Grip device and robot device comprising same
A grip device is provided. A grip device according to an embodiment of the present disclosure includes: a first finger; a second finger facing the first finger; a first link part including a first guide slot and supporting the first finger; a second link part supporting the second finger and including a second guide slot, intersecting the first link part; a hinge configured to move inside the first guide slot and second guide slot and connecting the first link part and the second link part at an intersection point of the first link part and second link part; a first actuator configured to adjust a distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator configured to move the hinge inside the first guide slot and second guide slot.
1. A grip device comprising:
a first finger;
a second finger facing the first finger;
a first link part comprising a first guide slot and configured to support the first finger;
a second link part comprising a second guide slot, the second link part crossing the first link part and configured to support the second finger;
a hinge configured to be moved within the first guide slot and the second guide slot and connect the first link part and the second link part at an intersection of the first link part and the second link part;
a first actuator configured to move at least one of the first link part and the second link part to adjust a gap between the first finger and the second finger; and
a second actuator configured to move the hinge within the first guide slot and the second guide slot.
2. The grip device as claimed in claim 1 , wherein
the first link part further comprises:
a first linkage connected to a first point on the first finger;
a second linkage connected to a second point on the first finger; and
a third linkage connected to the second linkage and provided in parallel with the first finger,
the second link part comprises:
a fourth linkage connected to a first point on the second finger;
a fifth linkage connected to a second point on the second finger and provided in parallel with the fourth linkage; and
a sixth linkage connected to the fifth linkage and provided in parallel with the second finger, and
the first guide slot is formed in the second linkage, and the second guide slot is formed in the fifth linkage.
3. The grip device as claimed in claim 2 , wherein a length of the third linkage is equal to a distance between the first point and the second point on the first finger, and
a length of the sixth linkage is equal to a distance between the first point and the second point on the second finger.
4. The grip device as claimed in claim 3 , wherein the first actuator is configured to adjust a gap between the third linkage and the sixth linkage.
5. The grip device as claimed in claim 4 , wherein the first actuator comprises:
a first driving motor configured to move the third linkage in a first direction; and
a second driving motor configured to move the sixth linkage in a second direction opposite to the first direction.
6. The grip device as claimed in claim 2 , wherein the second actuator comprises:
a first driving motor provided on the second linkage and configured to move the hinge along the first guide slot; and
a second driving motor provided on the fifth linkage and configured to move the hinge along the second guide slot.
7. The grip device as claimed in claim 6 , wherein each of the first driving motor and the second driving motor comprises a Scotch yoke type driving motor, a rack and pinion type driving motor, or a hydraulic type driving motor.
8. The grip device as claimed in claim 2 , wherein the second linkage and the fifth linkage each have a convex shape with respect to a space between the first finger and the second finger.
9. The grip device as claimed in claim 1 , wherein the second actuator comprises a driving motor configured to move the hinge within the first guide slot and the second guide slot.