US 11,992,939 B2
Robot palm
Sungwook Yang, Seoul (KR); Jeongwon Lee, Seoul (KR); Jaehee Kim, Seoul (KR); Donghyun Hwang, Seoul (KR); and Yong Seok Ihn, Seoul (KR)
Assigned to Korea Institute of Science and Technology, Seoul (KR)
Filed by KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY, Seoul (KR)
Filed on Jul. 29, 2021, as Appl. No. 17/389,086.
Claims priority of application No. 10-2020-0163751 (KR), filed on Nov. 30, 2020.
Prior Publication US 2022/0168908 A1, Jun. 2, 2022
Int. Cl. B25J 15/10 (2006.01); B25J 15/00 (2006.01)
CPC B25J 15/10 (2013.01) [B25J 15/0023 (2013.01); B25J 15/0009 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A robot palm, comprising:
a housing having a particle-containing space configured to accommodate particles and in which a pressure is changeable;
particles filled in the particle-containing space; and
an upper membrane installed at an upper portion of the housing and configured to grip an object by changing a shape and rigidity of the upper membrane according to a pressure change of the particle-containing space;
wherein the housing further includes an air-receiving space configured to accommodate air;
wherein the robot palm further comprises a middle membrane installed at the housing and provided between the particle-containing space and the air-receiving space; and
wherein the housing includes:
a base structure having a bottom surface and a sidewall extending upward from the bottom surface and having the air-receiving space provided at an inside thereof surrounded by the bottom surface and the sidewall;
a middle structure configured to form a side surface between the middle membrane and the upper membrane and having the particle-containing space between the middle membrane and the upper membrane; and
a rim installed at an upper portion of the upper membrane to fix the upper membrane to the middle structure.