Grip device and robot device comprising same

Patent metadata

Field	Value
Publication number	US-2023102104-A1
Application number	US-202218074018-A
Country	US
Kind code	A1
Filing date	Dec 2, 2022
Priority date	Jul 24, 2020
Publication date	Mar 30, 2023
Grant date	—

Abstract

A grip device is provided. A grip device according to an embodiment of the present disclosure includes: a first finger; a second finger facing the first finger; a first link part including a first guide slot and supporting the first finger; a second link part supporting the second finger and including a second guide slot, intersecting the first link part; a hinge configured to move inside the first guide slot and second guide slot and connecting the first link part and the second link part at an intersection point of the first link part and second link part; a first actuator configured to adjust a distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator configured to move the hinge inside the first guide slot and second guide slot.

First claim

1 . A grip device comprising:
a first finger; a second finger facing the first finger; a first link part comprising a first guide slot and configured to support the first finger; a second link part comprising a second guide slot, the second link part crossing the first link part and configured to support the second finger; a hinge configured to be moved within the first guide slot and the second guide slot and connect the first link part and the second link part at an intersection of the first link part and the second link part; a first actuator configured to move at least one of the first and the second link part to adjust a gap between the first finger and the second finger; and a second actuator configured to move the hinge within the first guide slot and the second guide slot.

2 . The grip device as claimed in claim 1 , wherein
the first link part further comprises:
a first linkage connected to a first point on the first finger;
a second linkage connected to a second point on the first finger; and
a third linkage connected to the second linkage and provided in parallel with the first finger,
the second link part comprises:
a fourth linkage connected to a first point on the second finger;
a fifth linkage connected to a second point on the second finger and provided in parallel with the fourth linkage; and
a sixth linkage connected to the fifth linkage and provided in parallel with the second finger, and
the first guide slot is formed in the second linkage, and the second guide slot is formed in the fifth linkage.

3 . The grip device as claimed in claim 2 , wherein a length of the third linkage is equal to a distance between the first point and the second point on the first finger, and
a length of the sixth linkage is equal to a distance between the first point and the second point on the second finger.

4 . The grip device as claimed in claim 3 , wherein the first actuator is configured to adjust a gap between the third linkage and the sixth linkage.

5 . The grip device as claimed in claim 4 , wherein the first actuator comprises:
a first driving motor configured to move the third linkage in a first direction; and a second driving motor configured to move the sixth linkage in a second direction opposite to the first direction.

6 . The grip device as claimed in claim 1 , wherein the second actuator comprises a driving motor configured to move the hinge within the first guide slot and the second guide slot.

7 . The grip device as claimed in claim 2 , wherein the second actuator comprises:
a first driving motor provided on the second linkage and configured to move the hinge along the first guide slot; and a second driving motor provided on the fifth linkage and configured to move the hinge along the second guide slot.

8 . The grip device as claimed in claim 7 , wherein each of the first driving motor and the second driving motor comprises a Scotch yoke type driving motor, a rack and pinion type driving motor, or a hydraulic type driving motor.

9 . The grip device as claimed in claim 2 , wherein the second linkage and the fifth linkage each have a convex shape with respect to a space between the first finger and the second finger.

10 . A robot device comprising:
an image sensor configured to detect at least one of a shape and position of an object; a grip device comprising a link part, the grip device configured to adjust a support point of the link part by moving a hinge on the link part, wherein the link part is cross-arranged with respect to a first finger of the grip device, a second finger of the grip device, and the hinge, and the link part is configured to support the first finger and the second finger; and a processor configured to control the grip device to position the hinge to correspond to the object detected by the image sensor.

11 . The robot device as claimed in claim 10 , wherein
the link part comprises:
a first link part comprising a first guide slot and configured to support the first finger; and
a second link part comprising a second guide slot, the second link part crossing the first link part and configured to support the second finger,
the hinge is movable within the first guide slot and the second guide slot and connects the first link part and the second link part at an intersection of the first link part and the second link part, and the grip device further comprises an actuator configured to move the hinge within the first guide slot and the second guide slot.

12 . The robot device as claimed in claim 11 , wherein the actuator comprises a connection member which is connected to the hinge and is variable in length, and
the processor is configured to determine a target length of the connection member according to at least one of the shape and position of the object detected by the image sensor, and control the actuator to cause a length of the connection member to be equal to the target length that is determined.

13 . The robot device as claimed in claim 10 , further comprising a pressure sensor configured to measure pressure applied to at least one of the first finger and the second finger, and
wherein the processor is configured to control a grip operation of the grip device based on a value measured by the pressure sensor.

14 . The robot device as claimed in claim 10 , further comprising:
a first distance sensor on the first finger; and a second distance sensor on the second finger, and wherein the processor is further configured to:
activate the second distance sensor based on the first distance sensor detecting the object during movement of the robot device;
receive information about distances to the object detected by the first distance sensor and the second distance sensor at a plurality of points according to the movement of the robot device; and
control a grip operation of the grip device based on the information that is received.

15 . A method of operating a robot device, the method comprising:
detecting, by an image sensor of the robot device, at least one of a shape and position of an object; and controlling, by at least one processor of the robot device, a grip device of the robot device to position a hinge on a link part of the grip device to correspond to the object detected by the image sensor, wherein the grip device is configured to adjust a support point of the link part by moving the hinge on the link part, wherein the link part is cross-arranged with respect to a first finger of the grip device, a second finger of the grip device, and the hinge, and the link part is configured to support the first finger and the second finger.

16 . The method as claimed in claim 15 , wherein
the link part includes:
a first link part including a first guide slot and configured to support the first finger; and
a second link part including a second guide slot, the second link part crossing the first link part and configured to support the second finger,
wherein the controlling the grip device comprises controlling an actuator of the robot device to move the hinge within the first guide slot and the second guide slot, and wherein the hinge connects the first link part and the second link part at an intersection of the first link part and the second link part.

17 . The method as claimed in claim 16 , wherein the actuator includes a connection member which is connected to the hinge and is variable in length, and
the controlling the grip device further comprises determining a target length of the connection member according to at least one of the shape and position

Assignees

• Samsung Electronics Co Ltd

Inventors

• Choi Heeseung
• Kim Jinho
• Kim Hyunwoo
• Hwang Cheoggyu

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/39543

  Recognize object and plan hand shapes in grasping movements · CPC title

• B25J15/0266 Primary

  actuated by articulated links · CPC title

• B25J19/023

  including video camera means · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title