US 12,409,569 B2
Adaptive robot gripper for pinch grip
Youngjin Choi, Seongnam-si (KR); and Dukchan Yoon, Ansan-si (KR)
Assigned to INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS, Ansan-si (KR)
Filed by INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS, Ansan-si (KR)
Filed on Aug. 4, 2022, as Appl. No. 17/880,805.
Application 17/880,805 is a continuation of application No. PCT/KR2020/019027, filed on Dec. 23, 2020.
Claims priority of application No. 10-2020-0019494 (KR), filed on Feb. 18, 2020.
Prior Publication US 2022/0379496 A1, Dec. 1, 2022
Int. Cl. B25J 15/08 (2006.01); B25J 9/12 (2006.01)
CPC B25J 15/08 (2013.01) [B25J 9/126 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A adaptive robot gripper for pinch grip comprising:
at least two finger units symmetrically facing each other;
a fingertip provided at a terminal end of the finger unit, and interworking with an operation of the finger unit; and
a driving unit connected to the finger unit to operate the finger unit,
wherein, when the finger unit is operated, the fingertip pinch-grips an object by moving toward an inner area, which is formed as the at least two finger units face each other, while adapting to a conflict with a constraint of an external environment, and
a force applied to the fingertip to enable the pinch grip acts in a direction of raising the object upward while acting toward the inner area, or acts in a direction of lowering the object downward while acting toward the inner area, wherein
the finger unit includes a four-bar link device,
a vector direction of the force applied to the fingertip is determined according to a length relation of links that constitute sides of the four-bar link device, respectively,
the finger unit further includes a connection link,
the connection link connects the four-bar link device to the fingertip,
the four-bar link device includes:
an input link having one longitudinal end connected to the driving unit;
an output link facing the input link, and having one longitudinal end connected to one longitudinal end of the connection link;
an intermediate link connected between an opposite longitudinal end of the input link and an opposite longitudinal end of the output link; and
a frame link connected between the one longitudinal end of the output link and the one longitudinal end of the input link,
the finger unit further includes an elastic member, and
the elastic member is formed between the output link and the frame link, elastically deformed in a case where an inclination of the output link is changed to increase an angle formed between the output link and the frame link when the driving unit is driven, and configured to recover the inclination of the output link into an initial state through an elastic restoring force so that the angle formed between the output link and the frame link forms an initially set angle again when the driving unit is not driven.