US 12,151,375 B2
Grip apparatus and robot apparatus including the same
Jinho Kim, Suwon-si (KR); Heeseung Choi, Suwon-si (KR); and Cheoggyu Hwang, Suwon-si (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR)
Filed on Dec. 8, 2021, as Appl. No. 17/545,532.
Application 17/545,532 is a continuation of application No. PCT/KR2021/014687, filed on Oct. 20, 2021.
Claims priority of application No. 10-2020-0137810 (KR), filed on Oct. 22, 2020; and application No. 10-2021-0120643 (KR), filed on Sep. 9, 2021.
Prior Publication US 2022/0126443 A1, Apr. 28, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/08 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/102 (2013.01); B25J 9/1065 (2013.01); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); B25J 15/0028 (2013.01); B25J 15/086 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A grip apparatus comprising:
a first finger;
a second finger configured to face the first finger;
a first link configured to have a first end connected to the first finger;
a second link configured to have a first end connected to the second finger; and
a differential apparatus configured to connect a second end of the first link and a second end of the second link, the differential apparatus comprising:
a motor;
a first shaft;
a side gear connected to the first shaft;
a second gear coaxial with the side gear;
a first spider shaft and a second spider shaft in parallel with the first shaft, the first spider shaft and the second spider shaft spanning the second gear and the side gear;
a first spider gear engaged with the side gear and rotatably supported on the first spider shaft; and
a second spider gear engaged with the first spider gear and the second gear, the second spider gear being rotatably supported on the second spider shaft,
wherein the differential apparatus rotates the first link and the second link in different directions when the motor is driven, and
wherein the differential apparatus rotates the first link in a first direction when the second link rotates in the first direction by an external force.