KR101797475B1 - Gripper apparatus for wearable robot - Google Patents

Abstract

The present invention relates to a gripper device for a wearable robot having an improved structure for performing gripping operation by a single actuator and adaptively deforming according to the shape of an object so as to more securely grip an object,
The gripper device includes a finger end portion, a finger end portion and a finger end portion, which are rotatably coupled to each other, and a finger end portion, a finger end portion and a finger end portion of the finger, A fingertip including a finger turning drive arm portion mounted to perform an operation for unfolding for thumb, a thumb tongue portion, a thumb tongue tongue portion, and a thumb tongue portion, A thumb portion having a thumb drive arm portion mounted on a thumb portion for performing an operation of releasing the thumb portion and the stump portion for stomping for releasing or releasing for gripping; A hand holding part for rotatably connecting the thumb with the thumb driving motor part; And a driving unit for providing power for allowing the thumb and the thumb to be gripped or unfolded,
The gripping function is adaptively provided according to the contour of the object, and the user or the operator can easily control the gripping operation by the switch unit.

Description

{GRIPPER APPARATUS FOR WEARABLE ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a gripper device for a robot, and more particularly, to a gripper device for a robot, which performs gripping operation by a single actuator and is adaptively deformed according to a shape of an object, To a gripper device.

Gripper devices for worn robots are widely used for rehabilitation of paralyzed patients or for supporting muscle strength in industrial fields.

For example, in Korean Patent Laid-Open Publication No. 2011-0027447, the range of motion of the bending muscle of the affected hand of the hemiplegic patient caused by a stroke is gradually increased to enable stretching, and among other things, The training is designed so that the training effect is improved, and the wearer is provided with a wearable upper body rehabilitation training robot in which the user 's hand does not deviate from the robot' s mechanical part during the extension operation considering the hand extension and bending operation structure.

However, in the case of the upper-body rehabilitation training robot of the above-mentioned JP-A No. 2011-00027447, the middle-end osteotomy part is integrally formed, so that the adaptive gripping function according to the object may not be properly performed.

In addition, since the robot has a large number of parts such as an actuator connected to a wire and an actuator connected to a stubby part by a connecting pin in order to carry out gripping or unfolding operation of the upper limb rehabilitation robot, Is complicated and has another problem that the efficiency of the gripping operation can be lowered.

This situation can occur equally in a number of robotic hands or grippers that are worn to reinforce muscle strength without rehabilitation.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a method and apparatus for supporting a worker or a patient's muscular strength, And an object thereof is to provide a gripper device for a wearing robot.

It is another object of the present invention to provide a gripper device for a wearable robot which can easily perform gripping and unfolding operations for gripping according to the intention of a user or an operator.

It is another object of the present invention to provide a gripper device for a wearable robot having an improved structure for performing a grip or an unfolding operation by one driving portion.

According to another aspect of the present invention, there is provided a gripper device for a wearable robot, the gripper device for a wearable robot including a finger end portion, a finger end portion, a finger end portion, and a finger end portion, And a fingering driving arm portion that is mounted to perform an operation of unfolding the trough portions for performing a gripping motion or a spreading motion for gripping motion; A thumb portion having a thumb drive arm portion mounted on the thumb portion to perform an operation of expanding the thumb tip portion, the thumb portion of the thumb, and the stun according to the thumb stitch for gripping or unfolding; A hand holding portion rotatably connecting the finger and the thumb between the finger and the thumb; and a hand holding portion And a driving unit which is mounted on the base and which provides power to cause the finger to be fingered and the thumb to be gripped or unfolded according to the rotation direction of the motor.

The finger end portion or the thumb end portion may further include a switch portion for switching a grip or an unfolding drive of the driving portion.

Wherein the finger unit is configured to be integrally coupled with the finger, the finger, and the finger.

The fingersection driving arm is formed such that one side is narrow and the other side is wide so that the narrow side forms a fingertip third hinge at a position where the finger stunning valley and the fingers are rotatably engaged with each other, And the other end is rotatably coupled to the fingering drive gear of the one drive unit at a predetermined distance from the shaft and the other end is rotatably coupled to the finger disengagement drive gear at a position biased from the upper end of the finger- And one end of which is hinged at the upper portion of the finger connection bracket located at the side of the finger horse's osseous portion and is hinged to the other end of the finger, and the other end is hinged to one side of the finger horse's osseous part And a second finger bumper arm hinged to the second finger bumper arm.

The thumb drive arm is formed with a thumb hinge and a hinge-coupled thumb at a position where the width of the thumb drive arm is narrow and the width of the thumb is wide and the narrow side is rotatably engaged with the thumb- And the other end is rotatably coupled to the thumb driving gear of the driving part at a predetermined distance from the shaft and the other end is connected to the thumb driving gear at a position shifted from the upper end of the thumb connecting bracket toward the thumb driving gear side, And a hinge connected to the upper part of the thumb connection bracket at one end and hinged to the upper part of the thumb connection bracket. The other end of the hinge is hinged to one side of the thumb, And a second thumb and forefinger coupled by hinging.

The driving unit includes a motor that is coupled to a motor-driven gear and is mounted on the hand-held unit, a finger-driving gear coupled to one side of the finger unit and rotated by a motor-driving gear, And a thumb drive gear which is coupled to one side of the thumb and then rotated by a thumb auxiliary gear, the end of the first finger of the thumb and the tip of the thumb, And the thumb drive gear may be configured to be rotatably coupled at a position spaced a predetermined distance from an end of the first thumb engaging arm.

The present invention having the above-described configuration provides an effect of improving the safety of gripping by providing the gripping function adaptively according to the contour of the object, by combining the fingering and the thumb in a three-fold folding manner.

In addition, the present invention enables the user or the operator to easily control the gripping operation by the switch unit mounted inside the fingers or the thumb and forefinger of the fingers, thereby remarkably facilitating the operation control for gripping the gripper apparatus . ≪ / RTI >

Further, since the present invention performs a grip or unfolding operation by one driving unit, the structure is simplified, the manufacturing is easy, and the manufacturing cost is reduced.

1 is a perspective view of a gripper device 100 for a worn robot according to an embodiment of the present invention,
2 is an internal perspective view of the finger end portion 11 for showing the mounting structure of the switch portion 12,
Fig. 3 is a perspective view of the gripper device of Fig. 1 showing the grip state,
4 is a perspective view of the gripper device of Fig. 1 showing the unfolded condition;

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings showing embodiments of the present invention.

Fig. 1 is a perspective view of a gripper apparatus 100 for a worn robot according to an embodiment of the present invention, and Fig. 2 is an inner perspective view of a finger horsehair 11 for showing a mounting structure of the switch unit 12. Fig.

1, the gripper device 100 includes a finger 10 which is folded in three stages, a thumb 20, a hand grip 30, and a pair of the finger 10 and the thumb 20 And a driving unit 40 mounted on the connection part and providing a driving force for gripping or unfolding motion of the finger 10 and the thumb 20.

The fingering unit 10 includes a fingertip 11, a fingertip 13, a finger sternal 15, a finger horsehair 11, a fingers 13, 15) for gripping or unfolding to perform the function of bending or unfolding, a fingering drive arm portion (51) including a fingering connection bracket (53) and a second finger bushing arm (55) (50).

The finger horse's osseous part (11) has a cylindrical shape with one end opened and a terminal end part shielded so as to insert the distal, inferior, medial, and medial end portions of the finger.

As shown in FIG. 2, the switch portion 12 is attached to the bottom surface where the fingerprint portion of the finger inside the finger end portion 11 is attached and the top surface to which the nail portion is attached. The driving of the motor 41 can be controlled so as to perform the gripping and unfolding operation of the gripper device 100 by bringing any one of the switch portions 12 into contact with each other.

The switch unit 12 is fabricated in the form of a piezoelectric sensor, an electromyogram sensor, or a switch for performing a contact operation. Further, the switch portion 12 is not limited to the above-described embodiment, but may be configured to be attached only to the bottom or only to the inner upper surface of the finger horsehair portion 11. [ In this case, in the case of a piezo-electric sensor or electromyographic sensor, the motor 41 is driven to perform the gripping or spreading function by the number of touches within a predetermined time. In addition, the switch unit 12 may include two switches, one of which may be configured to perform a grip operation, and the other of the switches may be configured to perform an unfolding operation.

Also, the switch portion 12 may be formed on the inner side of the thumb and forefinger 21.

A bottom plate to which the fingertips 13 of the fingers and the palm side faces of the stop, mediastinum, and abduction troughs of the base are attached; .

The finger striking valley 15 is also formed by bending a bottom plate to which the palm side faces of the striking troughs of the index finger, stop finger, medial finger, and sole are attached, and to cover the index finger and the back side of the bottom plate, Structure.

The fingering connection bracket (53) of the fingering drive arm (50) is formed such that the lower end is narrow and the upper end is wide. In the case of the attached drawings, the bracket is shown as a triangle-shaped bracket, but the present invention is not limited thereto.

The first finger drive arms 51 and the second finger drive arms 55 are formed in a bar shape.

The finger end portions 11, the finger end portions 13, and the finger end portions 15 having the above-described structure are hinged to each other at the bottom edges of the bottom surfaces, which are connected to each other. In this case, the hinge bracket (not shown) for the hinge coupling is provided on the thumb terminal 11 of the finger, the fingers 13 of the fingers and the thumb portion 15 of the finger stitch valley 15 so as not to interfere with the gripping action of the object to be gripped 20 so as not to protrude in the opposite direction.

The finger connecting bracket 53 of the finger engaging driving arm portion 50 has a width that is smaller than the width of the finger connecting bracket 53 after the finger engaging portion 11 and the finger engaging portion 13 and the finger stuttering valley portion 15 are connected to each other, And a narrow lower portion is hingedly connected to the hinged shaft of the fingers 13 and the finger stunning valley 15 to form a finger hinge 53a.

The first finger portion of the finger arm 51 of the finger engaging driving arm 50 is coupled to the finger 45 at a predetermined distance from the axis of the finger 45, Coupling hinge 53b at a position offset from the upper end of the fingering / connection bracket 53 to the side of the fingering drive gear 45, and is hinged.

The second finger engaging arm 55 of the finger engaging driving arm 50 has one end connected to the finger engaging bracket 53 located on the finger engaging portion 11 side of the finger- And the other end is hinged to one side of the finger horsehair 11.

The thumb 20 also includes a thumb tongue 21, a thumb tongue 23, a thumb stitch tongue 25, a thumb thumb tongue 21, a thumb thumb tongue 23, And a second thumb drive arm portion 65 including a thumb connection linkage bracket 63 and a second thumb insertion port arm 65 which are connected to each other so as to be bent or unfolded for gripping or unfolding, 60).

The thumb and forefoot portion 21 is formed in a cylindrical shape in which one end is open and the other end is shielded so that the end portion of the thumb can be inserted.

A bottom plate to which the fore-and-aft part 23 of the thumb and the bottom surface of the thumb breakage trough are attached, and a structure which bends both sides of the bottom plate so as to surround the back surface of the thumb while covering both sides of the thumb.

The thigh stern valley 25 also has a bottom plate to which the bottom surface of the stunning valley of the thumb is attached and a structure that is formed by bending the thumb plate to cover the thumb at both sides of the bottom plate.

The thumb connection bracket 63 of the thumb drive arm 60 is formed such that the lower end is narrow and the upper end is wide. In the case of the attached drawings, the bracket is shown as a triangle-shaped bracket, but the present invention is not limited thereto.

The first thumb and the second thumb and forefoot cam followers 61 and 65 are formed in a bar shape.

The thumb staple part 21, the thumb staple part 23, and the thumb stuttering valley part 25 having the above-described configuration are hingedly coupled to each other at the bottom edges of the bottom surfaces, which are connected to each other. In this case, the hinge brackets (not shown) for hinge coupling are provided on the thumb tongue 21, the thumb tongue 23 and the thumb tongue tongue 25 so as not to interfere with the gripping action of the object to be gripped. 10 so as not to protrude in the opposite direction.

The thumb connecting bracket 63 of the thumb driving arm portion 60 has a width W1 after the thumb engaging portion 21, the thumb engaging portion 23 and the thumb stitching valley portion 25 are connected to each other as described above, This narrow lower portion is hinged to the hinge-coupled shaft of the thumb-struck portion 23 and the thumb stuck-at-valley portion 25 to form a thumb hinge 63a.

One end of the first thumb communicating arm 61 of the thumb driving arm portion 60 is rotatably coupled to the thumb driving gear 48 in a cam shape spaced a predetermined distance from the axis of the thumb driving gear 48 And the other end is hinged to the thumb drive link 48 at the position shifted from the upper end of the thumb link connecting bracket 63 toward the thumb drive gear 48 side by forming two thumb hinge portions 63b.

The second thumb and forefinger arm 65 of the thumb drive arm 60 has one end connected to the upper part of the thumb connection bracket 63 located on the side of the thumb and forefoot portion 21 of the thumb connection bracket 63, Three hinges 63c, and the other end is hinged to one side of the thumb stem 21.

The hand holding portion 30 is formed so as to be vertically protruded to both sides of a bottom plate and a bottom plate to which the palm surface is closely attached, and then bent so as to surround the back of the hand at the upper portion. The edge of the bottom plate adjacent to the finger stuttering valley 15 of the hand holding portion 30 of the above configuration is rotatably hinged to the bottom surface adjacent to the palm of the finger striking valley 15 of the finger 10 do. The edge of the bottom plate adjacent to the thumb stitching valley portion 25 of the hand holding portion 30 having the above configuration is rotatably hinged to the bottom surface adjacent to the palm of the thumb stitching valley portion 25 of the thumb portion 20 do.

The driving unit 40 includes a motor 41, a motor driving gear 41, a finger driving gear 45, a thumb auxiliary gear 47, and a thumb driving gear 48.

The motor 41 is provided on a surface facing the area between the finger 10 of the hand grip 30 and the thumb 20. The motor drive gear 41 is axially coupled to the shaft of the motor 41 and the fingering drive gear 45 is meshed with the motor drive gear 41 and on the side facing the palm of the finger struck valley 15 Hinged. The thumb portion auxiliary gear 47 is rotatably shaft-engaged with the side surface of the hand holding portion 30 while being engaged with the motor driving gear 41 so as to be spaced apart from the finger reject driving gear 45. [ The thumb drive gear 48 is rotatably and axially coupled to the side surface of the thumb stuttering valley 25 in engagement with the thumb auxiliary gear 47.

The motor 41 is connected to the switch unit 12 by a signal line (not shown) and rotates in a corresponding direction according to a switching action of a user or an operator to perform a grip or spread operation.

After the finger is coupled as described above, the user or operator puts the finger, finger, and finger on the finger 10, puts the thumb on the thumb 20, and then puts the palm on the palm rest 30 The user wears the gripper device 100.

Thereafter, the user or the operator rotates the motor 41 in a desired direction by the user or the operator by operating the switch unit 12 to perform the gripping or spreading action.

Hereinafter, the gripping and unfolding operation of the gripper device 100 will be described with reference to FIGS. 3 and 4. FIG.

Fig. 3 is a perspective view of the gripper device 100 of Fig. 1 showing the grip state, and Fig. 4 is a perspective view of the gripper device 100 of Fig. 1 showing the unfolded state.

3, when the user or the operator switches the switch portion 12 in the finger horse's owl 11 to perform a grip operation, as shown in Fig. 3, The motor drive gear 41 is rotated in the clockwise direction so that the finger drive gear 45 rotates in the counterclockwise direction and the driven thumb drive The gear 48 is rotated clockwise.

When the fingering drive gear 45 rotates in the counterclockwise direction, the finger striking drive gear 45 moves counterclockwise on the motor drive gear 41, And is rotated in a counterclockwise direction. Simultaneously, the first finger engaging arm 51, which is cam-coupled, moves toward the finger horse's osteotomy portion and rotates the finger-disengaging connection bracket 53 counterclockwise about the finger hinge 53a. When the finger coupling linking bracket 53 is rotated around the finger hinge 53a, the second finger engaging arm 55 hinged to the finger hinge 53 is rotated counterclockwise, And the finger horsehair portion 11 is rotated in the counterclockwise direction with respect to the forehead portion 13 in the finger.

With this operation, the entire fingering 10 forms a convex curved surface and is moved to the thumb 20 side while being dried.

At the same time, when the thumb drive gear 48 rotates in the clockwise direction, the thumb drive gear 48 moves clockwise with the thumb auxiliary gear 47, (48). At the same time, the first thumb-and-thumb rocker cam 61, which is cam-coupled, moves toward the thumb and forefinger and rotates the thumb-link connecting bracket 63 clockwise about the thumb-hinge 63a. When the thumb connecting bracket 63 is rotated in the clockwise direction around the thumb hinge 63a, the second thumb tongue arm 65 hinged to the thumb hinge 63 h is rotated clockwise, So that the thumb and forefinger 21 is rotated in the counterclockwise direction with respect to the forearm 23 in the thumb.

By this operation, the entire thumb portion 20 forms a convex curved surface downward and is moved to the finger 10 side while being dried.

As described above, the gripping action is performed by making the finger 10 and the thumb 20 come into close contact with each other while forming a curved surface.

Next, the spreading operation is performed with reference to FIG.

When the user or operator switches the switch portion 12 in the finger horsehair portion 11 to perform the spreading action, the motor drive gear 41 rotates counterclockwise as shown in Fig. 4, Thus, the finger driving gear 45 rotates in the clockwise direction, and the thumb drive gear 48 meshed with the thumb auxiliary gear 47 rotates counterclockwise.

When the finger turning drive gear 45 rotates clockwise, the finger striking drive gear 45 moves clockwise along the motor drive gear 41 while the finger stuttering valley 15 is in contact with the finger drive gear 45 And is rotated clockwise together. At the same time, the first finger engaging arm 51 is moved to the hand hook 30 side, and the finger coupling connecting bracket 53 is rotated clockwise about the finger hinge 53a. When the finger connecting link bracket 53 is rotated around the finger hinge 53a, the second finger engaging arm 55 hinged to the finger hinge 53 is rotated in the clockwise direction, So that the finger horse's osteotomy portion 11 is rotated clockwise with respect to the osteotomy portion 13 in the finger.

By such an operation, the entire finger 10 is unfolded with an upward inclination.

At the same time, when the thumb drive gear 48 rotates in the counterclockwise direction, the thumb drive gear 48 moves counterclockwise on the thumb auxiliary gear 47, And is rotated counterclockwise together with the driving gear 48. Simultaneously, the cam-coupled first thumb tongue arm cylinder 61 moves toward the hand grip 30 and rotates the thumb connection bracket 63 counterclockwise about the thumb hinge 63a. When the thumb connecting bracket 63 is rotated counterclockwise about the thumb hinge 63a, the second thumb guiding arm 65 hinged to the thumb 3 hinge 63c is rotated counterclockwise And is moved to the right side to rotate the thumb staple part 21 clockwise with respect to the staple part 23 in the thumb.

With this operation, the entire thumb portion 20 is unfolded with a downward inclination.

As a result, the gap between the finger 10 and the thumb 20 widens and the grip function is released.

10: Finger refusal, 12: Switch part, 11: Finger end boss part, 13:
15: finger striking valley, 20: thumb part, 21: thumb and forefoot part, 23:
25: knotted thigh, 30: hand rest, 40: driving part, 41: motor
43: motor drive gear, 45: fingering drive gear, 47: thumb part auxiliary gear
48: thumb drive gear, 50: fingering drive arm, 51: first fingering drive arm
53: Finger refusal connection bracket, 53a: Finger part 1 hinge, 53b: Finger part 2 hinge
53c: finger hinge 3 hinge, 55: second fingering drive arm, 60: thumb drive arm,
61: first thumb drive arm, 63: thumb connection bracket, 63a: thumb part, 1 hinge
63b: 2 thumb hinge, 63c: 3 thumb hinge, 65: 2nd thumb drive arm
100: Gripper device

Claims (6)

A finger end portion, a finger end portion and a finger end portion of the finger which are rotatably coupled to each other, and an operation of unfolding the finger end portion, the finger end portion and the finger end portion of the finger for the purpose of gripping or releasing A fingering member having a fingering drive arm mounted to perform a fingering operation;
The rotatable connection between the thumb and the forefinger, the thumb, the thumb, and the thumb, the thumb, the thumb, and the thumb and stump are performed for gripping or unfolding A thumb portion having a thumb drive arm mounted on the thumb,
A hand holding portion rotatably connecting the finger and the thumb between the finger and the thumb,
And a driving unit mounted on the hand holding unit to interlock with the finger driving and arm driving unit and the thumb driving arm to provide a power for gripping or unfolding the finger and the thumb according to the rotation direction of the motor,
Wherein the finger horse's osculating portion or the thumb-
And a switch unit for switching the grip or the unfolding drive of the driving unit inside the gripper unit.
delete [2] The apparatus according to claim 1,
Wherein the gripper unit is configured to be integrally formed with the gripper unit so as to be integrally inserted into the gripper unit.
[2] The apparatus according to claim 1,
A fingertip connection bracket hinged to the first fingertip forming a third hinge at a position where one side is narrow and the other side is wide and the narrow side is rotatably engaged with the finger stitch valley and the fingers,
And the other end is rotatably coupled to the fingering drive gear of the one drive unit at a predetermined distance from the axis and the other end of the drive unit forms the hinge of the finger unit 2 at a position offset from the upper end of the finger- 1 finger,
And a second finger bumper arm hinged to one side of the fingertip connection bracket at the upper end of the finger hinge bone and hinged to the other end of the finger hinge bumper; Wherein the gripper is a gripper.
[2] The apparatus according to claim 1,
A thumb connecting bracket having a narrow width at one side and a wide width at the other side and hinged at a position where the narrow side is rotatably engaged with the thumb and shoulder portions of the thumb and three hinges of the thumb,
And the other end is rotatably engaged with the thumb drive gear of the one drive unit at a predetermined distance from the axis and the other end is formed with two hinges on the thumb unit at the position shifted from the upper end of the thumb connection bracket toward the thumb drive gear, 1 Thumb buoy Dongam;
And a second thumb tongue groove hinge-coupled to the upper part of the thumb connecting bracket located on the side of the thumb and forearm and hinged to one side of the thumb tongue, Wherein the gripper is a gripper.
The driving unit according to claim 1,
A motor which is axially coupled with the motor driving gear and mounted on the hand holding portion,
A finger drive gear coupled to one side of the finger unit and rotated by a motor drive gear,
A thumb portion auxiliary gear rotated by the motor driving gear,
And a thumb drive gear coupled to one side of the thumb and then rotated by a thumb auxiliary gear,
Wherein the finger drive gear is rotatably coupled to an end of the first finger engaging arm at a position spaced a predetermined distance from the axis,
Wherein the thumb drive gear is configured to be rotatably coupled to an end of the first thumb engaging arm at a position spaced a predetermined distance from the axis.

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