US-12617106-B2 - Robot hand module

US12617106B2US 12617106 B2US12617106 B2US 12617106B2US-12617106-B2

Abstract

A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.

Inventors

Beom Su KIM
Ju Young Yoon
Hyun Seop Lim
Sang in Park
Ki Hyeon Bae
Kyu Jung Kim
Dong Hyun Lee
Joo Won Lee
Hyo Joong Kim
Dong Jin HYUN

Assignees

HYUNDAI MOTOR COMPANY
KIA CORPORATION

Dates

Publication Date: 20260505
Application Date: 20220303
Priority Date: 20210803

Claims (20)

1 . A robot hand module comprising: a palm part; and a finger module coupled to the palm part, wherein the finger module comprises: a finger phalangeal part movably coupled to the palm part; a finger cable part having a first side connected to the finger phalangeal part; and a finger driving part connected to a second side of the finger cable part and configured to operate the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part; wherein the finger phalangeal part comprises: finger link parts comprising a plurality of link members; and a finger link driving part configured to transmit power to the finger link parts in a rectilinear direction; and wherein when the finger link parts receive the power from the finger link driving part in the rectilinear direction, some of the plurality of link members are configured to rotate relative to remaining ones of the plurality of link members, such that the finger phalangeal part is configured to rotate relative to the palm part.
2 . The robot hand module of claim 1 , wherein the finger link parts comprise: a first link part having a first side connected to the finger link driving part and configured to move by receiving the power from the finger link driving part; a second link part having a first side coupled to the first link part and provided to be rectilinearly movable; a third link part having a first side rotatably coupled to the second link part; and a fourth link part having a first side rotatably coupled to the third link part, wherein the finger phalangeal part is configured to be rotated relative to the palm part by a rotational motion of the fourth link part.
3 . The robot hand module of claim 2 , wherein the first link part comprises a screw member connected to the finger link driving part.
4 . The robot hand module of claim 3 , wherein the second link part further comprises: a nut member disposed on an upper portion of the screw member and coupled to the screw member by a bolt-nut engagement; and a sliding member configured to be in close contact with an upper portion of the nut member, wherein the nut member and the sliding member are configured to move in an upward/downward direction as the screw member is rotated by the finger link driving part.
5 . The robot hand module of claim 4 , wherein the third link part comprises a rod member rotatably coupled to a first side of the sliding member.
6 . The robot hand module of claim 5 , wherein the fourth link part comprises a cylindrical member rotatably coupled to a first side of the rod member and provided to be rotatable about a rotary shaft.
7 . A robot hand module comprising: a palm part; and a finger module coupled to the palm part, wherein the finger module comprises: a finger phalangeal part movably coupled to the palm part; a finger cable part having a first side connected to the finger phalangeal part; and a finger driving part connected to a second side of the finger cable part and configured to operate the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger driving part comprises a first finger driving part; wherein the finger phalangeal part comprises: finger link parts comprising a plurality of link members; and a finger link driving part configured to transmit power to the finger link parts in a rectilinear direction; wherein when the finger link parts receive the power from the finger link driving part in the rectilinear direction, some of the plurality of link members are configured to rotate relative to remaining ones of the plurality of link members, such that the finger phalangeal part is configured to rotate relative to the palm part; wherein the finger link parts comprise: a first link part having a first side connected to the finger link driving part and configured to move by receiving the power from the finger link driving part; a second link part having a first side coupled to the first link part and provided to be rectilinearly movable; a third link part having a first side rotatably coupled to the second link part; and a fourth link part having a first side rotatably coupled to the third link part, wherein the finger phalangeal part is configured to be rotated relative to the palm part by a rotational motion of the fourth link part; and wherein the finger cable part comprises: a first finger cable extended from the first finger driving part, having a first side in contact with a first surface of the fourth link part, and having a second side fixed in the finger phalangeal part; and a second finger cable extended from the first finger driving part, having a first side in contact with a second surface of the fourth link part, and having a second side fixed in the finger phalangeal part.
8 . The robot hand module of claim 7 , wherein in a region in which the first finger cable and the second finger cable face the fourth link part, the first finger cable and the second finger cable are positioned in a width of the fourth link part at any rotation angle of the fourth link part, and the first finger cable and the second finger cable are configured to slide relative to the fourth link part.
9 . The robot hand module of claim 7 , wherein the finger phalangeal part comprises: a first finger phalangeal member having a first side rotatably coupled to the fourth link part; a second finger phalangeal member having a first side rotatably coupled to the first finger phalangeal member; a third finger phalangeal member having a first side rotatably coupled to the second finger phalangeal member; and a finger insertion member having a first side coupled to the first finger phalangeal member and a second side inserted and coupled into the palm part.
10 . The robot hand module of claim 9 , wherein the finger driving part further comprises a second finger driving part, and the finger cable part further comprises a third finger cable extended from the second finger driving part and having a first side fixed to the third finger phalangeal member.
11 . The robot hand module of claim 10 , wherein the finger phalangeal part comprises: first finger pulleys disposed in the first finger phalangeal member; and a second finger pulley disposed in the second finger phalangeal member; wherein the first finger pulleys comprise: a first-1 finger pulley; and a first-2 finger pulley disposed between the first-1 finger pulley and the second finger pulley in a direction in which the third finger cable extends; and wherein the third finger cable is fixed at the first side of the third finger phalangeal member in a state in which the third finger cable is in contact with the first-1 finger pulley, the first-2 finger pulley, and the second finger pulley.
12 . The robot hand module of claim 11 , wherein when the finger phalangeal part is cut in a direction in which the first to third finger phalangeal members are disposed, the third finger cable is bent clockwise based on a region in contact with the first-1 finger pulley and then extends toward the first-2 finger pulley, the third finger cable is bent counterclockwise based on a region in contact with the first-2 finger pulley and then extends toward the second finger pulley, and the third finger cable is bent clockwise based on a region in contact with the second finger pulley and then extends toward the third finger phalangeal member.
13 . The robot hand module of claim 12 , wherein the finger phalangeal part comprises: a first finger joint region disposed in a region in which the first finger phalangeal member and the second finger phalangeal member are coupled to each other and in which the first finger phalangeal member and the second finger phalangeal member are provided to be rotatable relative to each other; and a second finger joint region disposed in a region in which the second finger phalangeal member and the third finger phalangeal member are coupled to each other and in which the second finger phalangeal member and the third finger phalangeal member are provided to be rotatable relative to each other; and wherein the third finger cable is in contact with the first finger joint region or the second finger joint region.
14 . The robot hand module of claim 13 , wherein when the finger phalangeal part is cut in the direction in which the first to third finger phalangeal members are disposed, the third finger cable is bent counterclockwise based on a region in contact with the first finger joint region and then extends toward the second finger pulley.
15 . The robot hand module of claim 13 , wherein when the finger phalangeal part is cut in the direction in which the first to third finger phalangeal members are disposed, the third finger cable is bent counterclockwise based on a region in contact with the second finger joint region and then extends toward the third finger phalangeal member.
16 . The robot hand module of claim 13 , wherein: the finger cable part further comprises a fourth finger cable having a first end portion fixed in the first finger phalangeal member and a second opposite end portion fixed in the third finger phalangeal member; and the fourth finger cable is in contact with the first finger joint region or the second finger joint region.
17 . The robot hand module of claim 16 , wherein when the finger phalangeal part is cut in the direction in which the first to third finger phalangeal members are disposed, the fourth finger cable is bent clockwise based on a region in contact with the first finger joint region and then extends toward the second finger joint region.
18 . The robot hand module of claim 16 , wherein when the finger phalangeal part is cut in the direction in which the first to third finger phalangeal members are disposed, the fourth finger cable is bent counterclockwise based on a region in contact with the second finger joint region and then fixed in the third finger phalangeal member.
19 . The robot hand module of claim 16 , wherein the fourth finger cable is spaced apart from the first finger pulleys and the second finger pulley.
20 . The robot hand module of claim 9 , wherein the finger phalangeal part further comprises a finger elastic member having a first end portion fixed in the second finger phalangeal member and a second opposite end portion fixed in the third finger phalangeal member and configured to provide a rotational restoring force when the third finger phalangeal member rotates relative to the second finger phalangeal member.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of Korean Patent Application No. 10-2021-0102197, filed on Aug. 3, 2021, which application is hereby incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a robot hand module. BACKGROUND In the case of a humanoid robot having a structure shaped similarly to a person among robots, it is essential to develop a structure capable of implementing a motion identical to a human motion. In particular, there is a need to develop a structure capable of implementing a motion identical to a motion of a human joint to manufacture the humanoid robot. Examples of components provided in the humanoid robot to implement the human motion may include a robot hand module capable of mimicking a motion of a joint of a human hand. However, in the case of the robot hand module in the related art, the components are mainly configured as hard links to ensure rigidity of the robot hand module, which makes it difficult to reduce the weight and size of the robot hand module. In addition, in the case of the robot hand module to which a wire is applied to reduce the weight and size of the robot hand module, the wire may be damaged during a process of rotating a joint, which causes a deterioration in durability of the robot hand module. Therefore, there is a need for a robot hand module having a novel structure capable of solving the above-mentioned problems. SUMMARY The present disclosure relates to a robot hand module. Particular embodiments relate to a robot hand module having a structure capable of implementing a motion of a human hand. Embodiments of the present disclosure can provide a robot hand module having a novel structure capable of reducing the weight and size of the robot hand module and implementing a motion similar to a motion of a human hand. An exemplary embodiment of the present disclosure provides a robot hand module including a finger module and a palm part to which the finger module is coupled, in which the finger module includes a finger phalangeal part movably coupled to the palm part, a finger cable part having one side connected to the finger phalangeal part, and a finger driving part connected to the other side of the finger cable part and configured to operate the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, in which the finger phalangeal part includes finger link parts including a plurality of link members and a finger link driving part configured to transmit power to the finger link parts in a rectilinear direction, and in which when the finger link parts receive power from the finger link driving part in the rectilinear direction, some of the plurality of link members rotate relative to the other link members, such that the finger phalangeal part rotates relative to the palm part. The finger link parts may include a first link part having one side connected to the finger link driving part and configured to move by receiving power from the finger link driving part, a second link part having one side coupled to the first link part and provided to be rectilinearly movable, a third link part having one side rotatably coupled to the second link part, and a fourth link part having one side rotatably coupled to the third link part, and the finger phalangeal part may be rotated relative to the palm part by a rotational motion of the fourth link part. The first link part may include a screw member connected to the link driving part. The second link part may further include a nut member disposed on an upper portion of the screw member and coupled to the screw member by a bolt-nut engagement and a sliding member configured to be in close contact with an upper portion of the nut member, and the nut member and the sliding member may move in an upward/downward direction as the screw member is rotated by the finger link driving part. The third link part may include a rod member rotatably coupled to one side of the sliding member. The fourth link part may include a cylindrical member rotatably coupled to one side of the rod member and provided to be rotatable about a rotary shaft. The finger driving part may include a first finger driving part, and the finger cable part may include a first finger cable extended from the first finger driving part, having one side in contact with one surface of the fourth link part, and having the other side fixed in the finger phalangeal part, and a second finger cable extended from the first finger driving part, having one side in contact with the other surface of the fourth link part, and having the other side fixed in the finger phalangeal part. In a region in which the first finger cable and the second finger cable face the fourth link part, the first finger cable and the second finger cable may be positioned in a width of the fourth link part at any rotation angle of the fourth link part, and the first finger cable and