CN-115003465-B - Finger assembly and manipulator comprising same

Abstract

The invention discloses a finger assembly and a manipulator. The invention comprises a main frame, a finger tip part rotatably connected with the main frame, and a belt part connected with the finger tip part.

Inventors

• JIN RONGZAI
• Song Hanlv

Assignees

• 韩国技术教育大学校产学协力团
• 纳宝实验室株式会社

Dates

Publication Date

20260512

Application Date

20210126

Priority Date

20200130

Claims (11)

1. 1. A finger assembly adapted to be connected to a body portion of a manipulator, wherein, The finger assembly includes: A main frame; A finger tip rotatably connected to the main frame, and And a band portion connected to the toe portion, wherein the band portion is flexible and is configured to be driven to be pulled out of or inserted into the body portion to change a posture of the toe portion such that the toe portion and the band portion are adapted to contact an article to be grasped, and a shape of the band portion is changed to correspond to a surface shape of the article when the band portion contacts the article.
2. 2. The finger assembly of claim 1, wherein, One of the main frame and the finger tip includes an insertion portion, The other of the main frame and the finger tip includes a path guide portion into which the insertion portion is movably inserted to guide movement of the insertion portion.
3. 3. The finger assembly of claim 2, wherein, The path guide portion is a curve in the form of a long hole.
4. 4. A manipulator, wherein the manipulator comprises a manipulator body, Comprising the following steps: A main body part, and A finger assembly connected to the body portion; the finger assembly includes: A main frame rotatably connected to the main body; a finger tip rotatably connected to the end of the main frame, and A band portion connected with the fingertip portion and connected with the main body portion, wherein the band portion is flexible and is configured to be driven to be pulled out of or inserted into the main body portion to change a posture of the finger tip portion so that the finger tip portion and the band portion are adapted to contact an article to be grasped, and a shape of the band portion is changed to correspond to a surface shape of the article when the band portion contacts the article.
5. 5. The manipulator according to claim 4, wherein, And a belt driving part connected to the belt part and changing a position of a portion connected to the belt part.
6. 6. The manipulator according to claim 5, wherein, The finger assembly is provided with a plurality of finger elements, Each of the finger assemblies is interconnected with the belt drive portion.
7. 7. The manipulator according to claim 5, wherein, The belt driving section includes: A driving unit disposed inside the main body unit; a guide part connected to the driving part for rotation, and And a linear movement portion connected to the belt portion, disposed on the guide portion, and configured to perform linear movement in the guide portion.
8. 8. The manipulator according to claim 4, wherein, The finger assembly is provided with a plurality of finger elements, The main body portion includes: A support part for rotatably connecting one of the plurality of finger assemblies, and And a rotating part rotatably connected to the supporting part and rotatably connected to another one of the plurality of finger assemblies.
9. 9. The manipulator of claim 8, wherein, And a rotation driving part that connects the rotation part and the support part and rotates the rotation part.
10. 10. The manipulator according to claim 4, wherein, The finger driving part is arranged on the main body part, is connected with the finger assembly and rotates the finger assembly.
11. 11. The robot hand according to any one of claims 4 to 10, wherein, One of the main frame and the finger tip includes an insertion portion, The other of the main frame and the finger tip includes a path guide portion into which the insertion portion is movably inserted to guide movement of the insertion portion.

Description

Finger assembly and manipulator comprising same Technical Field The present invention relates to a device, and more particularly, to a finger assembly and a manipulator including the same. Background In general, a robot arm can be disposed in various devices and perform various operations. Such a manipulator may include various linkage arrangements to achieve a structure similar to a human hand. In this case, if the link structure is used for the manipulator, the link structure may limit the operation range of the manipulator due to the limitation of the operation range, and it may be difficult to realize various motions. Disclosure of Invention However, with the increasing height of industrial structures, it is necessary to work on objects having various outer surfaces, and it is a very important problem to prevent damage to the objects by adjusting minute forces. Embodiments of the present invention provide a finger assembly and a manipulator including the same. One aspect of the present invention may provide a finger assembly including a main frame, a fingertip portion rotatably coupled to the main frame, and a strap portion coupled to the fingertip portion. Embodiments of the present invention are capable of gripping objects having a variety of external surfaces or shapes. Further, since the embodiments of the present invention can grasp various objects, various jobs can be performed. Embodiments of the present invention are capable of achieving a motion similar to a human hand. Drawings Fig. 1 is a perspective view illustrating a robot according to an embodiment of the present invention. Fig. 2 is a cross-sectional view illustrating a finger assembly of the manipulator shown in fig. 1. Fig. 3 is a perspective view illustrating a portion of the finger assembly shown in fig. 2. Fig. 4 is a perspective view illustrating a part of the robot shown in fig. 1. Fig. 5 is a plan view illustrating a portion of the robot shown in fig. 4. Fig. 6 is a cross-sectional view illustrating the movement of a finger assembly of the manipulator shown in fig. 2. Fig. 7 is a perspective view illustrating a part of the robot shown in fig. 1. Fig. 8 is a plan view illustrating a part of the robot shown in fig. 7. Fig. 9 is a perspective view illustrating an operation of the robot shown in fig. 1. Fig. 10 is a cross-sectional view showing a part of the robot shown in fig. 9. Fig. 11 is a perspective view illustrating an operation of the robot shown in fig. 1. Fig. 12 is a cross-sectional view showing a part of the robot shown in fig. 11. Detailed Description One aspect of the present invention may provide a finger assembly including a main frame, a fingertip portion rotatably coupled to the main frame, and a strap portion coupled to the fingertip portion. In addition, the band portion may be Flexible. One of the main frame and the finger tip may include an insertion portion, and the other of the main frame and the finger tip may include a path guide portion that movably inserts the insertion portion to guide movement of the insertion portion. The route guide portion may be a curve having a long hole shape. Another aspect of the present invention may provide a manipulator including a main body and a finger assembly connected to the main body, the finger assembly including a main frame rotatably connected to the main body, a fingertip rotatably connected to a tip of the main frame, and a belt portion connected to the fingertip and to the main body. Further, the belt driving unit may be connected to the belt unit and may change a position of a portion connected to the belt unit. The finger unit may be provided in plural numbers, and each of the finger units may be connected to the belt driving unit. The belt driving unit may include a driving unit disposed inside the main body unit, a guide unit connected to the driving unit to rotate, and a linear movement unit connected to the belt unit and disposed on the guide unit to perform linear movement on the guide unit. The finger module may include a plurality of finger modules, and the body may include a support portion to which one of the plurality of finger modules is rotatably connected, and a rotation portion to which the other of the plurality of finger modules is rotatably connected. The present invention may further include a rotation driving unit that connects the rotation unit and the support unit and rotates the rotation unit. The finger driving unit may be disposed on the main body unit, connected to the finger unit, and configured to rotate the finger unit. In addition, the band portion may be Flexible. One of the main frame and the finger tip may include an insertion portion, and the other of the main frame and the finger tip may include a path guide portion that movably inserts the insertion portion to guide movement of the insertion portion. The invention will become apparent upon reference to the embodiments described in detail in connection with the accompanying drawi