CN-116348259-B - Gripping device and robotic device comprising a gripping device

Abstract

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

Inventors

• JIN ZHENGAO
• CUI XICHENG
• Huang Dikui

Assignees

• 三星电子株式会社

Dates

Publication Date

20260505

Application Date

20211020

Priority Date

20201022

Claims (14)

1. 1. A gripping apparatus comprising: A first finger; A second finger configured to face the first finger; a first link configured to have a first end connected to the first finger; a second link configured to have a first end connected to the second finger, and A differential device including a motor and configured to connect the second end of the first link and the second end of the second link, Wherein the differential apparatus rotates the first link and the second link in different directions when the motor is driven, and Wherein when the second link is rotated in a first direction by an external force, the differential apparatus rotates the first link in the first direction, Wherein the differential device further includes: a first gear configured to engage with the first link, A second gear configured to interlock with the first gear and rotate relative to the first gear, A third gear configured to engage with the second link and the second gear, an A ring gear configured to be disposed between the first gear and the second gear, and configured to be rotated by the motor such that the first gear and the second gear rotate in the same direction.
2. 2. The gripping device of claim 1 wherein the first link includes a first gear region at a second end of the first link and the second link includes a second gear region at a second end of the second link, and Wherein the first gear is configured to engage with the first gear region and the third gear is configured to engage with the second gear region and the second gear.
3. 3. The gripping device of claim 2 wherein the first gear region and the second gear region have the same gear ratio.
4. 4. The gripping device of claim 2 wherein the differential device further comprises: A first shaft configured to have a first end connected to the first gear and to rotate integrally with the first gear, and A second shaft configured to have a first end connected to the second gear and to rotate integrally with the second gear, and Wherein the first shaft and the second shaft are coaxially arranged.
5. 5. The gripping device of claim 4 wherein the differential device further comprises: a side gear configured to be connected to a second end of the first shaft and configured to rotate integrally with the first shaft, A first star-shaped shaft and a second star-shaped shaft configured to be arranged in parallel with the first shaft and configured to rotate integrally with the ring gear, A first star gear engaged with the side gear and configured to be rotatably supported on the first star shaft, and A second star gear engaged with the first and second star gears and configured to be rotatably supported on the second star shaft.
6. 6. The gripping device of claim 4 wherein the first gear region and the third gear are disposed on opposite sides relative to a central axis of the first and second shafts.
7. 7. The gripping device of claim 4 wherein the first shaft passes through the ring gear.
8. 8. The gripping device of claim 4 wherein the differential device further comprises: A first cam member configured to be connected in parallel with the first shaft, and A second cam member configured to be connected in parallel with the second shaft and to be in contact with the first cam member.
9. 9. The gripping device of claim 8 wherein the differential device further comprises: a bolt configured to be fixedly disposed inside at least one of the first shaft and the second shaft, and And a pressing member configured to connect at least one of the first cam member and the second cam member with the bolt.
10. 10. The gripping apparatus of claim 9 wherein the pressing member comprises a compression spring.
11. 11. The gripping apparatus of claim 8 wherein the first and second shafts include keyways formed on their inner surfaces, and Wherein the first and second cam members are inserted along a key groove formed in the first shaft and a key groove formed in the second shaft, respectively.
12. 12. The gripping device of claim 8 wherein the first and second cam members include concave surfaces facing each other.
13. 13. The gripping apparatus of claim 1 further comprising a housing configured to rotatably support a second end of each of the first link and the second link.
14. 14. A robotic device comprising: An image sensor configured to detect a shape of an object; The gripping device of any one of claims 1 to 13, and A processor configured to control the gripping device such that the first and second fingers are spaced apart a distance corresponding to a thickness of the object detected by the image sensor.

Description

Gripping device and robotic device comprising a gripping device Technical Field The present disclosure relates to a gripping apparatus, and more particularly, to a gripping apparatus having an improved structure to stably grip an object even when an external force is applied, and a robot apparatus including the gripping apparatus. Background With the development of electronic technology, various electronic devices have been developed. In particular, in recent years, various robot apparatuses for performing tasks on behalf of humans in industrial fields, medical care, space, household, and the like have been developed. Such robotic devices may include gripping devices capable of performing various tasks, such as gripping objects, assembling objects, transporting objects, welding objects, and the like. On the other hand, when an external force is applied to the gripping device, there is a risk that the gripping device may drop the gripping object and the dropped object may be damaged, the motor may malfunction, the rigid gripping device or an obstacle colliding with the gripping device may be damaged, or the gripping device may collide with the user and cause injury. Accordingly, an active adaptation device has been developed which detects an external force in advance by a sensor or controls movement of the gripping device after the external force is applied. However, when the sensing value of the sensor is inaccurate or unavoidable even if an external force is detected in advance, there is a problem in that the risk of damage to the object or injury to the person colliding with the grasping apparatus is very high. Accordingly, there is an increasing need for a gripping device with a passively compliant mechanical structure that is capable of efficiently absorbing impact by flexibly responding to external forces without a separate sensing process or control process. Disclosure of Invention Technical problem Provided are a gripping apparatus and a robot apparatus including the same, wherein the gripping apparatus has an improved structure to stably grip an object even when an external force is applied. Additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the presented embodiments. Technical proposal According to one aspect of the disclosure, a gripping device may include a first finger, a second finger configured to face the first finger, a first link configured to have a first end connected to the first finger, a second link configured to have a first end connected to the second finger, and a differential device including a motor and configured to connect a second end of the first link and a second end of the second link. When the motor is driven, a differential device may rotate the first link and the second link in different directions. When the second link is rotated in a first direction by an external force, the differential device may rotate the first link in the first direction. The first link may include a first gear region at a second end of the first link, the second link may include a second gear region at a second end of the second link, and the differential device may include a first gear configured to engage the first gear region, a second gear configured to interlock with and rotate relative to the first gear, and a third gear configured to engage the second gear region and the second gear. The differential apparatus may include a ring gear configured to be disposed between the first gear and the second gear and configured to be rotated by the motor. The first gear region and the second gear region have the same gear ratio. The differential apparatus may include a first shaft configured to have a first end connected to the first gear and to rotate integrally with the first gear, and a second shaft configured to have a first end connected to the second gear and to rotate integrally with the second gear. The first shaft and the second shaft may be coaxially arranged. The differential apparatus may include a ring gear configured to be disposed between the first gear and the second gear and configured to be rotated by the motor, a side gear configured to be connected to a second end of the first shaft and configured to be rotated integrally with the first shaft, first and second star shafts configured to be disposed parallel to the first shaft and configured to be rotated integrally with the ring gear, a first star gear engaged with the side gear and configured to be rotatably supported on the first star shaft, and a second star gear engaged with the first and second gears and configured to be rotatably supported on the second star shaft. The first gear region and the third gear may be arranged on opposite sides with respect to a central axis of the first shaft and the second shaft. The differential apparatus may include a ring gear configured to be disposed between the first gear and the sec