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公开(公告)号：EP4197717A1
公开(公告)日：2023-06-21
申请号：EP21883230.1
申请日：2021-10-20
发明人： KIM, Jinho , CHOI, Heeseung , HWANG, Cheoggyu
摘要： A grip apparatus is disclosed. The grip apparatus comprises: a first finger; a second finger facing the first finger; a first link having a first end connected to the first finger; a second link having a first end connected to the second finger; and a motor, and comprises a differential device that connects a second end of the first link and a second end of the second link, wherein the differential device rotates the first link and the second link in different directions when the motor is driven, and rotates the first link in a first direction when the second link rotates in the first direction by an external force.
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公开(公告)号：EP4140668A1
公开(公告)日：2023-03-01
申请号：EP21847188.6
申请日：2021-07-01
发明人： CHOI, Heeseung , KIM, Jinho , KIM, Hyunwoo , HWANG, Cheoggyu
摘要： A grip device is disclosed. A grip device according to an embodiment of the present disclosure comprises: a first finger; a second finger facing the first finger; a first link part having a first guide slot and supporting the first finger; a second link part having a second guide slot, disposed to intersect the first link part and supporting the second finger; a hinge which can move inside the first guide slot and second guide slot and connects the first and second link parts at the intersection point of the first link part and second link part; a first actuator for adjusting the distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator for moving the hinge inside the first guide slot and second guide slot.
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公开(公告)号：EP4163063A1
公开(公告)日：2023-04-12
申请号：EP21845377.7
申请日：2021-07-19
发明人： KIM, Hyunwoo , CHOI, Heeseung
摘要： A robot and a control method therefor are disclosed. A robot comprises: a robot arm; a robot hand which is connected to the robot arm and which includes first and second robot fingers; and a processor, wherein, when an object is sensed through an activated first sensor from among the first sensor included in the first robot finger and a second sensor included in the second robot finger, while the robot is moving in order to grip the object, the processor activates the second sensor, receives, from the activated first and second sensors, information about distances from the object sensed at a plurality of points by the activated first and second sensors according to the movement of the robot, and can control the first and second robot fingers on the basis of the received information to grip the object.
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