Robotic finger device and robotic hand comprising same

Abstract

An embodiment of the present invention provides a robotic finger device and a robotic hand comprising same, the robotic finger device comprising: a base part; a first link part connected to the base part to be rotatable about a first axis, and including a first driving gear that is in contact with the base part and rotates about a second axis having a predetermined angle with respect to the first axis; and a second link part connected to the first link part to be rotatable about a third axis parallel to the first axis, and including a second driving gear that is in contact with the first link part and rotates about a fourth axis having a predetermined angle with respect to the third axis.

Description

Robot finger device and robot hand including the same

[0001] Embodiments of the present invention relate to a robotic finger device and a robotic hand including the same.

[0002] In general, robotic hands are used in various fields such as manufacturing processes, medical assistive devices, and humanoid robots, and are considered a core technology requiring precise motion execution and stable gripping power. Through designs that allow them to adapt to diverse work environments like human hands, robotic hands can be engineered to possess a wide range of task performance capabilities, from simple picking movements to complex assembly operations.

[0003] Robot hands can implement various movements through finger joints and actuation mechanisms, and to this end, they may include multiple joint structures and multi-axis actuation mechanisms. For example, in manufacturing processes, a robot hand must be able to precisely adjust gripping force according to the shape and material of the target object, and in the case of humanoid robots, it must be able to reproduce the functional characteristics of a human hand. To implement such movements, the structural design of the robot hand requires a high degree of technical precision.

[0004] In the development of robotic hands, technologies for achieving precise gripping power and stable operation have become major research challenges. For example, active research is being conducted on multi-degrees-of-freedom actuation mechanisms capable of implementing various grip types by independently controlling each finger joint, as well as control algorithms that provide stable operation by calculating the appropriate force distribution when gripping specific objects. These technologies enable robotic hands to stably grip and manipulate target objects in diverse work environments.

[0005] In particular, the linkage structure and actuation mechanism of the fingers play a crucial role in the design of robotic hands. The linkage structure of the fingers can be precisely designed to implement various gripping forms, and continuous research and development is being conducted to improve the efficient use of power, precise gripping force, and operational stability of robotic hands.

[0006] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention.

[0007] Embodiments of the present invention may provide a robot finger device capable of providing a stable gripping force or gripping force, and a robot hand including the same.

[0008] The problems that the present invention aims to solve are not limited to those mentioned above, and other problems and advantages of the present invention not mentioned can be understood from the following description and will be more clearly understood by the embodiments of the present invention. Furthermore, it will be understood that the problems and advantages that the present invention aims to solve can be realized by the means and combinations thereof set forth in the claims.

[0009] One embodiment of the present invention provides a robot finger device comprising: a base portion; a first link portion having a first drive gear that is rotatably connected to the base portion around a first axis and rotates around a second axis that forms a predetermined angle with the first axis while in contact with the base portion; and a second link portion having a second drive gear that is rotatably connected to the first link portion around a third axis parallel to the first axis and rotates around a fourth axis that forms a predetermined angle with the third axis while in contact with the first link portion.

[0010] One embodiment of the present invention provides a robot hand comprising a plurality of robot finger devices, a finger support member in which the plurality of robot finger devices are supported, and a control unit for controlling the driving of the robot finger devices, wherein the robot finger device is rotatably connected to the finger support member around a first axis and has a first link portion having a first driving gear that rotates around a second axis forming a predetermined angle with the first axis while in contact with the finger support member, and a second link portion having a second driving gear that rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link portion and is rotatably connected to the first link portion around a third axis parallel to the first axis and has a second driving gear that rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link.

[0011] The robot finger device and the robot hand including the same according to the embodiments of the present invention have the effect of minimizing the continuous energy consumption of the driving device required to stably grasp an object or maintain a gripping force, in that the driving gear that operates the robot finger is made of a worm gear.

[0012] However, the effects obtainable through the present invention are not limited to those described above, and other unmentioned technical effects will be clearly understood by those skilled in the art from the description of the invention below.

[0013] The following drawings attached to this specification illustrate preferred embodiments of the present invention and serve to further enhance understanding of the technical concept of the present invention together with the detailed description of the invention provided below; therefore, the present invention should not be interpreted as being limited only to the matters described in such drawings.

[0014] FIG. 1 is a schematic diagram illustrating a robot hand according to one embodiment of the present invention.

[0015] FIG. 2 is a perspective view of a robot finger device according to one embodiment of the present invention.

[0016] FIG. 3 is a drawing in which one side of the first support member and the second support member is omitted to explain the internal structure of the robot finger device shown in FIG. 2.

[0017] Figure 4 is a side cross-sectional view of the robot finger device shown in Figure 3, cross-sectionally processed along line II'.

[0018] Figure 5 is an exploded perspective view of the robot finger device shown in Figure 3.

[0019] Figure 6 is a top view of the robot finger device illustrated in Figure 3.

[0020] FIG. 7 is an enlarged view of the first elastic member and the second elastic member shown in FIG. 5.

[0021] FIG. 8 is a drawing illustrating the usage state of a robot finger device according to one embodiment of the present invention.

[0022] FIG. 9 is a drawing illustrating the usage state of a control unit according to one embodiment of the present invention.

[0023] FIG. 10 is a drawing for explaining the structure of a cable connected to a robot finger device according to one embodiment of the present invention.

[0024] FIG. 11 is a schematic diagram illustrating an articulation unit according to one embodiment of the present invention.

[0025] FIG. 12 is a drawing illustrating a first embodiment of the joint portion shown in FIG. 11.

[0026] FIG. 13 is a drawing illustrating a second embodiment of the joint portion shown in FIG. 11.

[0027] FIG. 14 is a drawing illustrating a third embodiment of the joint portion shown in FIG. 11.

[0028] One embodiment of the present invention provides a robot finger device comprising: a base portion; a first link portion having a first drive gear that is rotatably connected to the base portion around a first axis and rotates around a second axis that forms a predetermined angle with the first axis while in contact with the base portion; and a second link portion having a second drive gear that is rotatably connected to the first link portion around a third axis parallel to the first axis and rotates around a fourth axis that forms a predetermined angle with the third axis while in contact with the first link portion.

[0029] In this embodiment, the first driving gear may be a worm gear that rotates around a second axis extending perpendicular to the first axis and has a first screw thread formed on its outer surface.

[0030] In this embodiment, the angle formed by the direction in which the first screw thread extends and the first axis may be relatively smaller than the angle formed by the direction in which the first screw thread extends and the second axis.

[0031] In the present embodiment, the first link portion may further comprise a first driving unit that applies rotational force to a first driving gear and a first elastic member disposed between the first driving unit and the first driving gear, made of an elastic material, and applying elastic force to the first driving gear.

[0032] In this embodiment, the first elastic member may be positioned on the second axis.

[0033] In this embodiment, the first elastic member can apply force to the first driving gear in the second axial direction.

[0034] In this embodiment, a first connecting part may be further provided on one side, having a screw groove formed therein that engages with the first screw thread of the second driving gear.

[0035] In this embodiment, the direction in which the screw groove formed on one side of the first connecting part extends may be parallel to the first axis.

[0036] In the present embodiment, the first driving unit may be located between one side of the first connecting part, where a screw groove is formed on one side of the first connecting part, and the first driving gear.

[0037] In this embodiment, the first connecting part may have its position and angle fixed with respect to the first driving unit.

[0038] In this embodiment, the second driving gear may be a worm gear that rotates around a fourth axis parallel to the rotation axis of the first driving gear and has a second screw thread formed on its outer surface.

[0039] In this embodiment, the angle formed by the direction in which the second screw thread extends and the third axis may be relatively smaller than the angle formed by the direction in which the second screw thread extends and the fourth axis.

[0040] In the present embodiment, the second link portion may further comprise a second drive unit that applies rotational force to the second drive gear and a second elastic member disposed between the second drive unit and the second drive gear, made of an elastic material, and applying elastic force to the second drive gear.

[0041] In this embodiment, the second elastic member can apply force to the second driving gear in the fourth axial direction.

[0042] One embodiment of the present invention provides a robot hand comprising a plurality of robot finger devices, a finger support member in which the plurality of robot finger devices are supported, and a control unit for controlling the driving of the robot finger devices, wherein the robot finger device is rotatably connected to the finger support member around a first axis and has a first link portion having a first driving gear that rotates around a second axis forming a predetermined angle with the first axis while in contact with the finger support member, and a second link portion having a second driving gear that rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link portion and is rotatably connected to the first link portion around a third axis parallel to the first axis and has a second driving gear that rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link.

[0043] In this embodiment, the first driving gear may be a worm gear that rotates around a second axis extending perpendicular to the first axis and has a first screw thread formed on its outer surface.

[0044] In this embodiment, the angle formed by the direction in which the first screw thread extends and the first axis may be relatively smaller than the angle formed by the direction in which the first screw thread extends and the second axis.

[0045] In the present embodiment, the first link portion may further comprise a first driving unit that applies rotational force to a first driving gear and a first elastic member disposed between the first driving unit and the first driving gear, made of an elastic material, and applying elastic force to the first driving gear.

[0046] In this embodiment, the second driving gear may be a worm gear that rotates around a fourth axis parallel to the rotation axis of the first driving gear and has a second screw thread formed on its outer surface.

[0047] In the present embodiment, the second link portion may further comprise a second drive unit that applies rotational force to the second drive gear and a second elastic member disposed between the second drive unit and the second drive gear, made of an elastic material, and applying elastic force to the second drive gear.

[0048] The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms.

[0049] In the following embodiments, terms such as first, second, etc. are used not in a limiting sense, but for the purpose of distinguishing one component from another component.

[0050] In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0051] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0052] In the following embodiments, when a part such as a unit, area, or component is described as being on or above another part, it includes not only cases where it is directly on top of another part, but also cases where another unit, area, or component is interposed in between.

[0053] In the following embodiments, terms such as "connect" or "combine" do not necessarily imply a direct and / or fixed connection or combination of two members unless the context clearly indicates otherwise, nor do they exclude the interposition of another member between the two members.

[0054] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and / or thickness of each component shown in the drawings are arbitrarily depicted for convenience of explanation, and therefore the present invention is not necessarily limited to what is illustrated.

[0055] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings, and when describing with reference to the drawings, identical or corresponding components are identical

[0056] FIG. 1 is a schematic diagram illustrating a robot hand (1) according to one embodiment of the present invention.

[0057] Referring to FIG. 1, a robot hand (1) according to one embodiment of the present invention may include a robot finger device (100), a support member (200), and a control unit (300).

[0058] The robot hand (1) can be used as a prosthetic hand for people with hand disabilities or limited hand mobility. However, it is not limited to this, and the robot hand (1) can be used as a gripping mechanism for a work robot, a gripper for an industrial assembly robot, an object handling device for a logistics robot, a delicate part assembly mechanism in automation equipment, a work assistance device in a precision machining machine, or an assistance device for a rehabilitation robot.

[0059] The robot hand (1) may be equipped with a robot finger device (100) corresponding to a human finger, and in one embodiment, the robot hand (1) may be equipped with five robot finger devices (100).

[0060] The support member (200) is a device that supports the robot finger device (100) and can correspond to the back of a person's hand or palm, etc.

[0061] In one embodiment, the support member (200) may be a member worn on a human metacarpophalangeal joint (MCP joint), in which case the support member (200) may be positioned on the human metacarpophalangeal joint to support the operation of the robot finger device (100).

[0062] The support member (200) can be appropriately designed in size or shape to correspond to the body size of the person wearing the robot hand (1), and at least one robot finger device (100) can be rotatably connected to the support member (200).

[0063] The support member (200) may include a base portion (210) (see FIG. 2). For example, the base portion (210) may be interpreted as one side of the support member (200) to which the robot finger device (100) is connected.

[0064] The description of the structure and shape of the base part (210) will be described in detail in the description of the robot finger device (100) to be described later.

[0065] Referring to FIG. 1, a control unit (300) according to one embodiment of the present invention can control the operation of a robot finger device (100).

[0066] A control unit (300) according to one embodiment of the present invention generates a control signal for controlling the operation of a robot finger device (100) and may include a processor, memory, an input / output interface, and a communication module.

[0067] However, it is not limited to this, and the control unit (300) may include other general-purpose components in addition to a processor, memory, input / output interface, and communication module.

[0068] It is obvious to those skilled in the art that the processor, memory, input / output interface, and communication module may be implemented as independent devices.

[0069] The processor can process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Here, the instructions may be provided from memory or an external device. Additionally, the processor can generally control the operation of other components included in the control unit (300).

[0070] For example, the processor can match at least one source data for each of at least one request that may occur in a specific domain.

[0071] In addition, the processor can retrieve the correct answer context included in the source data for each request based on the results of the matching.

[0072] In addition, the processor can create a database for domain adaptation based on the correct answer context for each request.

[0073] In addition, the processor can use a database to generate a response to a user's request.

[0074] The processor may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and memory storing a program that can be executed on the microprocessor.

[0075] For example, a processor may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc.

[0076] For example, a processor may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a digital signal processor (DSP) core, or any other combination of such configurations.

[0077] Memory may include any non-transient computer-readable recording medium. In one embodiment, memory may include a permanent mass storage device such as random access memory (RAM), read-only memory (ROM), a disk drive, a solid state drive (SSD), or flash memory. As another example, a permanent mass storage device such as ROM, an SSD, flash memory, or a disk drive may be a separate permanent storage device distinct from memory. Additionally, an operating system (OS) and at least one program code may be stored in memory.

[0078] These software components may be loaded from a computer-readable recording medium separate from memory. This separate computer-readable recording medium may be a recording medium that can be directly connected to the control unit (300), and may include, for example, an input / output computer-readable recording medium such as a floppy drive, disk, tape, DVD / CD-ROM drive, or memory card.

[0079] Software components may be loaded into memory via a communication module rather than a computer-readable recording medium. For example, at least one program may be loaded into memory based on a computer program installed by files provided through a communication module by developers or a file distribution system distributing installation files for an application.

[0080] The input / output interface may be a means for interfacing with a device for input and / or output (e.g., a cable (CB), etc.) that may be connected to or included in the control unit (300), and the input / output interface may be a configuration included in the processor.

[0081] The control unit (300) receives a sensor signal from at least one of the first sensor unit (1600) (see FIG. 9) and the second sensor unit (2600) (see FIG. 9) and can control the driving of at least one of the first driving unit (1200) (see FIG. 9) and the second driving unit (2200) (see FIG. 9), and a detailed explanation regarding this will be provided later in the description of FIG. 9.

[0082] FIG. 2 is a perspective view of a robot finger device (100) according to an embodiment of the present invention, FIG. 3 is a drawing in which one side of the first support member (1400) and the second support member (2400) is omitted to explain the internal structure of the robot finger device (100) shown in FIG. 2, and FIG. 4 is a side cross-sectional view of the robot finger device (100) shown in FIG. 3 with respect to line II'.

[0083] FIG. 5 is an exploded perspective view of the robot finger device (100) shown in FIG. 3, and FIG. 6 is a top view of the robot finger device (100) shown in FIG. 3.

[0084] Referring to FIGS. 2 to 6, a robot finger device (100) according to one embodiment of the present invention may include a first link portion (1000), a second link portion (2000), a third link portion (3000), and a gripping portion (4000).

[0085] A first link portion (1000) according to one embodiment of the present invention corresponds to a proximal bone and can be rotatably connected to a base portion (210).

[0086] For example, the first link portion (1000) may be connected to one side of the base portion (210) so as to be rotatable about the first axis (AX1) with respect to the base portion (210).

[0087] In this specification, 'first axis (AX1)' can be interpreted as the rotational center axis of the first link portion (1000), and for example, the first axis (AX1) can correspond to the extension / flexion axis of the proximal phalanx of the finger.

[0088] Additionally, the 'second axis (AX2)' can be interpreted as the rotational center axis of the first drive gear (1100), and for example, the second axis (AX2) may be an axis that is perpendicular to the first axis (AX1) and extends in a direction parallel to the longitudinal direction of the first link portion (1000).

[0089] Additionally, the 'third axis (AX3)' can be interpreted as the center of rotation of the second link part (2000), and for example, the third axis (AX3) can correspond to the extension / flexion axis of the middle phalanx of the finger.

[0090] Additionally, the 'fourth axis (AX4)' can be interpreted as the rotational center axis of the second drive gear (2100), and for example, the fourth axis (AX4) may be an axis that is perpendicular to the third axis (AX3) and extends in a direction parallel to the longitudinal direction of the second link portion (2000).

[0091] The first link portion (1000) may include a first drive gear (1100), a first drive unit (1200), a first elastic member (1300), a first support portion (1400), a first connection portion (1500), and a first sensor unit (1600).

[0092] The length of the first link portion (1000) may be the same as the length of the second link portion (2000). However, it is not limited thereto, and the length of the first link portion (1000) may be longer than the length of the second link portion (2000).

[0093] As a result, the length of the first link portion (1000) corresponding to the proximal phalanx is designed to be relatively longer than the length of the second link portion (2000) corresponding to the middle phalanx, thereby effectively realizing the biomechanical characteristics of a person in which the proximal phalanx is longer than the middle phalanx.

[0094] The first drive unit (1200) of the first link section (1000) may be formed as a motor that is relatively longer than the second drive unit (2200) of the second link section (2000). For example, the length in the second axis (AX2) direction of the first drive unit (1200) may be relatively longer than the length in the fourth axis (AX4) direction of the second drive unit (2200).

[0095] The first power generation unit (1210) may be formed with a motor that is relatively longer than the second power generation unit (2210). For example, the length of the first power generation unit (1210) in the direction of the second axis (AX2) may be relatively longer than the length of the second power generation unit (2210) in the direction of the fourth axis (AX4).

[0096] The first drive unit (1200), specifically the first power generation unit (1210), can generate a relatively larger torque than the second drive unit (2200), specifically the second power generation unit (2210).

[0097] Through this, it is possible to effectively realize the biomechanical characteristic in which the rotational force of the metacarpophalangeal joint (MCP joint) is greater than the rotational force of the distal interphalangeal joint (DIP joint).

[0098] Referring to FIGS. 3 to 6, the first drive gear (1100) can rotate around the second axis (AX2) by receiving power from the first drive unit (1200).

[0099] The first driving gear (1100) may be a worm gear that rotates around an axis parallel to the longitudinal center axis of the first link portion (1000). For example, the first driving gear (1100) may be a worm gear that rotates while meshing with the second screw groove (211) of the base portion (210).

[0100] A first screw thread (1100a) may be formed on the outer surface of the first drive gear (1100), and for example, the first screw thread (1100a) of the first drive gear (1100) may mesh with the second screw groove (211) of the base portion (210).

[0101] Referring to FIG. 6, the first angle (θ1) formed by the first axis (AX1) and the direction in which the first thread (1100a) of the first drive gear (1100) extends (EL1) (hereinafter referred to as the 'first extension direction') may be relatively smaller than the angle formed by the first extension direction (EL1) and the second axis (AX2).

[0102] As a result, even if the first drive unit (1200) applies a small force to the first drive gear (1100), the first drive gear (1100) can rotate smoothly while meshing with the base part (210), and additionally, since the rotation angle of the first link part (1000) can be set small relative to the rotation speed of the first drive gear (1100), the rotation angle of the first link part (1000) can be precisely controlled.

[0103] The first angle (θ1) formed by the first extension direction (EL1) and the first axis (AX1) may be smaller than the second angle (θ2) formed by the third axis (AX3) and the direction (EL2) (hereinafter referred to as the 'second extension direction') in which the second screw thread (2100a) formed on the outer surface of the second drive gear (2100) to be described later is extended.

[0104] As a result, the angle at which the first link portion (1000) rotates around the first axis (AX1) while the first drive gear (1100) rotates once around the second axis (AX2) can be set to be smaller than the angle at which the second link portion (2000) rotates around the third axis (AX3) while the second drive gear (2100) rotates once around the fourth axis (AX4).

[0105] By designing the angle of the first extension direction (EL1) and the angle of the second extension direction (EL2) as described above, a difference in the rotational angular velocity of the first link part (1000) and the second link part (2000) can be created, and as a result, the human biomechanical characteristic of a person in which the rotational angular velocity of the proximal phalanx is relatively smaller than the rotational angular velocity of the middle phalanx when gripping a specific object can be effectively realized.

[0106] The first drive gear (1100) is connected to the first drive unit (1200) and can rotate around the second axis (AX2) by receiving power from the first drive unit (1200), for example, the first drive gear (1100) can be connected to the first shaft portion (1220) of the first drive unit (1200).

[0107] The first drive gear (1100) can be movably connected to the first drive unit (1200), for example, the first drive gear (1100) can be movably connected to the first shaft portion (1220).

[0108] In one embodiment, the first drive gear (1100) may be connected to the first shaft portion (1220) so as to be linearly movable in the direction of the second axis (AX2). For example, the inner surface of the first drive gear (1100) and the inner surface of the first shaft portion (1220) may have sliding contact so as to be relative to each other in the direction of the second axis (AX2).

[0109] As a result, when a load is generated between the base part (210) and the first drive gear (1100) due to an external force, the first drive gear (1100) moves linearly along the first shaft part (1220), thereby changing the distance between the first drive gear (1100) and the first power generation part (1210), and the first sensor unit (1600) detects this and can precisely measure the load applied to the joint formed by the base part (210) and the first link part (1000).

[0110] The first drive gear (1100) may be located on the longitudinal center axis of the first link portion (1000).

[0111] The first drive gear (1100) may be positioned on the other end of the first link section (1000) opposite to the first end of the first link section (1000) adjacent to the second link section (2000).

[0112] The first driving gear (1100) may be made of a worm gear, and the second screw groove (211) of the base part (210) may be made of a worm wheel gear that engages with the first driving gear (1100).

[0113] Referring to FIGS. 3 to 6, a first driving unit (1200) according to one embodiment of the present invention provides rotational force to a first driving gear (1100) and may include a first power generating unit (1210) and a first shaft unit (1220).

[0114] The first drive unit (1200) can be seated on one surface of the first support member (1400) and can be positioned between the first drive gear (1100) and the second link member (2000).

[0115] The first driving unit (1200) may be positioned on the longitudinal central axis of the first link portion (1000), and, for example, the first driving unit (1200) may have a shape that extends along the longitudinal central axis of the first link portion (1000).

[0116] The first power generation unit (1210) receives power from an external source and provides rotational force, for example, the torque generated by the first power generation unit (1210) can be transmitted to the first drive gear (1100) through the first shaft unit (1220).

[0117] The first power generation unit (1210) may be spaced apart from the first drive gear (1100) by a preset distance, and a first elastic member (1300) may be positioned between the first power generation unit (1210) and the first drive gear (1100).

[0118] The first power generation unit (1210) may be positioned on the longitudinal central axis of the first link unit (1000), and, for example, the first power generation unit (1210) may have a shape that extends along the longitudinal central axis of the first link unit (1000).

[0119] The first power generation unit (1210) can be composed of various devices within a technical concept capable of providing rotational force to the first drive unit (1200). For example, the first power generation unit (1210) can be composed of a servo motor, a stepper motor, a coreless DC motor, a micro BLDC motor, a piezoelectric motor, a micro geared motor, a pulse motor, a micro induction motor, and a vibration motor.

[0120] The first power generation unit (1210) can be positioned between the first drive gear (1100) and the second link unit (2000).

[0121] The first shaft portion (1220) transmits the rotational force generated in the first power generation portion (1210) to the first drive gear (1100) and may have a shape that extends along the second axis (AX2).

[0122] The first shaft portion (1220) may be formed in the shape of a shaft that rotates around a second axis (AX2) by receiving power from the first drive gear (1100).

[0123] The first shaft portion (1220) may be connected to one side of the first power generation portion (1210) facing the first drive gear (1100), and the first shaft portion (1220) may be inserted into and fixed to the first drive gear (1100).

[0124] The first shaft portion (1220) can penetrate the first elastic member (1300). For example, the first elastic member (1300) may be located between the first drive gear (1100) and the first power generation portion (1210), and the first shaft portion (1220) penetrates the first elastic member (1300), and one end of the first shaft portion (1220) is connected to the first drive gear (1100), and the other end of the first shaft portion (1220) is connected to the first power generation portion (1210).

[0125] Referring to FIG. 5, the first shaft portion (1220) can penetrate the first support portion (1400).

[0126] For example, the first shaft portion (1220) may be positioned through the first through hole portion (1411) formed in the first support body (1410) of the first support portion (1400) to be described later.

[0127] In one embodiment, the first shaft portion (1220) sequentially penetrates the first through hole portion (1411) of the first support body (1410) and the first elastic member (1300), so that one end of the first shaft portion (1220) is connected to the first driving gear (1100) and the other end of the first shaft portion (1220) is connected to the first power generating portion (1210).

[0128] For example, the first through hole (1411) formed in the first support body (1410) may be formed in the shape of a hole formed on the second axis (AX2).

[0129] FIG. 7 is an enlarged view of the first elastic member (1300) and the second elastic member (2300) shown in FIG. 5, and FIG. 8 is a view showing the usage state of a robot finger device (100) according to an embodiment of the present invention.

[0130] The first drive unit (1200) may include a first gearbox (1230). For example, the first gearbox (1230) may consist of one or more pairs of gears.

[0131] The first gearbox (1230) can increase or decrease the torque generated by the first power generation unit (1210), and thereby the rotational speed and / or torque of the first shaft unit (1220) receiving torque from the first power generation unit (1210) can be increased or decreased.

[0132] As a result, the first gearbox (1230) increases or decreases the torque and / or rotational speed output from the first power generation unit (1210), thereby having the effect of appropriately increasing or decreasing the torque and / or rotational speed of the first drive gear (1100).

[0133] In one embodiment, the reduction ratio of the first gearbox (1230) may be 10 or more and 150 or less, 10 or more and 25 or less, or about 20.

[0134] In this specification, the reduction ratio of the first gearbox (1230) is defined as the rotational rpm of the first shaft portion (1220) relative to the rotational rpm of the first drive gear (1100).

[0135] Referring to FIGS. 3 to 7, a first elastic member (1300) according to one embodiment of the present invention applies elastic force to a first driving gear (1100) and can be positioned between a first driving unit (1200) and a first driving gear (1100).

[0136] For example, the first elastic member (1300) may be positioned between the first driving gear (1100) and the first support body (1410).

[0137] One side of the first elastic member (1300) may be in contact with the first driving gear (1100), and the other side of the first elastic member (1300) may be in contact with the first support member (1400).

[0138] Referring to FIG. 8, when the robot finger device (100) grasps an object, the robot finger device (100) can receive force in the extension direction, thereby allowing the distance between the first drive gear (1100) and the first drive unit (1200) to be reduced.

[0139] In this case, the first elastic member (1300) can be compressed between the first drive gear (1100) and the first drive unit (1200), and as a result, the first elastic member (1300) can apply an elastic restoring force to the first drive gear (1100).

[0140] As a result, the first drive gear (1100) and the first drive unit (1200) can maintain an appropriate distance even though external force is applied, so the robot finger device (100) has the effect of stably gripping an object.

[0141] In addition, by the first sensor unit (1600) measuring the degree of elastic deformation of the first elastic member (1300), the effect is to measure the magnitude of the gripping force applied by the robot finger device (100) to an object or the external force (F) provided to the robot finger device (100).

[0142] By doing so, the control unit (300) provides feedback control to the first driving unit (1200) and / or the second driving unit (2200), thereby enabling the robot finger device (100) to stably grasp an object.

[0143] When viewed in a direction parallel to the first axis (AX1), the first elastic member (1300) may be a plate spring formed in a '┓' shape.

[0144] In one embodiment, the first elastic member (1300) may be a cantilever spring, with one side in contact with the first driving gear (1100) and the other side in contact with the first support member (1400).

[0145] For example, the first elastic member (1300) may be made of a cantilever spring, one side of which contacts the first driving gear (1100) and the other side of which contacts the first supporting body (1410).

[0146] In an optional embodiment, the first elastic member (1300) may be a cantilever spring, one side of which contacts the first drive gear (1100) and the other side of which contacts the first drive unit (1200).

[0147] One side of the first elastic member (1300) can be coupled to the first drive gear (1100). For example, one side of the first elastic member (1300) can be fixed in position on one side of the first drive gear (1100), so that when the first drive gear (1100) moves linearly along the axial direction of the first shaft portion (1220), the position of one side of the first elastic member (1300) can also change due to the movement of the first drive gear (1100), regardless of the direction of movement of the first drive gear (1100).

[0148] As a result, since one side of the first drive gear (1100) and the first elastic member (1300) are combined, elastic deformation of the first elastic member (1300) can be caused regardless of the direction of movement of the first drive gear (1100).

[0149] Accordingly, since elastic deformation of the first elastic member (1300) can be caused regardless of whether the load applied to the joint of the robot finger device (1) is in the extension direction or the flexion direction, the first sensor unit (1600) that detects the movement or deformation of the first elastic member (1300) has the effect of being able to detect forces in various directions applied to the joint of the robot finger device (1).

[0150] One side of the first drive gear (1100) and the first elastic member (1300) can be connected in various ways, for example, a groove may be formed on one side of the first elastic member (1300) and connected in such a way that the groove is fastened to the outer surface of the first drive gear (1100).

[0151] For example, the first elastic member (1300) may be made of a cantilever spring, one side of which contacts the first driving gear (1100) and the other side of which contacts the first power generating unit (1210).

[0152] However, it is not limited to this, and the first elastic member (1300) may be made of various devices that can be compressed depending on the distance between the first drive gear (1100) and the first power generating unit (1210), for example, the first elastic member (1300) may be made of a belleville spring, coil spring, compression spring, tension spring, torsion spring, flat spring, leaf spring, wave spring, spiral spring, gas spring, conical spring, composite spring, and dual rate spring.

[0153] The first elastic member (1300) may be made of various materials that can be compressed according to the distance between the first drive gear (1100) and the first power generating unit (1210). For example, the first elastic member (1300) may be made of stainless steel, alloy steel, carbon steel, copper alloy, titanium alloy, polyurethane, rubber, silicone, polymer composite, fiber-reinforced plastic (FRP), nylon, polyester, elastic ceramic, and memory alloy.

[0154] Referring to FIG. 7, a first elastic member (1300) according to one embodiment of the present invention may have a first fastening slot (1310) and a first fastening hole (1320) formed therein.

[0155] For example, a first fastening slot (1310) having the shape of a slot or hole may be located on one side of the first elastic member (1300) that contacts the first driving gear (1100), and a first shaft portion (1220) may be seated and / or inserted into the first fastening slot (1310).

[0156] As a result, with the first fastening slot (1310) connected to the first shaft portion (1220), the first elastic member (1300) is positioned between the first driving gear (1100) and the first power generating portion (1210), so that the first fastening slot (1310) can be stably compressed / restored without being detached from the first driving gear (1100).

[0157] A first fastening hole (1320) formed in the shape of a hole or slot may be located on one side of the first elastic member (1300) that contacts the first support member (1400) or the first power generating member (1210), and a first shaft member (1220) may be seated and / or inserted into the first fastening hole (1320).

[0158] Referring to FIGS. 4 and 5, a rib may be formed on one side of the first support body (1410) facing the first drive gear (1100), extending along the circumference of the first through hole (1411) and protruding toward the first drive gear (1100).

[0159] The rib formed on one surface of the first support body (1410) is inserted into the first fastening hole (1320), thereby allowing the first elastic member (1300) and the first support body (1410) to be firmly connected.

[0160] As a result, with the first fastening hole portion (1320) connected to the first shaft portion (1220) and / or the rib, the first elastic member (1300) is positioned between the first driving gear (1100) and the first power generating portion (1210), so that the first fastening hole portion (1320) can be stably compressed / restored without being disengaged from the first driving gear (1100).

[0161] A first fastening groove (1330) may be formed in the shape of a groove on one side of the first elastic member (1300). For example, the first fastening groove (1330) may be located between one end of the first elastic member (1300) where the first fastening slot (1310) is formed and the other end of the first elastic member (1300) where the first fastening hole (1320) is formed, and the first sensor unit (1600) may be seated in the first fastening groove (1330).

[0162] FIG. 9 is a drawing illustrating the usage state of a control unit (300) according to one embodiment of the present invention.

[0163] The first sensor unit (1600) may be composed of a strain gauge capable of measuring the elastic strain of the first elastic member (1300).

[0164] However, it is not limited thereto, and the first sensor unit (1600) may be composed of a fiber Bragg grating sensor (FBG) capable of measuring the strain of the first elastic member (1300), a piezoelectric sensor, a capacitive strain sensor, a resistive strain sensor, an inductive strain sensor, an optical interferometer, a laser displacement sensor, a magnetic strain sensor, an electrorheological strain sensor, and an ultrasonic strain sensor.

[0165] The first sensor unit (1600) can be coupled to one side of the first elastic member (1300), and, for example, can be seated in the first fastening groove (1330) of the first elastic member (1300) of the first sensor unit (1600).

[0166] Referring to FIG. 9, the first sensor unit (1600) can measure the elastic strain of the first elastic member (1300), and the control unit (300) can receive a measurement signal from the first sensor unit (1600) and calculate the distance strain between the first driving unit (1200) and the first driving gear (1100) or the magnitude of the force applied to the first link portion (1000), and through this, the control unit (300) can calculate the magnitude of the gripping force applied by the robot finger device (100) to an object or the magnitude of the external force (F) applied to the robot finger device (100).

[0167] Referring to FIG. 9, the control unit (300) can enable the robot finger device (100) to stably grasp an object by feedback controlling the driving of the first driving unit (1200) and / or the second driving unit (2200) using the size of the elastic strain of the first elastic member (1300) obtained from the first sensor unit (1600).

[0168] A plurality of first sensor units (1600) may be provided, and one first sensor unit (1600) may be located on a first surface of a first elastic member (1300) facing the first shaft (1220), and another first sensor unit (1600) may be located on a second surface opposite to the first surface.

[0169] For example, one of the plurality of first sensor units (1600) may make surface contact with the first surface, and another first sensor unit (1600) may make surface contact with a second surface opposite to the first surface.

[0170] As a result, by positioning the first sensor unit (1600) on opposite sides of the first elastic member (1300), the first sensor unit (1600) can precisely measure the elastic strain of the first elastic member (1300) regardless of the direction in which the first elastic member (1300) undergoes elastic deformation.

[0171] Through this, the first sensor unit (1600) can precisely measure the magnitude of the force regardless of whether the object applies force in the extension direction or in the bending direction to the first link part (1000).

[0172] Referring to FIGS. 3 to 6, a first support member (1400) according to one embodiment of the present invention supports a first driving unit (1200) and may be formed in a shape that extends along the first driving unit (1200).

[0173] In this specification, 'lower side' may be interpreted as the inner side of the finger corresponding to the palm side of a person, and 'upper side' may be interpreted as the outer side of the finger corresponding to the back side of a person's hand.

[0174] The first support member (1400) may include a first support body (1410) and a first rail body (1420).

[0175] The first support body (1410) may be located between the first drive gear (1100) and the first power generating unit (1210), for example, the first support body (1410) may be located between the first elastic member (1300) and the first power generating unit (1210).

[0176] The first support body (1410) can come into contact with the first elastic member (1300) and the first power generating unit (1210).

[0177] The first support body (1410) may be formed in the shape of a plate perpendicular to the second axis (AX2).

[0178] A first through hole (1411) may be formed in the first support body (1410), and for example, a first through hole (1411) into which a first shaft (1220) is inserted may be formed in the shape of a hole at a position where the first support body (1410) and the second axis (AX2) overlap.

[0179] A rib may be formed on one side of the first support body (1410) facing the first drive gear (1100) and / or the first elastic member (1300).

[0180] For example, the rib may be formed to protrude toward the first drive gear (1100) and / or the first elastic member (1300) from the above-mentioned surface of the first support body (1410).

[0181] In one embodiment, the rib may be formed in the shape of a ring extending along the outer circumference of the first through hole (1411).

[0182] The rib can be inserted into the first fastening hole (1320) of the first elastic member (1300), and thus the first support body (1410) and the first elastic member (1300) can be firmly joined, so that the first elastic member (1300) can be stably supported on the first support body (1410) even when an external force (F) is applied.

[0183] The first rail body (1420) can support the first drive unit (1200) on the lower side of the first drive unit (1200) and may have a shape that extends along the direction of the second axis (AX2).

[0184] The first rail body (1420) can be formed integrally with the first support body (1410).

[0185] The first rail body (1420) can be rotatably connected to the base part (210), for example, the first rail body (1420) can be rotatably connected to the base part (210) around the first axis (AX1).

[0186] For example, as the first drive gear (1100) rotates around the second axis (AX2), the first screw thread (1100a) of the first drive gear (1100) and the second screw groove (211) of the base part (210) mesh, so that the first drive gear (1100) can rotate around the first axis (AX1) along the second screw groove (211).

[0187] Through this, the first rail body (1420) rotates around the first axis (AX1), thereby allowing the first link part (1000) to rotate relative to the base part (210).

[0188] The first rail body (1420) may be formed in a shape that extends along the second axis (AX2) direction from the base part (210) to the second link part (2000).

[0189] The first rail body (1420) can be connected to the first connecting part (1500). For example, the first rail body (1420) can be movably connected to the first connecting part (1500).

[0190] A first rail rib (1421) extending along the direction of the second axis (AX2) may be formed on one side of the first rail body (1420). For example, a first rail rib (1421) extending along the direction of the second axis (AX2) may be formed on the inner side of the first rail body (1420), and the first rail rib (1421) may be formed in the shape of a rib protruding from the inner circumference of the first rail body (1420).

[0191] The first connecting part (1500) is connected to the first rail rib (1421) of the first rail body (1420) and can move along the extended path of the first rail rib (1421).

[0192] For example, the first connecting part (1500) is fastened to the first rail rib (1421), and the first connecting part (1500) may be able to slide along the second axis (AX2) relative to the first rail body (1420).

[0193] As a result, the first connecting part (1500) connected to the second link part (2000) and the first rail body (1420) connected to the base part (210) move relative to each other, thereby allowing the distance between the base part (210) and the second link part (2000) to be adjusted, and through this, the length of the robot finger device (100) can be adjusted according to the body size of the user using the robot finger device (100).

[0194] Referring to FIGS. 3 to 5, a first connecting member (1500) according to one embodiment of the present invention connects a first link member (1000) and a second link member (2000) and can be movably connected to a first support member (1400).

[0195] The first connecting part (1500) may be located on the lower side of the first supporting part (1400), and the first connecting part (1500) may be formed in a shape that extends along a direction parallel to the second axis (AX2).

[0196] A first rail slot (1502) may be formed on one side of the first connecting part (1500) corresponding to the first rail rib (1421). For example, the first rail slot (1502) may be formed in the shape of a slot or groove extending along the direction of the second axis (AX2), and the first rail rib (1421) may be seated in the first rail slot (1502).

[0197] The inner surface of the first rail slot (1502) can slide in contact with the outer surface of the first rail rib (1421), thereby allowing the first connecting part (1500) to slide in contact with the first supporting part (1400).

[0198] As a result, the first connecting part (1500) moves along the first rail body (1420) of the first supporting part (1400) in the direction of the second axis (AX2), thereby allowing the distance between the second link part (2000) connected to the first connecting part (1500) and the base part (210) connected to the first supporting part (1400) to be adjusted, and thereby the effect of being able to adjust the length of the robot finger device (100) according to the body size of the user using the robot finger device (100).

[0199] A first screw groove (1501) may be formed on one side of the first connecting part (1500). For example, a first screw groove (1501) may be formed on one side of the first connecting part (1500) that is connected to the second link part (2000).

[0200] The first screw groove (1501) can be extended along the direction of the third axis (AX3), and the first screw groove (1501) can be engaged with the second drive gear (2100).

[0201] The second drive gear (2100) and the first screw groove (1501) of the first connecting part (1500) can form a worm-wheel gear pair, and as the second drive gear (2100) rotates, it can rotate around the third axis (AX3) by meshing with the second drive gear (2100) and the first screw groove (1501), and through this, the second link part (2000) can rotate around the third axis (AX3) with respect to the first link part (1000).

[0202] The first screw groove (1501) may be formed on the outer surface of the first connecting part (1500), and for example, the first screw groove (1501) may be formed in the shape of a spur gear on the outer surface of the first connecting part (1500).

[0203] In one embodiment, the first screw groove (1501) may be formed in the shape of a part of a spur gear with the third axis (AX3) as the axis of rotation.

[0204] Referring to FIGS. 3 to 5, a second link portion (2000) according to one embodiment of the present invention corresponds to a middle phalange and can be rotatably connected to a first link portion (1000).

[0205] For example, the second link portion (2000) may be connected to one side of the first link portion (1000) so as to be rotatable about the third axis (AX3) with respect to the first link portion (1000).

[0206] In one embodiment, the third axis (AX3) may be parallel to the first axis (AX1).

[0207] The second link portion (2000) may include a second drive gear (2100), a second drive unit (2200), a second elastic member (2300), a second support portion, and a second sensor unit (2600).

[0208] The length of the second link portion (2000) may be the same as the length of the first link portion (1000). However, it is not limited thereto, and the length of the second link portion (2000) may be shorter than the length of the first link portion (1000).

[0209] As a result, the length of the first link portion (1000) corresponding to the proximal phalanx is designed to be relatively longer than the length of the second link portion (2000) corresponding to the middle phalanx, thereby effectively realizing the biomechanical characteristics of a person in which the proximal phalanx is longer than the middle phalanx.

[0210] For example, the first support member (1400) of the first link member (1000) is formed to be longer than the second support member (2400) of the second link member (2000), so that the first power generation member (1210), which is larger in size than the second power generation member (2210) that is seated on the second support member (2400), can be installed on the first support member (1400).

[0211] Through this, the output of the first power generation unit (1210) that rotates the first support unit (1400) corresponding to the first segment bone, which is longer than the second power generation unit (2210) that rotates the second support unit (2400) corresponding to the middle segment bone, can be designed to be greater.

[0212] Referring to FIGS. 3 to 6, the second drive gear (2100) can rotate around the fourth axis (AX4) by receiving power from the second drive unit (2200).

[0213] The fourth axis (AX4) may be an axis parallel to the longitudinal center axis of the second link portion (2000).

[0214] The second driving gear (2100) may be a worm gear that rotates around an axis parallel to the longitudinal center axis of the second link portion (2000). For example, the second driving gear (2100) may be a worm gear that rotates while meshing with the first screw groove (1501) of the first connecting portion (1500).

[0215] A second screw thread (2100a) may be formed on the outer surface of the second drive gear (2100), and for example, the second screw thread (2100a) of the second drive gear (2100) may mesh with the first screw groove (1501) of the first connecting part (1500).

[0216] Referring to FIG. 6, the second angle (θ2) formed by the second extension direction (EL2) and the third axis (AX3) may be relatively smaller than the angle formed by the second extension direction (EL2) and the fourth axis (AX4).

[0217] As a result, even if the second drive unit (2200) applies a small force to the second drive gear (2100), the second drive gear (2100) can rotate smoothly while meshing with the first link part (1000), and additionally, since the rotation angle of the second link part (2000) can be set small relative to the rotation speed of the second drive gear (2100), the rotation angle of the second link part (2000) can be precisely controlled.

[0218] The second angle (θ2) formed by the second extension direction (EL2) and the third axis (AX3) may be relatively larger than the angle (θ1) formed by the first extension direction (EL1) and the first axis (AX1).

[0219] As a result, the angle at which the first link portion (1000) rotates around the first axis (AX1) while the first drive gear (1100) rotates once around the second axis (AX2) can be set to be smaller than the angle at which the second link portion (2000) rotates around the third axis (AX3) while the second drive gear (2100) rotates once around the fourth axis (AX4).

[0220] By designing the angle of the first extension direction (EL1) and the angle of the second extension direction (EL2) as described above, a difference in the rotational angular velocity of the first link part (1000) and the second link part (2000) can be created, and as a result, the human biomechanical characteristic of a person in which the rotational angular velocity of the proximal phalanx is relatively smaller than the rotational angular velocity of the middle phalanx when gripping a specific object can be effectively realized.

[0221] The second drive gear (2100) is connected to the second drive unit (2200) and can rotate around the fourth axis (AX4) by receiving power from the second drive unit (2200), for example, the second drive gear (2100) can be connected to the second shaft portion (2220) of the second drive unit (2200).

[0222] The second drive gear (2100) can be movably connected to the second drive unit (2200), for example, the second drive gear (2100) can be movably connected to the second shaft portion (2220).

[0223] In one embodiment, the second drive gear (2100) may be connected to the second shaft portion (2220) so as to be linearly movable in the direction of the fourth axis (AX4). For example, the inner surface of the second drive gear (2100) and the inner surface of the second shaft portion (2220) may have sliding contact so as to be relative to each other in the direction of the fourth axis (AX4).

[0224] As a result, when a load is generated between the first link portion (1000) and the second drive gear (2100) due to an external force, the second drive gear (2100) moves linearly along the second shaft portion (2220), thereby changing the gap between the second drive gear (2100) and the second power generation portion (2210), and the second sensor unit (2600) detects this and can precisely measure the load applied to the joint formed by the first link portion (1000) and the second link portion (2000).

[0225] The second drive gear (2100) may be located on the longitudinal center axis of the second link portion (2000).

[0226] The second drive gear (2100) may be positioned on one end of the second link portion (2000) adjacent to the first link portion (1000).

[0227] The second drive gear (2100) may be made of a worm gear, and the first screw groove (1501) of the first connecting part (1500) may be made of a worm wheel gear that engages with the second drive gear (2100).

[0228] Referring to FIGS. 3 to 6, a second driving unit (2200) according to one embodiment of the present invention provides rotational force to a second driving gear (2100) and may include a second power generating unit (2210) and a second shaft unit (2220).

[0229] The second drive unit (2200) can be seated on one side of the second support member and can be positioned between the second drive gear (2100) and the third link member (3000).

[0230] The second driving unit (2200) may be positioned on the longitudinal central axis of the second link portion (2000), and, for example, the second driving unit (2200) may have a shape that extends along the longitudinal central axis of the second link portion (2000).

[0231] The second power generation unit (2210) receives power from an external source and provides rotational force, for example, the torque generated by the second power generation unit (2210) can be transmitted to the second drive gear (2100) through the second shaft unit (2220).

[0232] The second power generation unit (2210) may be spaced apart from the second drive gear (2100) by a preset distance, and a second elastic member (2300) may be positioned between the second power generation unit (2210) and the second drive gear (2100).

[0233] The second power generation unit (2210) may be positioned on the longitudinal central axis of the second link unit (2000), and, for example, the second power generation unit (2210) may have a shape that extends along the longitudinal central axis of the second link unit (2000).

[0234] The second power generation unit (2210) can be composed of various devices within a technical concept capable of providing rotational force to the second drive unit (2200). For example, the second power generation unit (2210) can be composed of a servo motor, a stepper motor, a coreless DC motor, a micro BLDC motor, a piezoelectric motor, a micro geared motor, a pulse motor, a micro induction motor, and a vibration motor.

[0235] The second power generation unit (2210) can be positioned between the second drive gear (2100) and the third link unit (3000).

[0236] The second shaft portion (2220) transmits the rotational force generated in the second power generation portion (2210) to the second drive gear (2100) and may have a shape that extends along the second axis (AX2).

[0237] The second shaft portion (2220) may be formed in the shape of a shaft that rotates around the fourth axis (AX4) by receiving power from the second drive gear (2100).

[0238] The second shaft portion (2220) may be connected to one side of the second power generation portion (2210) facing the second drive gear (2100), and the second shaft portion (2220) may be inserted into and fixed to the second drive gear (2100).

[0239] The second shaft portion (2220) may penetrate the second elastic member (2300). For example, the second elastic member (2300) may be located between the second drive gear (2100) and the second power generation portion (2210), and the second shaft portion (2220) penetrates the second elastic member (2300). One end of the second shaft portion (2220) may be connected to the second drive gear (2100), and the other end of the second shaft portion (2220) may be connected to the second power generation portion (2210).

[0240] Referring to FIG. 5, the second shaft portion (2220) can penetrate the second support portion.

[0241] For example, the second shaft portion (2220) may be positioned through the second through hole portion (2411) formed in the second support body (2410) of the second support portion, which will be described later.

[0242] In one embodiment, the second shaft portion (2220) sequentially penetrates the second through hole portion (2411) of the second support body (2410) and the second elastic member (2300), so that one end of the second shaft portion (2220) is connected to the second drive gear (2100) and the other end of the second shaft portion (2220) is connected to the second power generation portion (2210).

[0243] For example, the second through hole (2411) formed in the second support body (2410) may be formed in the shape of a hole formed on the fourth axis (AX4).

[0244] Although not illustrated in the drawing, the second drive unit (2200) may include a second gearbox (2230). For example, the second gearbox (2230) may consist of one or more pairs of gears.

[0245] The second gearbox (2230) can increase or decrease the torque generated by the second power generation unit (2210), and thereby the rotational speed and / or torque of the second shaft unit (2220) receiving torque from the second power generation unit (2210) can be increased or decreased.

[0246] As a result, the second gearbox (2230) increases or decreases the torque and / or rotational speed output from the second power generation unit (2210), thereby having the effect of appropriately increasing or decreasing the torque and / or rotational speed of the second drive gear (2100).

[0247] In one embodiment, the reduction ratio of the second gearbox (2230) may be 10 or more and 150 or less, 10 or more and 25 or less, or about 20.

[0248] In this specification, the reduction ratio of the second gearbox (2230) is defined as the rotational rpm of the second shaft portion relative to the rotational rpm of the second drive gear (2100).

[0249] In one embodiment, the reduction ratio of the first gearbox (1230) and the reduction ratio of the second gearbox (2230) may be different from each other.

[0250] For example, the reduction ratio of the second gearbox (2230) may be relatively smaller than the reduction ratio of the first gearbox (1230).

[0251] In this case, when the rotational rpm of the first power generation unit (1210) and the second power generation unit (2210) are controlled to be the same, the second reduction gear (2100) rotates at a relatively faster rotational rpm than the first reduction gear (1100), and through this, the second link unit (2000) can rotate faster than the first link unit (1000).

[0252] As a result, the general biomechanical characteristic that the middle phalanges rotate faster than the first phalanges when grasping an object can be well reflected.

[0253] In addition, by designing the reduction ratio of the first gearbox (1230) to be greater than that of the second gearbox (2230), it is possible to prevent / reduce the occurrence of a back-drive phenomenon in the first drive gear (1100) when a relatively larger load is applied to the first drive gear (1100) than to the second drive gear (2100).

[0254] Referring to FIGS. 3 to 7, a second elastic member (2300) according to one embodiment of the present invention applies elastic force to a second driving gear (2100) and can be positioned between a second driving unit (2200) and a second driving gear (2100).

[0255] For example, the second elastic member (2300) may be positioned between the second drive gear (2100) and the second support body (2410).

[0256] One side of the second elastic member (2300) may be in contact with the second drive gear (2100), and the other side of the second elastic member (2300) may be in contact with the second support member.

[0257] Referring to FIG. 8, when the robot finger device (100) grasps an object, the robot finger device (100) can receive force in the extension direction, thereby narrowing the distance between the second drive gear (2100) and the second drive unit (2200).

[0258] In this case, the second elastic member (2300) can be compressed between the second drive gear (2100) and the second drive unit (2200), and as a result, the second elastic member (2300) can apply an elastic restoring force to the second drive gear (2100).

[0259] As a result, the second drive gear (2100) and the second drive unit (2200) can maintain an appropriate distance even though external force is applied, so the robot finger device (100) has the effect of stably gripping an object.

[0260] In addition, by the second sensor unit (2600) measuring the degree of elastic deformation of the second elastic member (2300), the effect is to measure the magnitude of the gripping force applied by the robot finger device (100) to an object or the external force (F) provided to the robot finger device (100).

[0261] By doing so, the control unit (300) provides feedback control to the first driving unit (1200) and / or the second driving unit (2200), thereby enabling the robot finger device (100) to stably grasp an object.

[0262] When viewed in a direction parallel to the third axis (AX3), the second elastic member (2300) may be a plate spring formed in a '┓' shape.

[0263] In one embodiment, the second elastic member (2300) may be a cantilever spring, one side of which contacts the second drive gear (2100) and the other side of which contacts the second support member.

[0264] For example, the second elastic member (2300) may be made of a cantilever spring, one side of which contacts the second drive gear (2100) and the other side of which contacts the second support body (2410).

[0265] In an optional embodiment, the second elastic member (2300) may be a cantilever spring, one side of which contacts the second drive gear (2100) and the other side of which contacts the second drive unit (2200).

[0266] One side of the second elastic member (2300) may be coupled to the second drive gear (2100). For example, one side of the second elastic member (2300) may be fixed in position on one side of the second drive gear (2100), so that when the second drive gear (2100) moves linearly along the axial direction of the second shaft portion (2220), the position of one side of the second elastic member (2300) may also change due to the movement of the second drive gear (2100), regardless of the direction of movement of the second drive gear (2100).

[0267] As a result, since one side of the second drive gear (2100) and the second elastic member (2300) are combined, elastic deformation of the second elastic member (2300) can be caused regardless of the direction of movement of the second drive gear (2100).

[0268] Accordingly, since elastic deformation of the second elastic member (2300) can be caused regardless of whether the load applied to the joint of the robot finger device (2) is in the extension direction or the flexion direction, the second sensor unit (2600) that detects the movement or deformation of the second elastic member (2300) has the effect of being able to detect forces in various directions applied to the joint of the robot finger device (2).

[0269] One side of the second drive gear (2100) and the second elastic member (2300) can be connected in various ways, for example, a groove may be formed on one side of the second elastic member (2300) and connected in such a way that the groove is fastened to the outer surface of the second drive gear (2100).

[0270] For example, the second elastic member (2300) may be made of a cantilever spring, one side of which contacts the second drive gear (2100) and the other side of which contacts the second power generating unit (2210).

[0271] However, it is not limited to this, and the second elastic member (2300) may be made of various devices that can be compressed depending on the distance between the second drive gear (2100) and the second power generating unit (2210), for example, the second elastic member (2300) may be made of a belleville spring, coil spring, compression spring, tension spring, torsion spring, flat spring, leaf spring, wave spring, spiral spring, gas spring, conical spring, composite spring, and dual rate spring.

[0272] The second elastic member (2300) may be made of various materials that can be compressed according to the distance between the second drive gear (2100) and the second power generating unit (2210). For example, the second elastic member (2300) may be made of stainless steel, alloy steel, carbon steel, copper alloy, titanium alloy, polyurethane, rubber, silicone, polymer composite, fiber-reinforced plastic (FRP), nylon, polyester, elastic ceramic, and memory alloy.

[0273] Referring to FIG. 7, a second elastic member (2300) according to one embodiment of the present invention may have a second fastening slot (2310) and a second fastening hole (2320) formed therein.

[0274] For example, a second fastening slot (2310) having the shape of a slot or hole may be located on one side of the second elastic member (2300) that contacts the second drive gear (2100), and a second shaft portion (2220) may be seated and / or inserted into the second fastening slot (2310).

[0275] As a result, with the second fastening slot (2310) connected to the second shaft portion (2220), the second elastic member (2300) is positioned between the second driving gear (2100) and the second power generating portion (2210), so that the second fastening slot (2310) can be stably compressed / restored without being detached from the second driving gear (2100).

[0276] A second fastening hole (2320) formed in the shape of a hole or slot may be located on one side of the second elastic member (2300) that contacts the second support member or the second power generating member (2210), and a second shaft member (2220) may be seated and / or inserted into the second fastening hole (2320).

[0277] Referring to FIGS. 4 and 5, a rib may be formed on one side of the second support body (2410) facing the second drive gear (2100), extending along the circumference of the second through hole (2411) and protruding toward the second drive gear (2100).

[0278] The rib formed on one surface of the second support body (2410) is inserted into the second fastening hole (2320), thereby allowing the second elastic member (2300) and the second support body (2410) to be firmly connected.

[0279] As a result, with the second fastening hole portion (2320) connected to the second shaft portion (2220) and / or the rib, the second elastic member (2300) is positioned between the second driving gear (2100) and the second power generating portion (2210), thereby allowing the second fastening hole portion (2320) to be stably compressed / restored without being disengaged from the second driving gear (2100).

[0280] A second fastening groove (2330) may be formed in the shape of a groove on one side of the second elastic member (2300). For example, the second fastening groove (2330) may be located between one end of the second elastic member (2300) where the second fastening slot (2310) is formed and the other end of the second elastic member (2300) where the second fastening hole (2320) is formed, and the second sensor unit (2600) may be seated in the second fastening groove (2330).

[0281] The second sensor unit (2600) may be composed of a strain gauge capable of measuring the elastic strain of the second elastic member (2300).

[0282] However, it is not limited thereto, and the second sensor unit (2600) may be composed of a fiber Bragg grating sensor (FBG) capable of measuring the strain of the second elastic member (2300), a piezoelectric sensor, a capacitive strain sensor, a resistive strain sensor, an inductive strain sensor, an optical interferometer, a laser displacement sensor, a magnetic strain sensor, an electrorheological strain sensor, and an ultrasonic strain sensor.

[0283] The second sensor unit (2600) can be coupled to one side of the second elastic member (2300), and, for example, can be seated in the second fastening groove (2330) of the second elastic member (2300) of the second sensor unit (2600).

[0284] Referring to FIG. 8, the second sensor unit (2600) can measure the elastic strain of the second elastic member (2300), and the control unit (300) can receive a measurement signal from the second sensor unit (2600) and calculate the distance strain between the second driving unit (2200) and the second driving gear (2100) or the magnitude of the force applied to the second link part (2000), and through this, the control unit (300) can calculate the magnitude of the gripping force applied by the robot finger device (100) to an object or the magnitude of the external force (F) applied to the robot finger device (100).

[0285] A plurality of second sensor units (2600) may be provided, and one second sensor unit (2600) may be located on the first surface of the second elastic member (2300) facing the second shaft portion (2220), and another second sensor unit (2600) may be located on the second surface opposite to the first surface.

[0286] For example, one of the multiple second sensor units (2600) may make surface contact with the first surface, and the other second sensor unit (2600) may make surface contact with a second surface opposite to the first surface.

[0287] As a result, by positioning the second sensor unit (2600) on opposite sides of the second elastic member (2300), the second sensor unit (2600) can precisely measure the elastic strain of the second elastic member (2300) regardless of the direction in which the second elastic member (2300) undergoes elastic deformation.

[0288] Through this, the second sensor unit (2600) can precisely measure the magnitude of the force regardless of whether the object applies force in the extension direction or in the bending direction to the second link part (2000).

[0289] Referring to FIG. 9, the control unit (300) can enable the robot finger device (100) to stably grasp an object by feedback controlling the driving of the first driving unit (1200) and / or the second driving unit (2200) using the size of the elastic strain of the second elastic member (2300) obtained from the second sensor unit (2600).

[0290] Referring to FIGS. 3 to 6, a second support member according to one embodiment of the present invention supports a second driving unit (2200) and may be formed in a shape that extends along the second driving unit (2200).

[0291] The second support member may include a second support body (2410) and an extension body (2420).

[0292] The second support body (2410) may be located between the second drive gear (2100) and the second power generating unit (2210), for example, the second support body (2410) may be located between the second elastic member (2300) and the second power generating unit (2210).

[0293] The second support body (2410) can come into contact with the second elastic member (2300) and the second power generating unit (2210).

[0294] The second support body (2410) may be formed in the shape of a plate perpendicular to the fourth axis (AX4).

[0295] A second through hole (2411) may be formed in the second support body (2410), and for example, a second through hole (2411) into which a second shaft (2220) is inserted may be formed in the shape of a hole at a position where the second support body (2410) and the fourth axis (AX4) overlap.

[0296] A rib may be formed on one side of the second support body (2410) facing the second drive gear (2100) and / or the second elastic member (2300).

[0297] For example, the rib may be formed to protrude toward the second drive gear (2100) and / or the second elastic member (2300) from the above-mentioned surface of the second support body (2410).

[0298] In one embodiment, the rib may be formed in the shape of a ring extending along the outer circumference of the second through hole (2411).

[0299] The rib can be inserted into the second fastening hole (2320) of the second elastic member (2300), and thus the second support body (2410) and the second elastic member (2300) can be firmly joined, so that the second elastic member (2300) can be stably supported by the second support body (2410) even when an external force (F) is applied.

[0300] The extension body (2420) can support the second drive unit (2200) on the lower side of the second drive unit (2200) and may have a shape that extends along the direction of the fourth axis (AX4).

[0301] The extension body (2420) can be formed integrally with the second support body (2410).

[0302] The extension body (2420) can be rotatably connected to the first link portion (1000), for example, the extension body (2420) can be rotatably connected to the first link portion (1000) around a third axis (AX3).

[0303] For example, as the second drive gear (2100) rotates around the third axis (AX3), the second thread (2100a) of the second drive gear (2100) and the first thread groove (1501) of the first connecting part (1500) mesh, so that the second drive gear (2100) can rotate around the third axis (AX3) along the first thread groove (1501).

[0304] Through this, the extension body (2420) rotates around the third axis (AX3), thereby allowing the second link portion (2000) to rotate relative to the first link portion (1000).

[0305] The extension body (2420) may be formed in a shape that extends along the direction of the fourth axis (AX4) from the first link portion (1000) to the third link portion (3000).

[0306] The second rail body (2420) can be connected to the second connecting part (2500). For example, the second rail body (2420) can be movably connected to the second connecting part (2500).

[0307] A second rail rib (2421) extending along the direction of the fourth axis (AX4) may be formed on one side of the second rail body (2420). For example, a second rail rib (2421) extending along the direction of the fourth axis (AX4) may be formed on the inner side of the second rail body (2420), and the second rail rib (2421) may be formed in the shape of a rib protruding from the inner circumference of the second rail body (2420).

[0308] The second connecting part (2500) is connected to the second rail rib (2421) of the second rail body (2420) and can move along the extended path of the second rail rib (2421).

[0309] For example, the second connecting part (2500) is connected to the second rail rib (2421), and the second connecting part (2500) may be able to slide along the fourth axis (AX4) with respect to the second rail body (2420).

[0310] As a result, the second connecting part (2500) connected to the third link part (3000) and the second rail body (2420) connected to the first link part (1000) move relative to each other, thereby allowing the distance between the first link part (1000) and the third link part (3000) to be adjusted, and through this, the length of the robot finger device (100) can be adjusted according to the body size of the user using the robot finger device (100).

[0311] Referring to FIGS. 3 to 5, a second connecting member (2500) according to one embodiment of the present invention connects a first link member (1000) and a third link member (3000) and can be movably connected to a second support member (2400).

[0312] The second connecting part (2500) may be located on the lower side of the second supporting part (2400), and the second connecting part (2500) may be formed in a shape that extends along a direction parallel to the fourth axis (AX4).

[0313] A second rail slot (2502) may be formed on one side of the second connecting part (2500) corresponding to the second rail rib (2421). For example, the second rail slot (2502) may be formed in the shape of a slot or groove extending along the direction of the fourth axis (AX4), and the second rail rib (2421) may be seated in the second rail slot (2502).

[0314] The inner surface of the second rail slot (2502) can slide in contact with the outer surface of the second rail rib (2421), thereby allowing the second connecting part (2500) to slide in contact with the second supporting part (2400).

[0315] As a result, the second connecting part (2500) moves along the second rail body (2420) of the second supporting part (2400) in the direction of the fourth axis (AX4), thereby allowing the distance between the third link part (3000) connected to the second connecting part (2500) and the first link part (1000) connected to the second supporting part (2400) to be adjusted, and thereby the effect of being able to adjust the length of the robot finger device (100) according to the body size of the user using the robot finger device (100).

[0316] A connecting protrusion (2501) that can be inserted into the inner side of the third link portion (3000) may be located on one side of the second connecting portion (2500).

[0317] Referring again to FIG. 1, a third link portion (3000) according to one embodiment of the present invention corresponds to the distal phalanx of a finger and can be connected to a second link portion (2000).

[0318] The third link portion (3000) may be able to rotate relative to the second link portion (2000) using power, but is not limited thereto, and the third link portion (3000) may be fixed in position at the end of the second link portion (2000).

[0319] When the robot finger device (100) grasps an object, a protrusion may be formed on the third link portion (3000) to increase the frictional force between the robot finger device (100) and the object.

[0320] The third link portion (3000) can be made of various materials capable of providing frictional force, for example, the third link portion (3000) can be made of materials such as rubber or silicone.

[0321] In an optional embodiment, the third link portion (3000) may be fixedly connected to the end of the second link portion (2000), in which case the second gripping unit (4200) and / or the second lower sensor portion described later may extend from one side of the second support portion (2400) to one side of the third link portion (3000).

[0322] FIG. 10 is a drawing for explaining the structure of a cable (CB) connected to a robot finger device (100) according to one embodiment of the present invention.

[0323] Referring to FIG. 10, the support member (200) may include a winding unit (220), and a cable (CB) may be wound / unwound in the winding unit (220).

[0324] In one embodiment, a cable (CB) connects a first sensor unit (1600) and / or a second sensor unit (2600) with a control unit (300) to transmit information measured by the first sensor unit (1600) and / or the second sensor unit (2600) to the control unit (300).

[0325] In one embodiment, a cable (CB) connects a first driving unit (1200) and / or a second driving unit (2200) and a control unit (300) to transmit a control signal for driving from the control unit (300) to the first driving unit (1200) and / or the second driving unit (2200).

[0326] When the first link section (1000) and / or the second link section (2000) perform an extension operation, the winding unit (220) can wind the cable (CB) to reduce the length of the cable (CB), and when the first link section (1000) and / or the second link section (2000) perform a bending operation, the winding unit (220) can unwind the cable (CB) to increase the length of the cable (CB).

[0327] Through this, the cable (CB) can reliably connect at least one of the control unit (300) and the first sensor unit (1600), the second sensor unit (2600), the first driving unit (1200), and the second driving unit (2200), regardless of the extension / bending motion of the first link unit (1000) and / or the second link unit (2000).

[0328] In one embodiment, the cable (CB) may be made of a flexible printed circuit board (FPCB).

[0329] Referring to FIGS. 4 and 5, a gripping portion (4000) according to one embodiment of the present invention is disposed on the palm surface of the first link portion (1000) and the second link portion (2000), and can provide a reaction surface that contacts an object.

[0330] The gripping unit (4000) may include a first gripping unit (4100) and a second gripping unit (4200).

[0331] The first gripping unit (4100) can be positioned on the palm surface of the first link portion (1000).

[0332] In the present specification, the palm surface of the first link portion (1000) may be interpreted as a surface where the first support portion (1400) and / or the second connecting portion (2500) is located, and the palm surface of the second link portion (2000) may be interpreted as a surface where the second support portion (2400) and / or the second connecting portion (2500) is located.

[0333] The first gripping unit (4100) may be located on one side of the second connecting part (2500). For example, the first gripping unit (4100) may be in surface contact with one side of the second connecting part (2500) opposite to the first power generating part (1210).

[0334] The first gripping unit (4100) may be made of a material such as rubber or silicone.

[0335] Through this, when the first link portion (1000) grips an object, the first gripping unit (4100) can increase the gripping force of the first link portion (1000) by increasing the frictional force between the object and the first link portion (1000).

[0336] The first gripping unit (4100) may include a first lower sensor part.

[0337] The first lower sensor portion may be extended along the longitudinal direction of the first link portion (1000), and, for example, the lower sensor portion may be positioned along the outer surface of the first gripping unit (4100).

[0338] When the first link portion (1000) grasps an object, the first lower sensor portion can detect the position where the object contacts the first link portion (1000) and the magnitude of the reaction force that the object applies to the first link portion (1000).

[0339] For example, the control unit can obtain position information where an object contacts the first link unit (1000) and / or information on the magnitude of the reaction force that the object applies to the first link unit (1000) from a plurality of first lower sensor units arranged along the outer surface of the first gripping unit (4100).

[0340] Through this, the control unit can precisely control the operation of the first link unit (1000) and the second link unit (2000) by precisely measuring the contact state of an object in the robot finger device (100).

[0341] The control unit can obtain load information applied to a joint connecting the base unit and the first link unit (1000) and / or a joint connecting the first link unit (1000) and the second link unit (2000) by using information obtained from the first sensor unit and / or the second sensor unit.

[0342] In addition, the control unit can utilize all of the position information where an object contacts the palm surface of the robot finger device (100) from the first lower sensor unit and / or the pressure / force information applied by the object at the contacting position and the load information applied to the joint, thereby enabling the control unit to precisely detect the direction and magnitude of the force distributed by the shape of the object and to implement a delicate gripping motion of the robot finger device (100).

[0343] The second gripping unit (4200) can be positioned on the palm surface of the second link portion (2000).

[0344] The second gripping unit (4200) may be located on one side of the second connecting part (2500). For example, the second gripping unit (4200) may be in surface contact with one side of the second connecting part (2500) opposite to the second power generating part (2210).

[0345] The second gripping unit (4200) may be made of a material such as rubber or silicone.

[0346] Through this, when the second link portion (2000) grips an object, the second gripping unit (4200) can increase the gripping force of the second link portion (2000) by increasing the frictional force between the object and the second link portion (2000).

[0347] The second gripping unit (4200) may include a second lower sensor unit.

[0348] The second lower sensor part may be extended along the length direction of the second link part (2000), and, for example, the lower sensor part may be positioned along the outer surface of the second gripping unit (4200).

[0349] In an optional embodiment, the second gripping unit (4200) may be extended from the second support portion (2400) to the third link portion (3000) along the longitudinal direction of the second link portion (2000), and, for example, the lower sensor portion may be arranged to be extended from one side of the second support portion (2400) to the end of the third link portion (3000) along the outer surface of the second gripping unit (4200).

[0350] When the second link portion (2000) grasps an object, the lower sensor portion can detect the position where the object contacts the second link portion (2000) and the magnitude of the reaction force that the object applies to the second link portion (2000).

[0351] For example, the control unit can obtain position information where an object contacts the second link unit (2000) and / or information on the magnitude of the reaction force that the object applies to the second link unit (2000) from a plurality of second lower sensor units arranged along the outer surface of the second gripping unit (4200).

[0352] Through this, the control unit can precisely control the operation of the first link unit (1000) and the second link unit (2000) by precisely measuring the contact state of an object in the robot finger device (100).

[0353] The control unit can obtain load information applied to a joint connecting the base unit and the first link unit (1000) and / or a joint connecting the first link unit (1000) and the second link unit (2000) by using information obtained from the first sensor unit and / or the second sensor unit.

[0354] In addition, the control unit can utilize all of the position information where an object contacts the palm surface of the robot finger device (100) and / or the pressure / force information applied by the object at the contacting position and the load information applied to the joint from the second lower sensor unit, thereby enabling the control unit to precisely detect the direction and magnitude of the force distributed by the shape of the object and to implement a delicate gripping motion of the robot finger device (100).

[0355] The first lower sensor unit and / or the second lower sensor unit may be composed of various devices installed on the palm surface of the robot finger to detect pressure. For example, the first lower sensor unit and / or the second lower sensor unit may be composed of at least one of a resistive pressure sensor, a capacitive pressure sensor, a piezoresistive pressure sensor, a piezoelectric pressure sensor, a piezoelectric film sensor, a fiber optic pressure sensor, a conductive polymer pressure sensor, an electrically resistive fiber sensor, a silicon pressure sensor, a multilayer film pressure sensor, a strain gauge-based pressure sensor, an anisotropic conductive film-based sensor, a fluid pressure sensor, and a photoelectric device-based pressure sensor.

[0356] The robot finger device (100) according to the embodiments of the present invention and the robot hand (1) including the same have the effect of stably gripping an object or applying a stable gripping force to an object, in that the driving gear that operates the robot finger is made of a worm gear.

[0357]

[0358] FIG. 11 is a schematic diagram illustrating an articulation unit (400) according to one embodiment of the present invention.

[0359] Referring to FIG. 11, an articulation unit (400) according to one embodiment of the present invention may include a first body (410), a second body (420), and an articulation part (430).

[0360] The joint unit (400) can be applied to devices having various link structures, such as humanoid robots, industrial robots, industrial robots, medical robots, and home robots.

[0361] In one embodiment, the first body (410) and the second body (420) may correspond to the finger joints of the robot, and the joint portion (430) may be applied to the finger joint.

[0362] In one embodiment, the first body (410) and the second body (420) may correspond to the upper and lower arms of a humanoid robot, and the joint portion (430) may be applied to the elbow joint of the humanoid robot.

[0363] In one embodiment, the first main body (410) and the second main body (420) may correspond to the thigh and lower leg portions of a humanoid robot, and the joint portion (430) may be applied to the knee joint of a humanoid robot.

[0364] However, it is not limited to this, and the first body (410), the second body (420), and the joint part (430) can be applied to various joint structures of a robot that generates torque.

[0365] A joint unit (400) according to one embodiment of the present invention can be applied to a robot finger device according to the embodiments of the present invention described above and a robot hand including the same.

[0366] For example, the joint portion (430) of the joint unit (400) can be substituted and applied to the first and second drive gears (1100, 2100), the first drive unit (1200, 2200), the first elastic member (1300, 2300), etc. of the robot finger device.

[0367]

[0368] FIG. 12 is a drawing illustrating a first embodiment of the joint portion (430) shown in FIG. 11.

[0369] Referring to FIG. 12, the joint portion (430) according to the first embodiment of the present invention may include a driving portion (431), a shaft portion (432), a first driving gear (433), a second driving gear (434), and a support portion (435).

[0370] The drive unit (431) may be composed of various devices capable of providing rotational force to the first drive gear (433). For example, the drive unit (431) may be composed of a servo motor, a stepper motor, a coreless DC motor, a micro BLDC motor, a piezoelectric motor, a micro geared motor, a pulse motor, a micro induction motor, and a vibration motor.

[0371] The driving unit (431) can be fixed in position on the second main body (420).

[0372] The drive unit (431) can apply rotational force to the first drive gear (433), and for example, the drive unit (431) can be connected to the first drive gear (433) through the shaft unit (432).

[0373] The first drive gear (433) can be connected to the shaft portion (432), and the first drive gear (433) can rotate around the longitudinal central axis of the shaft portion (432).

[0374] Specifically, the first drive gear (433) can be rotatably connected integrally with the shaft portion (432), and the first drive gear (433) can be linearly movably connected to the shaft portion (432).

[0375] Specifically, the first drive gear (433) can be connected to the shaft portion (432) so as to be able to move linearly along the longitudinal direction of the shaft portion (432).

[0376] At the same time, the first drive gear (433) is constrained from rotating with respect to the shaft portion (432) and can rotate as a whole in conjunction with the rotation of the shaft portion (432).

[0377] As a result, the first drive gear (433) and the shaft portion (432) rotate as a single unit, so that the power provided by the drive portion (431) can be effectively transmitted to the first drive gear (433) through the shaft portion (432).

[0378] In addition, since the first drive gear (433) can move linearly along the length direction of the shaft portion (432), the support portion (435) can detect the axial movement of the first drive gear (433) and effectively detect the load applied to the joint portion (430).

[0379] In addition, by receiving elastic force from the support member (435) while moving linearly along the length direction of the first drive gear (433) and the shaft member (432), the joint member (430) has the effect of being able to flexibly respond to external loads acting between the first main body (410) and the second main body (420).

[0380] The second drive gear (434) can be fixed to the first body (410).

[0381] The first drive gear (433) and the second drive gear (434) can be engaged in a worm gear manner.

[0382] Specifically, the first drive gear (433) may be a worm gear extending along the longitudinal central axis of the shaft portion (432), and the second drive gear (434) may be a worm-wheel gear meshing with the first drive gear (433).

[0383] The first drive gear (433) may correspond to the first drive gear (1100) to the second drive gear (2100) described above, and the second drive gear (434) may correspond to the first screw groove (1501) to the second screw groove (211) described above.

[0384] Referring to FIG. 12, a support member (435) according to one embodiment of the present invention may include a support body (4351) and an elastic member (4352).

[0385] The support body (4351) can be fixed in position on the shaft portion (432).

[0386] In one embodiment, the support body (4351) may be positioned so as to be spaced apart from the first drive gear (433).

[0387] For example, one side of the support body (4351) may be fixed in position on the shaft portion (432) and positioned spaced apart to face one end of the first drive gear (433).

[0388] The other side of the support body (4351), opposite to the one side mentioned above, is fixed in position on the shaft portion (432) and can be positioned spaced apart to face the other end opposite to the one end of the first drive gear (433).

[0389] In the present specification, 'one end and the other end of the first drive gear (433)' can be interpreted as both ends of the first drive gear (433) separated along the longitudinal direction of the shaft portion (432) or the direction of movement of the first drive gear (433).

[0390] Additionally, the aforementioned 'one side of the support body (4351)' can be interpreted as a region of the support body (4351) that is connected to the shaft portion (432) and is positioned relatively farther from the first drive gear (433) in the drive portion (431).

[0391] Additionally, the aforementioned 'other side of the support body (4351)' can be interpreted as the other area of ​​the support body (4351) that is connected to the shaft portion (432) and is positioned relatively closer to the first drive gear (433) in the drive portion (431).

[0392] The first drive gear (433) may be capable of linear movement along the longitudinal direction of the shaft portion (432) between one side and the other side of the support body (4351).

[0393] The elastic member (4352) is positioned between the support body (4351) and the first drive gear (433) to provide elastic force to the first drive gear (433).

[0394] The elastic member (4352) may be at least one of a coil spring, a leaf spring, a torsion spring, elastic rubber, or an elastomer.

[0395] However, it is not limited to this, and the elastic member (4352) may be made of various devices capable of providing variable force to the first drive gear (433) according to the change in distance between the first drive gear (433) and the support body (4351).

[0396] The elastic member (4352) may be composed of a first elastic member (4352a) and a second elastic member (4352b).

[0397] The first elastic member (4352a) can be positioned between one end of the first drive gear (433) and one side of the support body (4351).

[0398] The second elastic member (4352b) can be positioned between the other end of the first drive gear (433) and the other side of the support body (4351).

[0399] When the first driving gear (433) moves in a direction that approaches one side of the support body (4351) due to an external force acting on the first body (410) and / or the second body (420) or the driving force of the driving unit (431), the first elastic member (4352a) can provide a compressive force to one end of the first driving gear (433), and the second elastic member (4352b) can provide a tensile force to the other end of the first driving gear (433).

[0400] As a result, even if the magnitude or rate of change of the external force or driving force of the driving unit (431) acting on the first main body (410) and / or the second main body (420) is excessively high, the first driving gear (433) can move flexibly along the shaft part (432) while receiving elastic force from the elastic member (4352), so that the joint part (430) can flexibly respond to the external load or driving force of the driving unit (431).

[0401] In addition, a sensor (not shown) can detect the operation or compressive / tensile force of the first elastic member (4352a) and / or the second elastic member (4352b) to effectively detect the load applied to the first drive gear (433).

[0402] The above-described sensor may consist of a load sensor, a force sensor, a torque sensor, a strain gauge, a pressure sensor, a displacement sensor, a position sensor, an acceleration sensor, a gyro sensor, an optical sensor, a magnetic sensor, a current sensor, a voltage sensor, a temperature sensor, etc.

[0403] In one embodiment, the support body (4351) may be formed in a 'L' shape, and the first drive gear (433) may be capable of linear movement along the shaft portion (432) inside the support body (4351).

[0404] In one embodiment, the support body (4351) and the elastic member (4352) may be formed integrally.

[0405] For example, at least a portion of the support body (4351) may be made of an elastic body that applies elastic force to one end and / or the other end of the first drive gear (433).

[0406]

[0407] FIG. 13 is a drawing illustrating a second embodiment of the joint portion (430') shown in FIG. 11.

[0408] Referring to FIG. 13, the joint portion (430') according to the second embodiment of the present invention may include a driving portion (431'), a shaft portion (432'), a first driving gear (433'), a second driving gear (434'), and a support portion (435').

[0409] The drive unit (431') may be composed of various devices capable of providing rotational force to the first drive gear (433'). For example, the drive unit (431') may be composed of a servo motor, a stepper motor, a coreless DC motor, a micro BLDC motor, a piezoelectric motor, a micro geared motor, a pulse motor, a micro induction motor, and a vibration motor.

[0410] The drive unit (431) can be fixed in position on the second main body (420).

[0411] The drive unit (431') can apply rotational force to the first drive gear (433'), and for example, the drive unit (431') can be connected to the first drive gear (433') through the shaft unit (432').

[0412] The first drive gear (433') can be connected to the shaft portion (432'), and the first drive gear (433') can rotate around the longitudinal central axis of the shaft portion (432').

[0413] Specifically, the first drive gear (433') can be rotatably connected integrally with the shaft portion (432'), and the first drive gear (433') can be linearly movably connected to the shaft portion (432').

[0414] Specifically, the first drive gear (433') can be connected to the shaft portion (432') so as to be able to move linearly along the longitudinal direction of the shaft portion (432').

[0415] At the same time, the first drive gear (433') is constrained from rotating with respect to the shaft portion (432') and can rotate as a whole in conjunction with the rotation of the shaft portion (432').

[0416] As a result, the first drive gear (433') and the shaft portion (432') rotate as a single unit, so that the power provided by the drive portion (431') can be effectively transmitted to the first drive gear (433') through the shaft portion (432').

[0417] In addition, since the first drive gear (433') can move linearly along the length direction of the shaft portion (432'), the support portion (435') can detect the axial movement of the first drive gear (433') and effectively detect the load applied to the joint portion (430').

[0418] In addition, by receiving elastic force from the support member (435') while moving linearly along the length direction of the first drive gear (433') and the shaft member (432'), the joint member (430') has the effect of being able to flexibly respond to external loads acting between the first main body (410) and the second main body (420).

[0419] The second drive gear (434) can be fixed to the first body (410).

[0420] The first drive gear (433') and the second drive gear (434') can be engaged in a worm gear manner.

[0421] Specifically, the first driving gear (433') may be a worm gear extending along the longitudinal central axis of the shaft portion (432'), and the second driving gear (434') may be a worm-wheel gear meshing with the first driving gear (433').

[0422] The first drive gear (433') may correspond to the first drive gear (1100) to the second drive gear (2100) described above, and the second drive gear (434') may correspond to the first screw groove (1501) to the second screw groove (211) described above.

[0423] Referring to FIG. 13, the support member (435') may include a support body (4351'), an elastic member (4352'), a support driving member (4353'), and a support shaft (4354').

[0424] The support body (4351') can be movably connected to the shaft portion (432').

[0425] Specifically, the support body (4351') may be able to move freely along the length direction of the shaft portion (432').

[0426] The support drive unit (4353') can be fixed in position on the second main body (420) and / or the drive unit (431').

[0427] The support drive unit (4353') can apply driving force to the support body (4351').

[0428] The support drive unit (4353') can be connected to the support body (4351') through the support shaft (4354').

[0429] The longitudinal center axis of the support shaft (4354') may be parallel to the longitudinal center axis of the shaft portion (432').

[0430] The support body (4351') can be connected to the shaft portion (432') and the support shaft (4354'), respectively.

[0431] The support drive unit (4353') can rotate the support shaft (4354'), and the rotation of the support shaft (4354') allows the support body (4351') to move linearly along the length direction of the shaft unit (432').

[0432] For example, the support body (4351') and the support shaft (4354') can be connected by screws, and the support body (4351') can move linearly along the longitudinal direction of the shaft part (432') by receiving rotational force from the support drive part (4353') from the support shaft (4354').

[0433] As a result, the elastic force of the elastic member (4352) can be controlled by controlling the drive of the support drive unit (4353') to adjust the distance between the support body (4351') and the first drive gear (433'), and through this, the support drive unit (4353') can assist the torque between the first body (410) and the second body (420).

[0434] A detailed explanation regarding this will be provided later.

[0435] In one embodiment, the support body (4351') may be positioned so as to be spaced apart from the first drive gear (433').

[0436] For example, one side of the support body (4351') may be positioned so as to be movable on the shaft portion (432'), but spaced apart to face one end of the first drive gear (433').

[0437] The other side of the support body (4351') opposite to the one side above is movably positioned on the shaft portion (432'), and may be spaced apart to face the other end opposite to the one end of the first drive gear (433').

[0438] In the present specification, 'one end and the other end of the first drive gear (433')' can be interpreted as both ends of the first drive gear (433') separated along the longitudinal direction of the shaft portion (432') or the direction of movement of the first drive gear (433').

[0439] Additionally, the aforementioned 'one side of the support body (4351')' can be interpreted as a region of the support body (4351') that is connected to the shaft portion (432') and is positioned relatively farther from the first drive gear (433') in the drive portion (431').

[0440] Additionally, the aforementioned 'other side of the support body (4351')' can be interpreted as the other area of ​​the support body (4351') that is connected to the shaft portion (432') and is positioned relatively closer to the first drive gear (433') than to the drive portion (431').

[0441] The first drive gear (433') may be capable of linear movement along the longitudinal direction of the shaft portion (432') between one side and the other side of the support body (4351').

[0442] The elastic member (4352') is positioned between the support body (4351') and the first drive gear (433') to provide elastic force to the first drive gear (433').

[0443] The elastic member (4352) may be at least one of a coil spring, a leaf spring, a torsion spring, elastic rubber, or an elastomer.

[0444] However, it is not limited to this, and the elastic member (4352') may be made of various devices capable of providing variable force to the first driving gear (433') depending on the change in distance between the first driving gear (433') and the supporting body (4351').

[0445] The elastic member (4352') may be composed of a first elastic member (4352'a) and a second elastic member (4352'b).

[0446] The first elastic member (4352'a) can be positioned between one end of the first drive gear (433') and one side of the support body (4351').

[0447] The second elastic member (4352'b) can be positioned between the other end of the first drive gear (433') and the other side of the support body (4351').

[0448] When the first driving gear (433') moves in a direction that approaches one side of the support body (4351') by means of an external force acting on the first main body (410) and / or the second main body (420) or the driving force of the driving unit (431'), the first elastic member (4352'a) can provide a compressive force to one end of the first driving gear (433'), and the second elastic member (4352'b) can provide a tensile force to the other end of the first driving gear (433').

[0449] As a result, even if the magnitude or rate of change of the external force or driving force of the driving unit (431') acting on the first main body (410) and / or the second main body (420) is excessively high, the first driving gear (433') can move flexibly along the shaft part (432') while receiving elastic force from the elastic member (4352'), so that the joint part (430') can flexibly respond to the external load or driving force of the driving unit (431').

[0450] In addition, a sensor (not shown) can detect the operation or compressive / tensile force of the first elastic member (4352'a) and / or the second elastic member (4352'b) to effectively detect the load applied to the first drive gear (433').

[0451] The above-described sensor may consist of a load sensor, a force sensor, a torque sensor, a strain gauge, a pressure sensor, a displacement sensor, a position sensor, an acceleration sensor, a gyro sensor, an optical sensor, a magnetic sensor, a current sensor, a voltage sensor, a temperature sensor, etc.

[0452] In one embodiment, the support body (4351') may be formed in a 'L' shape, and the first driving gear (433') may be capable of linear movement along the shaft portion (432') inside the support body (4351').

[0453] The support drive unit (4353') can provide linear movement force to the support body (4351') so that the support body (4351') moves along the longitudinal direction of the shaft unit (432').

[0454] Specifically, the support body (4351') can move linearly along the longitudinal direction of the shaft portion (432') by receiving power from the support drive unit (4353'), thereby allowing adjustment of the distance between one side of the support body (4351') and one end of the first drive gear (433') and / or the distance between the other side of the support body (4351') and the other end of the first drive gear (433').

[0455] Through this, by controlling the drive of the support drive unit (4353'), the elastic force of the first elastic member (4352'a) and the second elastic member (4352'b) provided to the first drive gear (433') can be adjusted.

[0456] As a result, a high load can be applied to the first drive gear (433'), and accordingly, the magnitude of the torque acting between the first body (410) and the second body (420) can be increased.

[0457] For example, if a high rotational angular velocity of the joint part (430') is required, the drive of the drive part (431') can be controlled to rotate the first drive gear (433') quickly.

[0458] In addition, if it is difficult to generate sufficient torque between the first body (410) and the second body (420) solely by the driving force of the driving unit (431'), the supporting driving unit (4353') is driven to provide additional linear movement force to the first driving gear (433'), thereby enabling a higher torque to be generated between the first body (410) and the second body (420).

[0459] That is, the joint part (430') according to the second embodiment includes a driving part (431') that rotates the first driving gear (433') and a supporting driving part (4353') that provides linear movement force to the first driving gear (433'), thereby having the effect of simultaneously generating a fast driving speed and high torque of the first driving gear (433') with only a small capacity motor.

[0460] The supporting body (4351') and the elastic member (4352') of the joint part (430') according to the second embodiment may be formed as a single unit.

[0461] For example, at least a portion of the support body (4351') may be made of an elastic body that applies elastic force to one end and / or the other end of the first drive gear (433').

[0462]

[0463] FIG. 14 is a drawing illustrating a third embodiment of the joint portion shown in FIG. 11.

[0464] Referring to FIG. 14, the joint portion (430) according to the third embodiment of the present invention may include a driving portion (431), a shaft portion (432), a first driving gear (433), a second driving gear (434), and a support portion (435).

[0465] The drive unit (431) can be composed of various devices capable of providing rotational force to the first drive gear (433). For example, the drive unit (431) can be composed of a servo motor, a stepper motor, a coreless DC motor, a micro BLDC motor, a piezoelectric motor, a micro geared motor, a pulse motor, a micro induction motor, and a vibration motor.

[0466] The drive unit (431) can be fixed in position on the second main body (420).

[0467] The drive unit (431) can apply rotational force to the first drive gear (433), and for example, the drive unit (431) can be connected to the first drive gear (433) through the shaft unit (432).

[0468] The first drive gear (433) can be connected to the shaft portion (432), and the first drive gear (433) can rotate around the longitudinal central axis of the shaft portion (432).

[0469] Specifically, the first drive gear (433) can be rotatably connected integrally with the shaft portion (432), and the first drive gear (433) can be linearly movably connected to the shaft portion (432).

[0470] Specifically, the first drive gear (433) can be connected to the shaft portion (432) so as to be able to move linearly along the longitudinal direction of the shaft portion (432).

[0471] At the same time, the first drive gear (433'') is constrained from rotating relative to the shaft portion (432'') and can rotate integrally in conjunction with the rotation of the shaft portion (432'').

[0472] As a result, the first drive gear (433) and the shaft portion (432) rotate as a single unit, so that the power provided by the drive portion (431) can be effectively transmitted to the first drive gear (433) through the shaft portion (432).

[0473] In addition, since the first drive gear (433'') can move linearly along the length direction of the shaft portion (432''), the support portion (435'') can detect the axial movement of the first drive gear (433'') and effectively detect the load applied to the joint portion (430'').

[0474] In addition, by receiving elastic force from the support member (435) while moving linearly along the length direction of the first drive gear (433) and the shaft member (432), the joint member (430) has the effect of being able to flexibly respond to external loads acting between the first main body (410) and the second main body (420).

[0475] The second drive gear (434) can be fixed to the first body (410).

[0476] The first drive gear (433``) and the second drive gear (434``) can be engaged in a worm gear manner.

[0477] Specifically, the first drive gear (433``) may be a worm gear extending along the longitudinal central axis of the shaft portion (432``), and the second drive gear (434``) may be a worm-wheel gear meshing with the first drive gear (433``).

[0478] The first drive gear (433``) may correspond to the first drive gear (1100) to the second drive gear (2100) described above, and the second drive gear (434``) may correspond to the first screw groove (1501) to the second screw groove (211) described above.

[0479] Referring to FIG. 14, a support member (435``) according to one embodiment of the present invention may include a first support body (4351``a), a second support body (4351``b), an elastic member (4352``), a first support driving member (4353``a), a second support driving member (4353``b), a first support shaft (4354``a), and a first support shaft (4354``b).

[0480] The first support body (4351) can be movably connected to the shaft portion (432).

[0481] The second support body (4351``b) can be movably connected to the shaft portion (432``).

[0482] Specifically, the first support body (4351``a) and the second support body (4351``b) may be able to move freely along the longitudinal direction of the shaft portion (432``).

[0483] The first support body (4351``a) and the second support body (4351``b) can be positioned in opposite areas based on the shaft portion (432``).

[0484] As a result, the first support body (4351``a) and the second support body (4351``b) can be driven independently without interfering with each other, and through this, the first support body (4351``a) and the second support body (4351``b) can each drive independently and provide force to the first drive gear (434``).

[0485] The first support drive unit (4353''a) and the second support drive unit (4353''b) may be fixed in position on the second main body (420) and / or the drive unit (431''). Specifically, the first support drive unit (4353''a) and the second support drive unit (4353''b) may be positioned in opposite areas relative to the shaft unit (432'') and / or the drive unit (431'').

[0486] The first support drive unit (4353``a) can apply driving force to the first support body (4351``a), and the second support drive unit (4353``b) can apply driving force to the second support body (4351``b).

[0487] The first support drive unit (4353``a) can be connected to the first support body (4351``a) through the first support shaft (4354``a), and the second support drive unit (4353``b) can be connected to the second support body (4351``b) through the second support shaft (4354``b).

[0488] Specifically, the first support body (4351``a) is connected to the first support shaft (4354``a), and one side of the first support body (4351``a) may be connected to the shaft portion (432``).

[0489] For example, the first support body (4351``a) can move linearly by receiving power from the first support shaft (4354``a), and one side of the first support body (4351``a) can be penetrated by the shaft portion (432``).

[0490] Additionally, the second support body (4351``b) is connected to the second support shaft (4354``b), and one side of the second support body (4351``b) may be connected to the shaft portion (432``).

[0491] For example, the second support body (4351``b) can move linearly by receiving power from the second support shaft (4354``b), and one side of the second support body (4351``b) can be penetrated by the shaft portion (432``).

[0492] In the present specification, 'one side of the first support body (4351``a)' can be interpreted as one area of ​​the first support body (4351``a) connected to the shaft portion (432``), and 'one side of the second support body (4351``b)' can be interpreted as one area of ​​the second support body (4351``b) connected to the shaft portion (432``).

[0493] Referring to FIG. 14, a first driving gear (433) may be positioned between one side of the first support body (4351``a) and one side of the second support body (4351``b).

[0494] Specifically, the first drive gear (433) can move linearly along the length direction of the shaft portion (432) between one side of the first support body (4351 a) and one side of the second support body (4351 b).

[0495] A first elastic member (4352a), to be described later, may be disposed between one side of the first support body (4351a) and the first drive gear (433), and a second elastic member (4352b), to be described later, may be disposed between one side of the second support body (4351b) and the second drive gear (433).

[0496] As a result, the length of the first elastic member (4352) can be adjusted by the movement of the first support body (4351) according to the driving of the first support driving unit (4353)a, and through this, the compressive / tensile force applied by the first elastic member (4352) to the first support body (4351) can be adjusted.

[0497] In addition, the length of the second elastic member (4352) can be adjusted by the movement of the second support body (4351) in accordance with the driving of the second support driving unit (4353)b, and through this, the compressive / tensile force applied by the second elastic member (4352)b to the second support body (4351)b can be adjusted.

[0498] The longitudinal center axis of the first support shaft (4354) can be parallel to the longitudinal center axis of the shaft portion (432).

[0499] The longitudinal center axis of the first support shaft (4354``a) may be parallel to the longitudinal center axis of the second support shaft (4354``b).

[0500] The longitudinal center axis of the second support shaft (4354``b) may be parallel to the longitudinal center axis of the shaft portion (432``).

[0501] The first support drive unit (4353``a) can rotate the first support shaft (4354``a), and the rotation of the first support shaft (4354``a) allows the first support body (4351``a) to move linearly along the length direction of the shaft unit (432``).

[0502] For example, the first support body (4351``a) and the first support shaft (4354``a) can be connected by screws, and the first support body (4351``a) can receive rotational force from the first support drive unit (4353``a) from the first support shaft (4354``a) and move linearly along the longitudinal direction of the shaft unit (432``).

[0503] By controlling the drive of the first support drive unit (4353``a) to adjust the distance between one side of the first support body (4351``a) and one end of the first drive gear (433``a), the elastic force of the first elastic member (4352``a) applied to one end of the first drive gear (433``a) can be adjusted.

[0504] The second support drive unit (4353``b) can rotate the second support shaft (4354``b), and the rotation of the second support shaft (4354``b) allows the second support body (4351``b) to move linearly along the length direction of the shaft unit (432``).

[0505] For example, the second support body (4351``b) and the second support shaft (4354``b) can be screw-connected, and the second support body (4351``b) can receive rotational force from the second support drive unit (4353``b) from the second support shaft (4354``b) and move linearly along the length direction of the shaft unit (432``).

[0506] By controlling the drive of the second support drive unit (4353''b) to adjust the distance between one side of the second support body (4351''b) and the other end of the first drive gear (433''b), the elastic force of the second elastic member (4352''b) applied to the other end of the first drive gear (433''b) can be adjusted.

[0507] In the present specification, 'one end of the first drive gear (433'')' can be interpreted as the end of the first drive gear (433'') in contact with the first elastic member (4352''a), and 'the other end of the first drive gear (433'')' can be interpreted as the end of the first drive gear (433'') in contact with the second elastic member (4352''b).

[0508] The elastic member (4352) is connected to the first support body (4351) and / or the second support body (4351) and provides elastic force to the first drive gear (433), and may include the first elastic member (4352) and the second elastic member (4352) b.

[0509] The first elastic member (4352``a) is positioned between one side of the first support body (4351``a) and one end of the first drive gear (433``) to provide elastic force to the one end of the first drive gear (433``).

[0510] The second elastic member (4352''b) is positioned between one side of the second support body (4351''b) and the other end of the first drive gear (433'') to provide elastic force to the other end of the first drive gear (433'').

[0511] The first elastic member (4352''a) and / or the second elastic member (4352''b) may be at least one of a coil spring, a leaf spring, a torsion spring, elastic rubber, or an elastomer.

[0512] However, it is not limited thereto, and the first elastic member (4352``a) and / or the second elastic member (4352``b) may be made of various devices capable of providing variable force to the first drive gear (433``).

[0513] When the first driving gear (433) moves in a direction that approaches one side of the first supporting body (4351) due to an external force acting on the first main body (410) and / or the second main body (420) or the driving force of the driving unit (431), the first elastic member (4352)a) can provide a compressive force to one end of the first driving gear (433), and the second elastic member (4352)b can provide a tensile force to the other end of the first driving gear (433).

[0514] Additionally, when the first driving gear (433) moves in a direction that approaches one side of the second supporting body (4351) due to an external force acting on the first main body (410) and / or the second main body (420) or the driving force of the driving unit (431), the second elastic member (4352)b) may provide a compressive force to the other end of the first driving gear (433), and the first elastic member (4352)a may provide a tensile force to one end of the first driving gear (433).

[0515] As a result, even if the magnitude or rate of change of the external force or driving force of the driving unit (431) acting on the first main body (410) and / or the second main body (420) is excessively high, the first driving gear (433) can move flexibly along the shaft part (432) while receiving elastic force from the elastic member (4352), so that the joint part (430) can flexibly respond to the external load or driving force of the driving unit (431).

[0516] In addition, a sensor (not shown) can detect the operation or compressive / tensile force of the first elastic member (4352''a) and / or the second elastic member (4352''b) to effectively detect the load applied to the first drive gear (433'').

[0517] The above-described sensor may consist of a load sensor, a force sensor, a torque sensor, a strain gauge, a pressure sensor, a displacement sensor, a position sensor, an acceleration sensor, a gyro sensor, an optical sensor, a magnetic sensor, a current sensor, a voltage sensor, a temperature sensor, etc.

[0518] The first support drive unit (4353``a) can provide a linear movement force to the first support body (4351``a) so that the first support body (4351``a) moves along the longitudinal direction of the shaft unit (432``).

[0519] Specifically, the first support body (4351``a) can move linearly along the length direction of the shaft portion (432``) by receiving power from the first support drive unit (4353``a), and thereby the distance between one side of the first support body (4351``a) and one end of the first drive gear (433``) can be adjusted.

[0520] As a result, the magnitude of the compressive force of the first elastic member (4352) applied to the other end of the first drive gear (433) can be adjusted by driving the first support drive unit (4353) a.

[0521] The second support drive unit (4353``b) can provide a linear moving force to the second support body (4351``b) so that the second support body (4351``b) moves along the longitudinal direction of the shaft unit (432``).

[0522] Specifically, the second support body (4351''b) can move linearly along the length direction of the shaft part (432'') by receiving power from the second support drive part (4353''b), and thereby the distance between one side of the second support body (4351''b) and the other end of the first drive gear (433'') can be adjusted.

[0523] As a result, the magnitude of the compressive force of the second elastic member (4352) applied to the other end of the first drive gear (433) can be adjusted by driving the second support drive unit (4353) b.

[0524] In the joint portion according to the third embodiment, the driving of the first support driving unit (4353''a) and the second support driving unit (4353''b) can be controlled to adjust the distance between one side of the first support body (4351''a) and one side of the first support body (4351''a).

[0525] As a result, the magnitude of the elastic force applied to one end and the other end of the first drive gear (433``) can be adjusted respectively.

[0526] Accordingly, the amount of displacement of the first drive gear (433``) by the force applied from the outside of the joint unit (400) can be adjusted.

[0527] The supporting body (4351) and the elastic member (4352) of the joint part (430) according to the third embodiment may be formed integrally.

[0528] For example, at least a portion of the support body (4351) may be made of an elastic body that applies elastic force to one end and / or the other end of the first drive gear (433).

[0529]

[0530] Through this, the magnitude of the resistance of the joint part (430``) to the torque applied from the outside of the joint unit (400) or the magnitude of the torque generated by the joint part (430``) can be adjusted.

[0531] Each of the embodiments described above can be implemented independently, but it goes without saying that the structure of each embodiment can be applied in combination to other embodiments.

[0532] As such, the present invention has been described with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

[0533] The specific practices described in the embodiments are examples and do not limit the scope of the embodiments in any way. Furthermore, unless specifically stated as "essential," "importantly," etc., components may not be strictly necessary for the application of the present invention.

[0534] In the specification of the embodiments (particularly the claims), the use of the term "above" and similar descriptive terms may be in both singular and plural.

[0535] In addition, where a range is described in the embodiments, it includes an invention applying individual values ​​belonging to said range (unless otherwise stated), and is equivalent to describing each individual value constituting said range in the detailed description.

[0536] Finally, regarding the steps constituting the method according to the embodiment, unless the order is explicitly stated or contradicted, said steps may be performed in a suitable order. The embodiments are not necessarily limited to the order in which said steps are described.

[0537] In the embodiments, the use of all examples or exemplary terms is merely for the purpose of describing the embodiments in detail, and the scope of the embodiments is not limited by said examples or exemplary terms unless limited by the claims.

[0538] In addition, those skilled in the art will understand that various modifications, combinations, and changes may be configured according to design conditions and factors within the scope of the patent claims or equivalents to which they are added.

[0539] The robot finger device and the robot hand including the same according to the embodiments of the present invention as described above can be applied to industrially available humanoid robots, industrial robots, industrial robots, collaborative robots, service robots, household robots, medical and rehabilitation robots, logistics and transport robots, humanoid robots, etc.

Claims

1. Base part; A first link portion having a first drive gear that is rotatably connected to the base portion around a first axis and rotates around a second axis that forms a predetermined angle with the first axis while in contact with the base portion; and A robot finger device comprising: a second link portion having a second drive gear that is rotatably connected to the first link portion around a third axis parallel to the first axis and rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link.

2. In Paragraph 1, The above first drive gear is, A robot finger device, which is a worm gear that rotates around the second axis extending perpendicular to the first axis and has a first screw thread formed on its outer surface.

3. In Paragraph 2, A robot finger device in which the angle formed by the direction in which the first screw thread extends and the first axis is equal to or relatively smaller than the angle formed by the direction in which the first screw thread extends and the second axis.

4. In Paragraph 2, The above-mentioned first link portion is, A first drive unit that applies rotational force to the first drive gear; and A robot finger device further comprising: a first elastic member disposed between the first driving unit and the first driving gear, made of an elastic material, and applying an elastic force to the first driving gear.

5. In Paragraph 4, The above first elastic member is a robot finger device disposed on the above second axis.

6. In Paragraph 4, The above-described first elastic member applies force to the above-described first drive gear in the above-described second axial direction, a robot finger device.

7. In Paragraph 4, The above-mentioned first link portion is, A robot finger device further comprising: a first connecting part having a screw groove formed on one side that engages with the first screw thread of the second driving gear.

8. In Paragraph 7, A robot finger device in which the direction in which the screw groove formed on one side of the first connecting part extends is parallel to the first axis.

9. In Paragraph 7, The above first driving unit is a robot finger device located between the one side of the first connecting part, where the screw groove formed on one side of the first connecting part is formed, and the first driving gear.

10. In Paragraph 7, A robot finger device in which the first connecting part has a fixed position and angle with respect to the first driving unit.

11. In Paragraph 2, The above second drive gear is, A robot finger device, which is a worm gear that rotates around the fourth axis parallel to the rotation axis of the first driving gear and has a second screw thread formed on its outer surface.

12. In Paragraph 11, A robot finger device in which the angle formed by the direction in which the second screw thread extends and the third axis is equal to or relatively smaller than the angle formed by the direction in which the second screw thread extends and the fourth axis.

13. In Paragraph 11, The above second link portion is, A second drive unit that applies rotational force to the second drive gear; and A robot finger device further comprising: a second elastic member disposed between the second driving unit and the second driving gear, made of an elastic material, and applying an elastic force to the second driving gear.

14. In Paragraph 13, The robot finger device, wherein the second elastic member applies force to the second drive gear in the fourth axial direction.

15. Multiple robotic finger devices; A finger support member on which the above plurality of robot finger devices are supported; and A control unit for controlling the operation of the above-mentioned robot finger device; is included, The above-mentioned robot finger device is, A first link member having a first drive gear that is rotatably connected to the finger support member about a first axis and rotates about a second axis forming a predetermined angle with the first axis while in contact with the finger support member; and A robot hand comprising: a second link portion having a second drive gear that is rotatably connected to the first link portion around a third axis parallel to the first axis and rotates around a fourth axis forming a predetermined angle with the third axis while in contact with the first link.

16. In Paragraph 15, The above first drive gear is, A robot hand, which is a worm gear that rotates around the second axis extending perpendicular to the first axis and has a first screw thread formed on its outer surface.

17. In Paragraph 16, A robot hand in which the angle formed by the direction in which the first screw thread extends and the first axis is relatively smaller than the angle formed by the direction in which the first screw thread extends and the second axis.

18. In Paragraph 16, The above-mentioned first link portion is, A first drive unit that applies rotational force to the first drive gear; and A robot hand further comprising: a first elastic member disposed between the first driving unit and the first driving gear, made of an elastic material, and applying an elastic force to the first driving gear.

19. In Paragraph 16, The above second drive gear is, A robot hand that is a worm gear rotating around the fourth axis parallel to the rotation axis of the first driving gear and having a second screw thread formed on its outer surface.

20. In Paragraph 19, The above second link portion is, A second drive unit that applies rotational force to the second drive gear; and A robot hand further comprising: a second elastic member disposed between the second driving unit and the second driving gear, made of an elastic material, and applying an elastic force to the second driving gear.

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