Patent Publication Number: US-2017355084-A1

Title: Robot hand apparatus and robot arm for same

Description:
FIELD 
     The subject matter herein generally relates to a robot hand apparatus and a robot arm for use therewith. 
     BACKGROUND 
     Recently, robots have been given an external appearance similar to a human and the ability to perform like a human. However, the functionality of robotic hand devices can be improved upon. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Implementations of the present technology will now be described, by way of example only, with reference to the attached figures. 
         FIG. 1  is an isometric view of a robot hand apparatus. 
         FIG. 2  is an exploded view of the robot hand apparatus of  FIG. 1 . 
         FIG. 3  is a cutaway view of fingers of the robot hand apparatus of  FIG. 1 . 
         FIG. 4  is an isometric view of a robot arm. 
         FIG. 5  is an exploded view of the robot hand apparatus of  FIG. 4 . 
     
    
    
     DETAILED DESCRIPTION 
     It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the exemplary embodiments described herein. However, it will be understood by those of ordinary skill in the art that the exemplary embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. Also, the description is not to be considered as limiting the scope of the exemplary embodiments described herein. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features of the present disclosure. 
     Definitions that apply throughout this disclosure will now be presented. 
     The term “coupled” is defined as connected, whether directly or indirectly through intervening components, and is not necessarily limited to physical connections. The connection can be such that the objects are permanently connected or releasably connected. The term “comprising,” when utilized, means “including, but not necessarily limited to”; it specifically indicates open-ended inclusion or membership in the so-described combination, group, series and the like. 
     The present disclosure is described in relation to a robot hand apparatus and a robot arm for the robot hand apparatus. 
     A humanoid robot is provided with robot hands having shapes corresponding to human hands so that the robot can do the work normally performed by a human. The robot hand substantially includes a base member corresponding to the palm of the hand and the dorsum the hand, and finger mechanisms corresponding to human fingers. The finger mechanisms are rotatably coupled to the base member to enable the grasping of various objects while rotating. Each of the fingers has joint members so that the fingers can be rotated by different parts. 
       FIG. 1  illustrates a robot hand apparatus  1  comprises a base  100 , at least three finger mechanisms  200 , a thumb mechanism  300 , and three motors  30  for the three finger mechanisms  200 . The base  100  corresponds to a part of the hand of a human, i.e. a palm and dorsum of a human. Each of three finger mechanisms  200  is elongated in almost the same direction from the end of the base  100  and is adapted to be actuated by the motor  30 . The thumb mechanism  300  is elongated from a different portion of the base  100 . The thumb mechanism  300  and the finger mechanism  200  closed to the thumb mechanism  300  are configured to define a U-shape space. 
     In one exemplary embodiment, only one of the three finger mechanisms  200  as a first finger (the shortest finger) is described, and the explanation about other finger mechanisms  200  will be omitted. The other finger mechanisms  200  are only different in size from the first finger mechanism  200 . Thus, the descriptions herein can be applied to robotic hands having varying numbers of fingers. 
     The thumb mechanism  300  is adapted to be actuated by another motor (not shown) other than the motor  30 . In this exemplary embodiment, the power from the motor  30  is not transferred to the thumb mechanism  300 , i.e. the thumb mechanism  300  does not correspond to the finger mechanism  200 . It is not limited to the example of this exemplary embodiment; the thumb mechanism  300  may be actuated together with other finger mechanisms using the same power source for the actuation of the finger mechanism. 
     The base  100  comprises a palm section  102  with a curved shape and a dorsum section  101 . In this exemplary embodiment, the motor  30  and partial portions of the three finger mechanisms  200  are stored in the space formed by combining the palm section  102  with the dorsum section  101 . 
     The finger mechanism  200 , as shown in  FIG. 2 , comprises a fingertip member  210 , an intermediate member  220 , a base member  230 , a first linkage  240 , a second linkage  250 , a link arm  260  and a link base  270 . 
     The fingertip member  210  and the base member  230  are connected through a first linkage  240 . One end of the first linkage  240  is rotatably connected to the fingertip member  210  by first joint member  80  through a first fingertip bolt  50 . The other end of the first linkage  240  is rotatably connected to base member  230  by second joint member  81  through a second intermediate bolt  61 . 
     The intermediate member  220  and the link base  270  are connected through a second linkage  250 . One end of the second linkage  250  is rotatably connected to the intermediate member  210  by third joint member  82  through a first intermediate bolt  60 . The other end of the second linkage  250  is rotatably connected to the base member  230  by third joint member  82  through a second intermediate bolt  72 . 
     The fingertip member  210  and the intermediate member  220  are connected by first joint member  80  through a second fingertip bolt  51 . 
     The intermediate member  220  and the base member  220  are connected by second joint member  81  through a base member bolt  62 . 
     The base member  230  includes a link arm  260 . One end of the link arm  260  is rotatably connected with the link base  270  by third joint member  82  through a first base bolt  71 . The link arm  260  is also coupled to the motor  30  so that the motor  30  is configured to control the finger mechanism  200 . 
       FIG. 3  illustrates a finger structure that the fingertip member  210  and the base member  230  are connected through a first linkage  240 . One end of the first linkage  240  is rotatably connected to the fingertip member  210  by the first joint member  80 . The other end of the first linkage  240  is rotatably connected to base member  230  by the second joint member  81 . 
     The intermediate member  220  and the link base  270  are connected through a second linkage  250 . One end of the second linkage  250  is rotatably connected to the intermediate member  220  by the third joint member  81 . The other end of the second linkage  250  is rotatably connected to the link base  270 . 
     When the motor  30  is activated, the link arm  260  connected with the motor  30  can be rotated by the third joint member  82 . The end of the second linkage  250  near the link base  270  is simultaneously rotated because the link arm  260  is rotated by the third joint member  82 . When the second linkage  250  is rotated, the end of the second linkage away from the link base  270  is rotated by the second joint  81 . The end of the first linkage  240  near the link base  270  and the end of the second linkage  250  away from the link base  270  are in the second joint member  81  so that when the second linkage  250  is rotated, the first linkage  240  is simultaneously rotated in the first joint member  80 . 
     In some exemplary embodiments, the thumb mechanism  300  is rotatably connected with a thumb link base  400  of the base  100  so that the thumb mechanism  300  can be rotated to different angles. Furthermore, the thumb mechanism  300  can be rotated to the different positions to define a U-shape space with finger mechanism  200  closed to the mechanism  300 . 
     In some exemplary embodiments, the motor  30  can be replaced by a hydraulic actuating cylinder, a pneumatic cylinder, electromagnetic drive or artificial tendon. 
     According to this disclosure, fewer motors are provided to the robot hand apparatus  1  of the robot. 
     According to this disclosure, the defined U-shape space is configured to grab different shaped items. 
       FIG. 4  illustrates a robot arm  2  coupled to the robot hand apparatus  1 . A base  3  is coupled to the robot arm  2 . 
       FIG. 5  illustrates the robot arm  2  comprises a first arm base  510 , a second arm base  520 , an upper arm  530 , a middle arm  540 , and a lower arm  550 . 
     The second arm base  520  is coupled to the upper arm  530 . The first arm base  510  is coupled to a first pneumatic cushion  610  through a first connection member  710 . The upper arm  530  is coupled to the middle arm  540  through a second connection member  720 . The middle arm  540  is coupled to the lower arm  550  through a third connection member  730 . A motor  90  is provided inside the upper arm  530 . 
     A first pneumatic cushion  610  is coupled to the first connection member  710  and a connection portion  810  of the upper arm  530  such that the upper end of the first pneumatic cushion  610  is rotatably coupled to the first arm base  510  through the first connection member  710 , and the lower end of the first pneumatic cushion  610  is rotatably coupled to the upper arm  530  through the connection portion  810 . 
     A second pneumatic cushion  620  is coupled to the second connection member  720  and the third connection member  730  so an upper end of the second pneumatic cushion  620  is rotatably coupled to the upper arm  530  through a second connection member  720 , and a lower end of the first pneumatic cushion  540  is rotatably connected with the lower arm  550  through the third connection member  730 . 
     The first arm base  510  of the robot arm  2  and the second arm base  520  of the robot arm  2  is coupled to a robot so that a robot can manipulate the robot arm  2 . 
     In this exemplary embodiment, the first pneumatic cushion  530  can provide a support force to the weight of the robot hand apparatus  1  or any item that the robot hand apparatus  1  holds. 
     In this exemplary embodiment, the second pneumatic cushion  540  can provide a support force to the weight of the robot arm, robot hand apparatus  1  any item that the robot hand apparatus  1  holds. 
     In some exemplary embodiments, the first pneumatic cushion  530  or the second pneumatic cushion  540  can be replaced by a hydraulic cushion, electromagnetic cushion or artificial tendon. 
     According to this disclosure, the first pneumatic cushion  530  and the second pneumatic cushion  540  can provide improved support on the robot hand apparatus  1 . With more support from the robot arm  2 , fewer motors are provided for the robot arm  2  or robot hand apparatus  1 . With more support from the robot arm  2 , decreased power motors are provided for the robot arm  2  or robot hand apparatus  1 . 
     The exemplary embodiments shown and described above are only examples. Many details are often found in the art such as the other features of a robot hand apparatus and a robot arm for the robot hand apparatus. Therefore, many such details are neither shown nor described. Even though numerous characteristics and advantages of the present technology have been set forth in the foregoing description, together with details of the structure and function of the present disclosure, the disclosure is illustrative only, and changes may be made in the detail, especially in matters of shape, size, and arrangement of the parts within the principles of the present disclosure, up to and including the full extent established by the broad general meaning of the terms used in the claims. It will therefore be appreciated that the exemplary embodiments described above may be modified within the scope of the claims.