elastic force of the second elastic member 48b and positioned inside the guiding member 48d. The locking pin 48a can be configured such that when the operation button 45a is pressed by the pressing member 55 of the second finger member 50, a part of it protrudes from the guiding member 48d by hydraulic pressure. The groove member 58 can be inserted in the case where a part of the locking pin 48a protrudes from the guiding member 48d.

[0059] In the first finger member 40, a hydraulic structure for protruding the locking pin 48a from the guiding member 48d based on the operation button 45a being pressed by the pressing member 55 of the second finger member 50 can be included. The hydraulic structure can include a first hydraulic pipe 47a and a second hydraulic pipe 47b connected to the first hydraulic pipe. The first hydraulic pipe 47a can be formed by a pipeline having a predetermined length. One end of the first hydraulic pipe 47a can be connected to the first chamber 45d in which the operation button 45a is arranged through a first fitting 46a. The opposite end of the first hydraulic pipe 47a can be connected to one end of the second hydraulic pipe 47b through a second fitting 46b. The opposite end of the second hydraulic pipe 47b can be connected to the second chamber 48e arranged inside the guiding member 48d. Therefore, the first chamber 45d, the first hydraulic pipe 47a, the second hydraulic pipe 47b, and the second chamber 48e can be connected in series. Working oil can be filled in the first chamber 45d, the first hydraulic pipe 47a, the second hydraulic pipe 47b, and the second chamber 48e.

[0060] At the operation button 45a, a first sealing member 45c configured to prevent leakage of the working oil from the first chamber 45d can be coupled. At the locking pin 48a, a second sealing member 48c configured to prevent leakage of the working oil from the second chamber 48e can be coupled.

[0061] The second finger member 50 can include a driving structure that is the same as or similar to the driving structure of the first finger member 40 to drive the second gripper 70 to rotate forward or backward. For example, at the second finger member 50, a third driving motor 51, a second speed reducer 52, and a second force transmission member 53 can be arranged.

[0062] The rotational force generated by the third driving motor 51 can be transmitted to the second gripper 70 through the second speed reducer 52 and the second force transmission member 53. The second force transmission member 53 can include a third pulley 53a connected to the second speed reducer 52, a fourth pulley 53c connected to the second gripper 70, and a second driving belt 53b configured to connect the third pulley 53a and the fourth pulley 53c to each other.

[0063] Refer to Figure 6 and Figure 7, when the operation button 45a is pressed by the pressing member 55 of the second finger member 50 as the first finger member 40 and the second finger member 50 move in a direction closer to each other, the working oil in the first chamber 45d, the first hydraulic pipe 47a, the second hydraulic pipe 47b, and the second chamber 48e can be compressed toward the lock pin 48a side. The hydraulic pressure operated at the lock pin 48a can push the lock pin 48a elastically supported by the second elastic member 48b toward the outside of the first finger member 40. The lock pin 48a can be configured such that a part of it protrudes outside the guide member 48d by hydraulic pressure and is inserted into the groove member 58 facing the lock pin 48a.

[0064] In this case, since the first gripper 60 and the second gripper 70 are in a fixed state with respect to each other, the robotic hand 1 can be configured to stably grasp an object using the first gripper 60 and the second gripper 70 with a scissor motion.

[0065] The first gripper 60 can select one of various grasping orientations for grasping an object according to the forward rotation or reverse rotation drive of the second drive motor 41. In addition, the second gripper 70 can select one of various grasping orientations for grasping an object according to the forward rotation or reverse rotation drive of the third drive motor 51.

[0066] Refer to Figure 5a , the first gripper 60 can include a plurality of grasping members capable of grasping an object according to the shape of the object. For example, the first gripper 60 can include a first grasping member 61, a second grasping member 63 extending from the first grasping member 61, and a third grasping member 65 provided on one side of the second grasping member 63.

[0067] The first grasping member 61 can be arranged to face one side of the second gripper 70. The first grasping member 61 can be coupled to the second pulley 43c, and the guide member 48d can pass through the first grasping member 61. The first grasping member 61 can be provided with a plurality of first anti-slip protrusions 62 to increase the frictional force with the object when grasping the object.

[0068] The second grasping member 63 can be configured such that the first grasping member 61 extends along the length direction of the first gripper 60 from one end. The second grasping member 63 can be formed to face a direction different from that of the first grasping member 61. For example, as Figure 5a shown, the second grasping member 63 can be constructed to face a direction substantially perpendicular to the direction in which the first grasping member 61 faces forward. The second grasping member 63 can be provided with a plurality of second anti-slip protrusions 64.

[0069] The third grasping member 65 can be provided at an end portion of the second grasping member 63 adjacent to the second gripper 70 on the outside. The third grasping member 65 can have a gentle curvature.

[0070] Referring to Figure 5b , the second gripper 70 may have a structure similar to that of the first gripper 60. For example, the second gripper 70 may include a fourth gripping member 71, a fifth gripping member 73 extending from the fourth gripping member 71, and a sixth gripping member 75 disposed on one side of the fifth gripping member 73.

[0071] The fourth gripping member 71 may be arranged to face one side of the first gripper 60. The fourth gripping member 71 may be coupled to the fourth pulley 53c, and the groove member 58 may pass through the fourth gripping member 71. The fourth gripping member 71 may be provided with a plurality of grooves 72 to increase the frictional force with the object when gripping the object.

[0072] The plurality of grooves 72 may be formed in an arc shape having a curvature substantially the same as that of the first anti-slip protrusion 62 so that the first anti-slip protrusion 62 of the first gripping member 61 can be inserted. If the first gripper 60 and the second gripper 70 are oriented for gripping an object using a scissor motion, the first gripping member 61 and the fourth gripping member 71 may come into contact with each other. At this time, the plurality of first anti-slip protrusions 62 may be inserted into the plurality of grooves 72. According to the plurality of grooves 72 having the same curvature as each other, the plurality of first anti-slip protrusions 62 may be configured such that the first gripper 60 and the second gripper 70 rotate in opposite directions based on the locking pin 48a.

[0073] The fifth gripping member 73 may be configured such that the fourth gripping member 71 extends from one end thereof along the longitudinal direction of the second gripper 70. As Figure 5b shown, the fifth gripping member 73 may be configured to face a direction substantially perpendicular to the direction in which the fourth gripping member 71 faces directly. In addition, the fifth gripping member 73 may be configured to face a direction opposite to the direction in which the second gripping member 63 faces directly. Therefore, when the first gripper 60 and the second gripper 70 are oriented for a scissor motion, the fifth gripping member 73 may be configured to face the second gripping member 63. The fifth gripping member 73 may be provided with a plurality of second anti-slip protrusions 64.

[0074] The sixth gripping member 75 may be disposed at an end of the fifth gripping member 73 adjacent to the first gripper 60 on the outside. The sixth gripping member 75 may have a gentle curvature. The sixth gripping member 75 may be configured to stably grip an object having a curved surface shape (such as a cup) together with the third gripping member 65.

[0075] The first gripper 60 and the second gripper 70 can be configured to stably grip objects of various shapes by the first gripping member 61, the second gripping member 63, and the third gripping member 65 of the first gripper 60, and the fourth gripping member 71, the fifth gripping member 73, and the sixth gripping member 75 of the second gripper 70. The first gripper 60 and the second gripper 70 can select various gripping orientations to grip an object together with each other. The gripping orientations of the first gripper 60 and the second gripper 70 can be selected based on the shape of the object and the orientation of the object. Various gripping orientations of the first gripper 60 and the second gripper 70 will be described below.

[0076] Figure 8 FIG. is a view showing a first gripping orientation of a first gripper and a second gripper of a robotic hand according to one or more embodiments.

[0077] The first gripper 60 and the second gripper 70 of the robotic hand 1 can select a first gripping orientation. The first gripping orientation can be an orientation in which the first gripper 60 and the second gripper 70 are arranged parallel to each other as shown in Figure 8 and the first gripping member 61 of the first gripper 60 and the fourth gripping member 71 of the second gripper 70 are arranged to face each other. The first gripper 60 and the second gripper 70 can be configured to grip both sides of an object in the first gripping orientation.

[0078] If the object is placed on the lower side of the robotic hand 1, the first gripper 60 and the second gripper 70 can be rotated so that the first gripping member 61 of the first gripper 60 and the fourth gripping member 71 of the second gripper 70 face the lower side while presenting the first gripping orientation, as shown in Figure 8 FIG.

[0079] Furthermore, if the object is placed in front of the robotic hand 1, the first gripper 60 and the second gripper 70 can be rotated so that the first gripping member 61 of the first gripper 60 and the fourth gripping member 71 of the second gripper 70 face the front of the robotic hand 1 or are rotated to incline downward while presenting the first gripping orientation.

[0080] The robotic hand 1 can be configured to grip an object stably by approaching the object after rotating a predetermined angle according to the shape of the object, the position where the object is placed, or the orientation of the object in a state where the first gripper 60 and the second gripper 70 are set in the first gripping orientation.

[0081] Figure 9a FIG. is a view showing an example in which a first gripper and a second gripper of a robotic hand grip an object in a first gripping orientation according to one or more embodiments. Figure 9bA diagram showing an example of a first gripper and a second gripper that rotate a robotic hand in the same direction according to one or more embodiments. Figure 9c A diagram showing an example of a robotic hand placing an object at a target position according to one or more embodiments.

[0082] The robotic hand 1 can be configured to set the first gripper 60 and the second gripper 70 in a first grasping orientation to grasp a first object 91.

[0083] Refer to Figure 9a , the robotic hand 1 can be configured to grasp the first object 91 in a state presenting the first grasping orientation. The first object 91 can have a generally narrow and long shape. As an example, the first object 91 is described as a fork, but is not limited thereto. The first object 91 can be a spoon, chopsticks, ladle, etc. In addition, the first object 91 can be symmetric or asymmetric in shape on both sides. In addition, the first object 91 can have a shape with a width smaller than the maximum interval between the first finger member 40 and the second finger member 50.

[0084] The robotic hand 1 can place the first object 91 in a tableware container 93 of a tableware tray 92 arranged in a dishwashing machine for cleaning. The tableware container 93 can be a target position for placing the first object 91.

[0085] Before placing the first object 91 in the tableware container 93, the robotic hand 1 can change the orientation of the first object 91 according to the position where the first object 91 is to be placed. For example, the robotic hand 1 can rotate the first gripper 60 and the second gripper 70 by a predetermined angle (e.g., about 90 degrees) so that the handle of the first object 91 faces the bottom direction, as Figure 9b shown in.

[0086] Refer to Figure 9c , the robotic hand 1 can approach the tableware container 93 and place the first object 91 in the tableware container 93. In this case, since the robotic hand 1 is in a state where the first finger member 40 and the second finger member 50 are closely adjacent to each other, the width of the robotic hand 1 can be narrowed. Therefore, the robotic hand 1 can be smoothly inserted into the interior of the dishwashing machine without disturbing the internal structure of the dishwashing machine. Here, the width of the robotic hand 1 can correspond to the distance between the left surface of the first finger member 40 and the right surface of the second finger member 50.

[0087] Figure 10 A diagram showing a second grasping orientation of a first gripper and a second gripper of a robotic hand according to one or more embodiments. Figure 11 A diagram showing Figure 10 a plan view of the second grasping orientation of the first gripper and the second gripper shown in.

[0088] Refer toFigure 10 The first gripper 60 and the second gripper 70 of the robotic hand 1 can select a second gripping orientation. The second gripping orientation can be an orientation in which the first gripper 60 and the second gripper 70 are arranged parallel to each other and the second gripping member 63 of the first gripper 60 is arranged to face the fifth gripping member 73 of the second gripper 70.

[0089] Referring to Figure 11 The first gripper 60 and the second gripper 70 can be configured to grip both sides of the second object 95 in the second gripping orientation. The second object 95 can be formed such that its outer surface is a curved surface. Based on the second gripping member 63 of the first gripper 60 and the fifth gripping member 73 of the second gripper 70 being respectively formed with a gentle curvature, the second object 95 can be stably gripped by the second gripping member 63 of the first gripper 60 and the fifth gripping member 73 of the second gripper 70.

[0090] Figure 12a is a diagram showing an example in which the first gripper and the second gripper of a robotic hand grip an object in a second gripping orientation according to one or more embodiments. Figure 12b is a diagram showing an example of rotating the first gripper and the second gripper of a robotic hand in the same direction according to one or more embodiments. Figure 12c is a diagram showing an example of a robotic hand placing an object at a target position according to one or more embodiments.

[0091] The robotic hand 1 can set the first gripper 60 and the second gripper 70 in the second gripping orientation to grip the second object 95.

[0092] Referring to Figure 12a The robotic hand 1 can be configured to grip the second object 95 in a state presenting the second gripping orientation. The second object 95 can be a term for designating an object having a different shape from the first object 91. Specifically, objects corresponding to the first object can fall within a range of the same or similar shapes, and objects corresponding to the second object can fall within a range of the same or similar shapes. Therefore, the first object 91 and the second object 95 can be distinguished from each other by shape features, and the gripping orientations for gripping the first object 91 and the second object 95 presented by the robotic hand 1 according to the shapes of the first object 91 and the second object 95 can be different from each other.

[0093] The second object 95 can have a general shape with its outer surface formed as a curved surface. As an example, the second object 95 has been described as a cup, but is not limited thereto. The second object 95 can be a bottle or a cylindrical storage container, a baby bottle, a wine glass, etc. In addition, the second object 95 can have a symmetric or asymmetric shape on both sides.

[0094] The robotic hand 1 can place the second object 95 in the tableware tray 92 arranged inside the tableware washing machine for washing. The tableware tray 92 can be the target position for placing the second object 95.

[0095] Before placing the second object 95 in the tableware tray 92, the robotic hand 1 can change the orientation of the second object 95 according to the position where the second object 95 is to be placed. For example, the robotic hand 1 can rotate the first gripper 60 and the second gripper 70 by a predetermined angle (e.g., approximately 180 degrees) so that the opening 95a faces the bottom direction to prevent water from accumulating inside the second object 95, as Figure 12b shown.

[0096] Referring to Figure 12c , the robotic hand 1 can approach the tableware tray 92 and place the second object 95 in the tableware tray 92. In this case, since the first finger member 40 and the second finger member 50 are in a state of being closely adjacent to each other, the robotic hand 1 can be changed to a width smaller than the width in the state where the first finger member 40 and the second finger member 50 are opened at the maximum interval. Therefore, the robotic hand 1 can be smoothly inserted into the interior of the tableware washing machine in the state of grasping the second object 95 without interfering with the internal structure of the tableware washing machine.

[0097] Figure 13 is a diagram showing a third grasping orientation of the first gripper and the second gripper of the robotic hand according to one or more embodiments.

[0098] Referring to Figure 13 , the first gripper 60 and the second gripper 70 of the robotic hand 1 can select a third grasping orientation. The third grasping orientation can be an orientation in which the first gripper 60 and the second gripper 70 are configured to grasp an object using a scissor motion.

[0099] To present the third grasping orientation, the robotic hand 1 can drive the first link member 20 and the second link member 30 to move to the position where the first finger member 40 and the second finger member 50 are in contact with each other, and reduce the lengths of the first link member 20 and the second link member 30.

[0100] When the first finger member 40 and the second finger member 50 are in contact with each other, the operation button 45a of the first finger member 40 can be pressed by the pressing member 55 of the second finger member 50. Based on the operation button 45a being pressed, the locking pin 48a can be inserted into the groove member 58 by hydraulic pressure (refer to Figure 7 ).

[0101] In this case, the third grasping member 65 of the first gripper 60 can be arranged to face the sixth grasping member 75 of the second gripper 70. The robotic hand 1 can rotatably drive the first gripper 60 and the second gripper 70 so that the third grasping member 65 of the first gripper 60 and the sixth grasping member 75 of the second gripper 70 rotate in a direction of getting closer to each other and grasp an object.

[0102] Figure 14a is a diagram showing an example in which the first gripper and the second gripper of a robotic hand grasp an object in a third grasping orientation according to one or more embodiments. Figure 14b is a diagram showing an example of rotating the first gripper and the second gripper of a robotic hand in the same direction according to one or more embodiments. Figure 14c is a diagram showing an example in which a robotic hand places an object at a target position according to one or more embodiments.

[0103] Referring to Figure 14a , the robotic hand 1 can be configured to grasp the third object 96 in a state presenting a third grasping orientation. The third object 96 can generally have a flat plate shape. The third object 96 can be, for example, a plate, a saucer, a pot rack, etc.

[0104] The robotic hand 1 can place the third object 96 in a tableware tray 92 arranged inside a dishwashing machine for washing. The tableware tray 92 can be a target position for placing the third object 96.

[0105] Before placing the third object 96 in the tableware tray 92, the robotic hand 1 can change the orientation of the third object 96 according to the position where the third object 96 will be placed. For example, the robotic hand 1 can rotate the first gripper 60 and the second gripper 70 by a predetermined angle (e.g., about 90 degrees) so that the moisture on the third object 96 flows downward and is sufficiently dried, as Figure 14b shown in.

[0106] Referring to Figure 14c , the robotic hand 1 can approach the tableware tray 92 and place the third object 96 in the tableware tray 92. In this case, since the first finger member 40 and the second finger member 50 are in a state of being closely adjacent to each other, the width of the robotic hand 1 can be changed to a width smaller than the width in a state where the first finger member 40 and the second finger member 50 are opened at the maximum interval. Therefore, the robotic hand 1 can be smoothly inserted into the inside of the dishwashing machine in a state of grasping the third object 96 without interfering with the internal structure of the dishwashing machine.

[0107] The robotic hand 1 according to one or more embodiments can be applied to a service robot. The service robot can be applied to a robot for assisting with housework, a service robot for delivering food or dishes in a restaurant, etc., a robot for performing various tasks at an industrial site, etc. An example will be described in which a service robot according to one or more embodiments described below is applied as having the above-described robotic hand 1 and performing housework (for example, the task of transporting used tableware to a dishwashing machine).

[0108] As described in the above various embodiments, the robotic hand can change its orientation to different forms according to the shape, orientation, etc. of the object to be grasped. The method of recognizing the shape or orientation of the object to be grasped can be implemented in various ways. In an example, the shape, orientation, etc. of the object can be recognized based on an image captured using a camera. The above embodiments will be described in detail below.

[0109] Figure 15 is a block diagram of a service robot including a robotic hand according to one or more embodiments. The service robot according to one or more embodiments can recognize the shape and orientation of the object to be grasped, stably grasp the object by selecting one orientation from various grasping orientations achievable by the robotic hand according to the recognition result, and transport the object to the target position.

[0110] Referring to Figure 15 , the service robot 100 according to one or more embodiments can include a robotic hand 1, a camera 3, an interface 4, a processor 5, and a memory 7. The robotic hand 1 can include a first drive motor 11, a second drive motor 41, and a third drive motor 51, and their driving can be controlled by the processor 5. In Figure 15 , the service robot 100 has been shown as an integrated type having a camera 3 and a robotic hand 1, but the service robot 100 can be implemented as a terminal device connected to the camera 3, the robotic hand 1, etc. through a communication interface when implemented. That is, after receiving the captured image from the camera 3 arranged at a position where the object can be captured by a wireless method or a wired method, an electronic device (such as a personal computer (PC) or a laptop computer, a mobile phone, a self-service terminal, etc.) for controlling the movement of the robotic hand 1 can be used to analyze and implement the captured image. The description described below can be applied not only to Figure 15 the example in which each element is included in the service robot 100, but also applicable even when implemented as an external device connected by a communication method.

[0111] The camera 3 can be a device for capturing an object. One or more cameras 3 can be used.

[0112] The camera 3 can acquire images of objects around the service robot. The camera 3 can capture still images or moving images. For example, the camera 3 can include at least one image sensor (e.g., a front - surface sensor or a rear - surface sensor), a lens, an image signal processor (ISP), or a flash (e.g., an LED or a xenon lamp, etc.). At this time, the camera 3 can be activated when specific conditions are met to prevent unnecessary power consumption. For example, when movement around is detected using a motion - detection sensor that is driven with lower power than the camera 3, when a user command is input, when a preset motion time arrives, etc., the processor 5 can control the camera 3 to turn on and perform capture.

[0113] The interface 4 can be configured to receive signals or data from various external devices. The interface 4 can be implemented in various forms (such as, for example but not limited to, an input interface and an output interface connected to an input device (such as a keyboard, a mouse, or a microphone) or an output device (such as a display device or a speaker), a communication interface configured to communicate with an external device, an interface configured to connect to an external storage device (such as a universal serial bus (USB) memory), etc.).

[0114] The user can directly input input data through the interface 4, and the service robot can receive input data through an external device. Optionally, all data input through the two paths can be used as input data. In Figure 15 the camera 3 and the processor 5 have been shown as being directly connected, but in the case where the camera 3 is implemented as an external device separated from the service robot 100, the data captured in the camera 3 or various control signals can also be sent and received through the interface 4. The processor 5 can be an element for controlling the overall movement of the service robot 100. The processor 5 can be formed by one or more processors. The one or more processors can include at least one of a central processing unit (CPU), a graphics processing unit (GPU), or a neural processing unit (NPU), but is not limited to the examples of the above - mentioned processors.

[0115] The CPU can be a general - purpose processor that can not only perform general computing but also perform artificial - intelligence computing, and can effectively execute complex programs through a multi - level cache structure. The CPU may be advantageous in a serial - processing method that allows the organic connection of previous calculation results and subsequent calculation results through sequential calculation. Except when designated as the above - mentioned CPU, the general - purpose processor is not limited to the above examples.

[0116] A GPU can be a processor for large-scale computing, such as the floating-point computing used in graphics processing, and performs large-scale computing in parallel by integrating a large number of cores. Specifically, compared with a CPU, a GPU may be advantageous in parallel processing methods such as convolutional computing. In addition, a GPU can be used as an auxiliary processor (coprocessor) to supplement the functions of a CPU. Except when specified as the above GPU, the processor for large-scale computing is not limited to the above examples.

[0117] An NPU can be a processor dedicated to artificial intelligence computing using artificial neural networks, and each layer forming the artificial neural network can be implemented by hardware (e.g., silicon). At this time, since the NPU is specifically designed according to the specifications required by the company, the degree of freedom is lower compared with a CPU or a GPU, but the NPU can effectively process the artificial intelligence computing required by the company. In addition, as a processor dedicated to artificial intelligence computing, the NPU can be implemented in various forms (such as, for example but not limited to, tensor processing unit (TPU), intelligent processing unit (IPU), vision processing unit (VPU), etc.). Except when specified as the above NPU, the artificial intelligence processor is not limited to the above examples.

[0118] In addition, one or more processors can be implemented as a system on a chip (SoC). At this time, in the SoC, in addition to one or more processors, a memory 7 and a network interface (such as a bus for data communication between the processor 5 and the memory 7) can also be included.

[0119] If a system on a chip (SoC) included in a service robot according to one or more embodiments includes multiple processors, the service robot can use a part of the multiple processors to perform computations associated with artificial intelligence (e.g., computations associated with the learning or inference of an artificial intelligence model). For example, the service robot can use at least one of a GPU, an NPU, a VPU, a TPU, or a hardware accelerator dedicated to artificial intelligence computing (such as convolutional computing and matrix multiplication computing) among the multiple processors to perform computations associated with artificial intelligence. However, the above is one embodiment, and a general-purpose processor (such as a CPU) can be used to process computations associated with an object recognition function.

[0120] The processor 5 can input the captured image of the camera 3 into the artificial intelligence model and analyze the captured image. The processor 5 can determine what type of object is captured by the camera 3, what orientation the object is placed in, etc. based on the output value of the artificial intelligence model. The artificial intelligence model can be trained based on the captured images of various objects placed in various orientations and the associated label data.

[0121] The memory 7 can be an element for storing various programs and data required for the movement of the service robot. The memory 7 may include a volatile memory or a non-volatile memory. The programs can be stored in the memory 7 as software and may include, for example, an operating system, middleware, or applications.

[0122] Among the data stored in the memory 7, it may include the shapes of various products belonging to tableware and multiple images corresponding to the orientations in which the products are placed. For example, it may include multiple images of a cup among the tableware captured from various angles, images of various orientations capturing the state of placing a single cup, images of various types of cups, etc.

[0123] The processor 5 can train an artificial intelligence model based on the data stored in the memory 7 or a separate storage medium (such as an HDD, external hard drive, flash drive, etc.). Then, when an image of an object captured from the camera 3 is input, the trained artificial intelligence model can be used to identify the shape of the object, and based on this, the grasping orientation of the robot hand 1 suitable for grasping the object can be identified.

[0124] For example, the first grasping orientation can be the orientation for grasping an object with an elongated shape (such as a spoon, chopsticks, ladle, etc.). The first grasping orientation can be the orientation in which the first gripper 60 and the second gripper 70 of the robot hand 1 are arranged in parallel and the first grasping member 61 of the first gripper 60 and the fourth grasping member 71 of the second gripper 70 are arranged to face each other (refer to Figure 8 ). For example, the second grasping orientation can be the orientation for grasping an object with a generally curved surface shape on the outside (such as a bottle or a cylindrical storage container, baby bottle, wine glass, etc.). The second grasping orientation can be the orientation in which the first gripper 60 and the second gripper 70 are arranged parallel to each other and the second grasping member 63 of the first gripper 60 is arranged to face the fifth grasping member 73 of the second gripper 70 (refer to Figure 10 ). For example, the third grasping orientation can be the orientation for grasping an object with a generally flat plate shape (such as a plate, saucer, pot rack, etc.). However, the orientations for using the robot hand 1 to grasp an object are not limited to the first grasping orientation, the second grasping orientation, and the third grasping orientation.

[0125] The first drive motor 11 can drive the first link member 20 and the second link member 30 of the robot hand 1 together. The first drive motor 11 can be provided at the support member 10 (refer to Figure 1 ). The second drive motor 41 can drive the first gripper 60 provided at the front end of the first finger member 40 as shown in Figure 5a to rotate forward or backward (refer to Figure 5a). The third drive motor 51 can drive the second gripper 70 provided at the front end of the second finger member 50 to rotate forward or backward (see Figure 5b ).

[0126] In addition, in Figure 15 , embodiments of analyzing an image captured by a camera using an artificial intelligence model have been described, but different methods from the above methods can be used to determine the type, orientation, etc. of an object.

[0127] In the example, the user can directly select the type of the object before using the robotic hand 1. For example, in Korean cuisine, concave tableware such as soup bowls, rice bowls, and pots are usually used, while in Western cuisine, wide plate-shaped tableware is usually used. If the user selects a mode such as Korean cuisine, Western cuisine, Japanese cuisine, etc., the processor 5 can change the orientation of the robotic hand 1 accordingly.

[0128] In another example, the shape can be determined by directly analyzing the captured image without using an artificial intelligence model. Specifically, when the captured image is received, the processor 5 can classify all the pixels of the captured image into multiple pixel groups and detect the representative pixel value (e.g., average pixel value, etc.) of each pixel group. The processor 5 can detect multiple pixel groups in which the representative pixel values in a similar range are continuously arranged, and distinguish each object in the captured image by identifying the positions of the pixel groups corresponding to the boundaries having other representative pixel values as the boundary surfaces. Then, the processor 5 can compare the pre-stored image with the arrangement form of the pixel groups corresponding to the distinguished objects and determine whether the corresponding object is a dish or a plate. According to the embodiment, the method of directly analyzing each of the captured images in this way can be applied.

[0129] In yet another example, the user can directly notify the service robot 100 of the type of the object by methods such as voice recognition or motion recognition. Figure 16 is a flowchart showing a control process of a service robot including a robotic hand according to one or more embodiments.

[0130] When a user command is input through the interface 4, the service robot 100 can perform a motion corresponding to the relevant command. For example, when the user inputs a command to grasp an object (e.g., a fork) and move it to a target position (e.g., a tableware container of a tableware tray arranged in a dishwashing machine), the processor 5 can control the camera 3 to capture the object.

[0131] The processor 5 can compare the image of the object obtained by the camera 3 with the learning data stored in the memory 7 and identify the shape of the object ( Figure 16 1601 in). In this case, the processor 5 can not only identify the shape of the object but also identify the orientation in which the object is placed.

[0132] The processor 5 can identify a grasping orientation from various grasping orientations (e.g., a first grasping orientation, a second grasping orientation, and a third grasping orientation) of the first gripper and the second gripper based on the shape of the recognized object or the shape of the object and the orientation of the object ( Figure 16 1602 in).

[0133] If the orientation for grasping the object is identified as the first grasping orientation, the processor 5 can change the lengths of the first link member 20 and the second link member 30 by controlling the first drive motor 11 so that the first link member 20 and the second link member 30 are opened at a predetermined interval. In addition, the processor 5 can control the second drive motor 41 and the third drive motor 51, and arrange the first gripper 60 and the second gripper 70 of the robot hand 1 in parallel. In this case, the first grasping member 61 of the first gripper 60 and the fourth grasping member 71 of the second gripper 70 can be arranged to face each other.

[0134] For example, if the robot hand 1 is mounted on the robot arm, the processor 5 can control the robot arm to bring the robot hand 1 closer to the object. In this case, the robot arm can be driven by the fourth drive motor, and the processor 5 can change the position of the robot arm by removing the fourth drive motor. The robot hand 1 can be positioned such that the object is located between the first grasping member 61 of the first gripper 60 and the fourth grasping member 71 of the second gripper 70.

[0135] The processor 5 can control the first drive motor 11 to change so that the lengths of the first link member 20 and the second link member 30 are reduced. Accordingly, the first finger member 40 and the second finger member 50 can move in a direction of getting closer to each other, and the object can be grasped by the first grasping member 61 of the first gripper 60 and the fourth grasping member 71 of the second gripper 70 ( Figure 16 1603 in).

[0136] The processor 5 can identify the target position by capturing, via the control camera 3, the target position (e.g., the tableware tray of the dishwashing machine) where the object will be placed. In this case, the target position can be identified using the three-dimensional coordinates calculated based on the position of the robot hand 1.

[0137] When placing an object (e.g., a fork, refer to Figure 9a ) at the target position (e.g., the tableware container of the tableware tray arranged in the dishwashing machine, refer to Figure 9cBefore that, the processor 5 can recognize the rotation angles of the first gripper 60 and the second gripper 70 for orienting the handle of the object towards the bottom direction. The processor 5 can control the second drive motor 41 and the third drive motor 51, and rotate the first object 91 grasped by the first grasping member 61 of the first gripper 60 and the fourth grasping member 71 of the second gripper 70 by a predetermined angle ( Figure 16 in 1604).

[0138] In addition, when the processor 5 places an object at the recognized target position through the robotic hand 1, it can determine whether a change in the orientation of the object is required. For example, when there is a structure around the recognized target position, the processor can determine whether there is interference of the robotic hand 1 with the structure or interference of the object grasped by the robotic hand 1 with the structure, and based on this, recognize the rotation angles of the first gripper 60 and the second gripper 70.

[0139] The processor 5 can control the robotic arm to move the robotic hand 1 to the recognized target position. When the robotic hand 1 is transported to the target position, the processor 5 can move the first finger member 40 and the second finger member 50 in a direction of moving further apart by changing the lengths of the first link member 20 and the second link member 30 by controlling the first drive motor 11. Therefore, the object can be stably placed at the target position (for example, the tableware container of the tableware tray arranged in the dishwashing machine, refer to Figure 9c ).

[0140] As described above, the service robot according to one or more embodiments can be configured to recognize the shape of the object to be grasped and the orientation in which the object is placed, and recognize the grasping orientation of the robotic hand 1 based on the recognized orientation. The recognized grasping orientation can be the orientation for stably grasping the object.

[0141] Figure 17 is a flowchart showing in detail the control process of a service robot including a robotic hand according to one or more embodiments.

[0142] The processor 5 can control the camera 3 to obtain an image of the object by capturing the object ( Figure 17 in 1701).

[0143] The processor 5 can recognize the shape of the object by comparing the captured image with the data stored in the memory 7 ( Figure 17 in 1702). In this case, the processor 5 can not only recognize the shape of the object, but also recognize the orientation in which the object is placed.

[0144] The processor 5 can recognize the grasping orientation of the first gripper 60 and the second gripper 70 based on the shape of the object or the shape and orientation of the object ( Figure 17in 1703). The processor 5 can arrange the first gripper 60 and the second gripper 70 in the identified grasping orientation by controlling the second drive motor 41 and the third drive motor 51.

[0145] The processor 5 can use the first gripper 60 and the second gripper 70 to grasp an object by controlling the first drive motor 11 ( Figure 17 in 1704).

[0146] If the object is not grasped by the first gripper 60 and the second gripper 70, the processor 5 can repeat the steps 1701, 1702, 1703, and 1704 described above, or if the object is successfully grasped, proceed to the next step ( Figure 17 in 1705). As described above, the control method of the service robot can include: stably grasping the object after changing the grasping orientation based on the inability to grasp the object in the identified grasping orientation of the object. Figure 17

[0147] The processor 5 can control the camera 3 to capture the grasping state of the first gripper 60 and the second gripper 70 on the object, and determine whether the object is grasped based on the captured image. Optionally, the processor 5 can determine whether the object is grasped through the data obtained by the weight sensor provided at the robot hand 1.

[0148] Figure 17 The processor 5 can capture the target position where the object will be placed by controlling the camera 3 ( Figure 17 in 1706).

[0149] The processor 5 can determine whether a change in the orientation of the object is required when placing the object at the target position by the robot hand 1 ( Figure 17 of 1707), and rotate the first gripper 60 and the second gripper 70 by a predetermined angle by controlling the second drive motor 41 and the third drive motor 51 ( Figure 17 of 1708). If a change in the orientation of the object is not required, the step 1708 in Figure 17 can be omitted.

[0150] The processor 5 can control the fourth drive motor that drives the structure (such as the robot arm) where the robot hand 1 is installed, and place the object at the target position after moving the robot hand 1 to the target position ( Figure 17 in 1709).

[0151] In this case, according to whether the object is placed at the target position ( Figure 17 in 1710), the processor can repeat Figure 17Steps 1706, 1707, 1708, and 1709 in, or end the work. The processor 5 can control the camera 3 to capture an object being placed at a target position and determine whether the object is placed based on the captured image.

[0152] According to one or more embodiments, a service robot can be implemented as a Selective Compliance Assembly Robot Arm (SCARA) robot. An example in which a robotic hand is applied to a SCARA robot will be described below with reference to the accompanying drawings.

[0153] The SCARA robot can include a plurality of arms that respectively have a turning radius and are hinged, and various tools can be mounted on the arm positioned at the tip among the plurality of arms. Here, the various tools can be the robotic hand described in the present disclosure or a conveying device driven in the Z-axis direction.

[0154] Figure 18 is a view showing a SCARA robot according to one or more embodiments. Figure 19 is a side view showing an example of a robotic hand coupled to an arm of a SCARA robot according to one or more embodiments.

[0155] Refer to Figure 18 , according to one or more embodiments, the SCARA robot 200 can include: a base 210 provided with a plurality of drive wheels and a wheel drive motor for driving the plurality of drive wheels; a bracket 230 having a predetermined height on the upper side of the base 210 and being vertically arranged; a connection member 261 arranged to be liftable at the bracket 230; a first arm 262 rotatably connected at one end to the connection member 261 and being arranged substantially horizontally with respect to the bracket 230; a second arm 263 rotatably connected at one end to the opposite end of the first arm 262 and being arranged parallel to the first arm 262; and a robotic hand 1 connected to the opposite end of the second arm 263.

[0156] The SCARA robot 200 can be provided with an interface 4 (refer to Figure 15 ) and a processor 5 (refer to Figure 15 ) and a memory 7 (refer to Figure 15 ) at the base 210 or the bracket 230. In addition, the SCARA robot 200 can include a camera 3 (refer to Figure 19 ) provided at the second arm 263 and configured to capture an object 97 or a target position for placing the object 97.

[0157] The robotic hand 1 can be configured such that the rear end of the robotic hand 1 is mounted on the bottom surface of the opposite end of the second arm 263. In this case, the robotic hand 1 can be arranged to be inclined at a predetermined angle θ with respect to a straight line perpendicular to the horizontal direction of the second arm 263 so that the lower end protrudes from the second arm 263.

[0158] As described above, based on arranging the robotic hand 1 at the second arm 263 at a predetermined angle θ, when the robotic hand 1 rotates an object in a state of grasping the object 97, interference of the object with the robotic hand 1 can be avoided. For example, if the robotic hand 1 grasps the object 97 while the base 97a of the object 97 is arranged to face downward, when the first gripper 60 and the second gripper 70 of the robotic hand 1 rotate 180 degrees in the clockwise direction, as Figure 19 shown, the orientation of the object 97 can be changed to a direction in which the base 97a of the object 97 faces upward. In this case, even if the length of the base 97a of the object 97 is longer than the length of the robotic hand 1, when changing the orientation of the object 97, the base 97a of the object 97 will not be interfered with by the robotic hand 1.

[0159] The SCARA robot 200 according to one or more embodiments can apply degrees of freedom to the front end of the robotic hand 1 due to the first gripper 60 and the second gripper 70 included in the robotic hand 1. Therefore, the SCARA robot 200 equipped with the robotic hand 1 may be expensive, and can perform most of the work performed by robots in the prior art (for example, a robot with a robotic hand in the prior art mounted on a multi-degree-of-freedom multi-joint arm with a complex structure).

[0160] The robotic hand 1 according to one or more embodiments can be provided with a first gripper 60 and a second gripper 70 having independent rotational degrees of freedom at the ends. Therefore, if a SCARA robot, an orthogonal robot, etc. are applied to a device provided with a robotic arm having a low degree of freedom, various operations such as grasping, transporting, and placing objects of various shapes (such as tableware) can be performed in a narrow space.

[0161] The service robot according to one or more embodiments can stably perform a grasping motion since it can recognize various shapes of an object and can grasp the object in a grasping orientation corresponding to the shape of the relevant object among a plurality of grasping orientations.

[0162] Although aspects of the robotic hand have been described above with reference to the above drawings based on specific shapes and directions, it should be understood that those of ordinary skill in the art can make various changes in form and details, and the changes in form and details should be understood to be included within the true spirit and full scope of the present disclosure.

Claims

1. A method of controlling a robot hand, the robot hand comprising a first gripper and a second gripper, the method comprising: Recognize the shape of the object through the camera; Based on the recognized shape of the object, changing the grasping orientations of the first grasper and the second grasper; grasping the object using the first gripper and the second gripper; as well as The first gripper and the second gripper are rotated to change the orientation of the object according to a target position where the object is to be placed.

2. The method of claim 1, wherein: The operations of grabbing the object include: grasping the object in a first grasping orientation by moving the first grasper and the second grasper from a spaced-apart state to closer together, or When the first gripper and the second gripper are in a contact state, the object is gripped in a second gripping orientation by rotating the first gripper and the second gripper in directions opposite to each other.

3. The method of claim 2, wherein: The first gripping orientation includes the first gripper and the second gripper being arranged in parallel.

4. The method of claim 1, wherein: The operation of grasping the object includes the first gripper and the second gripper being moved parallel to each other toward the object.

5. The method of claim 1, wherein: The operation of rotating the first gripper and the second gripper to change the orientation of the object includes: identifying a rotation angle of the first gripper and the second gripper according to the target position for placing the object; and The first gripper and the second gripper are rotated in the same direction at the identified rotation angle.

6. A robot hand, comprising: Support components; A first link member and a second link member are extendably connected to opposite sides of the support member, respectively; a first finger member including a first rear end connected to the first link member; a second finger member including a second rear end connected to the second link member, wherein the second finger member is parallel to the first finger member; a first grabber rotatably connected to a first front end of the first link member; a second gripper rotatably connected to a second front end of the second link member and facing the first gripper; a first driver configured to extendably drive the first link member and the second link member; a second driver configured to drive the first gripper to rotate; and The third driver is configured to drive the second gripper to rotate.

7. The robot hand of claim 6, wherein: The first finger member and the second finger member are configured to remain parallel when moved closer to each other in a first direction and moved away from each other in a second direction.

8. The robot hand of claim 7, further comprising: A locking member is configured to lock the first finger member and the second finger member when the first gripper and the second gripper are in contact.

9. The robot hand of claim 8, wherein: The locking component comprises: an operation button, disposed on the first finger member and facing the second finger member; a locking pin configured to protrude from the first gripper based on the operation button being pressed; a groove member disposed on the second finger component and configured to receive the locking pin; and A hydraulic pipe is arranged between the operating button and the locking pin.

10. The robot hand according to claim 6, wherein: The first gripper comprises: a first gripping member; a second gripping member extending from the first gripping member; and a third gripping member disposed between the first gripping member and the second gripping member, and Wherein, the second grabber comprises: a fourth gripping member facing the first gripper and configured to grip an object together with the first gripping member; a fifth grasping member extending from the fourth grasping member and configured to grasp an object together with the second grasping member; and The sixth grasping member is disposed between the fourth grasping member and the fifth grasping member and is configured to grasp the object together with the third grasping member.

11. The robot hand of claim 10, wherein: The second gripper member and the fourth gripper member are configured to face each other when the first gripper and the second gripper are in a contact state and are rotated in opposite directions to each other.

12. The robot hand of claim 7, further comprising: A synchronizer is configured to maintain the first finger member and the second finger member in parallel by linking extension drives of the first link member and the second link member.

13. The robot hand of claim 12, wherein: The synchronizer comprises: a first gear chain connecting the first link member and the first finger member at a reduction ratio of 1:2; and The second gear chain connects the second link member and the second finger member at a reduction ratio of 1:

2.

14. A service robot comprising: Pedestal; a bracket connected to the base and arranged perpendicular to the base; a first arm connected to the support; a second arm rotatably connected to the first arm; a robotic hand connected to the second arm and comprising a first gripper and a second gripper; as well as At least one processor configured to: recognizing a shape of an object based on an image of the object; The robot hand is controlled to grasp the object by changing the grasping directions of the first grasper and the second grasper according to the recognition result.

15. The service robot according to claim 14, wherein: The robot hand is inclined toward the outside of the second arm relative to a straight line perpendicular to the horizontal direction of the second arm, Wherein, the robot hand further comprises: Support components; A first link member and a second link member are extendably connected to opposite sides of the support member, respectively; a first finger member including a first rear end connected to the first link member; a second finger member including a second rear end connected to the second link member, wherein the second finger member is parallel to the first finger member; a first driver configured to extendably drive the first link member and the second link member; a second driver configured to drive the first gripper to rotate; and a third drive configured to drive the second gripper to rotate, wherein the first gripper is rotatably connected to a first front end of the first link member, and The second gripper is rotatably connected to the second front end of the second link member and faces the first gripper.

Images