Finger assembly and robot hand comprising same
A finger assembly of a robot hand includes a main frame, a tip portion rotatably connected to the main frame, and a band portion connected to the tip portion.
1 . A finger assembly of a robot hand comprising:
a pivotable main frame;
a tip portion rotatably connected near a distal end of the main frame and rotatable relative to the main frame; and
a flexible band portion connected at a first end to the tip portion and a second end near a base of the main frame for pivoting the tip portion independently of the main frame.
2 . The finger assembly of claim 1 , wherein a first one of the main frame or the tip portion comprises an insertion portion, and
a second one of the main frame or the tip portion comprises a path guide portion into which the insertion portion is movably inserted for guiding a movement of the insertion portion.
3 . The finger assembly of claim 2 , wherein the path guide portion is in a form of an elongated hole.
4 . A robot hand comprising:
a body portion; and
at least one finger assembly connected to the body portion,
wherein the at least one finger assembly comprises:
a pivotable main frame rotatably connected to the body portion;
a tip portion rotatably connected near a distal end of the main frame and rotatable relative to the main frame; and
a flexible band portion connected at a first end to the tip portion and a second end connected to a band driving unit provided in the body portion for rotating the tip portion independently of the main frame.
5 . The robot hand of claim 4 , comprising a plurality of finger assemblies, and
each of the finger assemblies is connected to the band driving unit.
6 . The robot hand of claim 4 , wherein the band driving unit comprises:
a driving unit arranged inside the body portion;
a guide portion configured to be rotated by the driving unit; and
a linear motion unit connected to the band portion and arranged in the guide portion to linearly move the guide portion.
7 . The robot hand of claim 4 , further comprising a plurality of finger assemblies, and
the body portion comprises:
a support portion to which one of the plurality of finger assemblies is rotatably connected; and
a rotating portion rotatably connected to the support portion and to which another one of the plurality of finger assemblies is rotatably connected.
8 . The robot hand of claim 7 , further comprising a rotation driving unit connecting the rotating portion and the support portion, and rotating the rotating portion.
9 . The robot hand of claim 4 , further comprising a finger driving unit arranged in the body portion to be connected to the finger assembly for rotating the finger assembly.
10 . The robot hand claim 4 , wherein a first one of the main frame or the tip portion comprises an insertion portion, and
a second one of the main frame or the tip portion comprises a path guide portion into which the insertion portion is movably inserted for guiding a movement of the insertion portion.