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公开(公告)号：US20230042573A1
公开(公告)日：2023-02-09
申请号：US17685713
申请日：2022-03-03
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
IPC分类号： B25J15/00
摘要： A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.
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公开(公告)号：US20230038682A1
公开(公告)日：2023-02-09
申请号：US17685815
申请日：2022-03-03
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
摘要： A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.
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公开(公告)号：US11858567B2
公开(公告)日：2024-01-02
申请号：US17505003
申请日：2021-10-19
发明人： Ki Hyeon Bae , Hyun Seop Lim , Sang In Park , Ju Young Yoon , Dong Hyun Lee , Beom Su Kim , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Kyu Jung Kim
IPC分类号： B62D57/028
CPC分类号： B62D57/028
摘要： A movable object includes an upper frame and a drive part that is provided under the upper frame and is connected to the upper frame. The drive part includes a first actuator that is connected to the upper frame and rotates on a vertical axis, a first link that is connected to the first actuator and rotatable on the vertical axis by the first actuator, a second actuator that is provided on a first side of the first link and rotates on a horizontal axis, and a second link that faces the first link and is rotatable on a first end portion thereof facing the first link by the second actuator.
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公开(公告)号：US11826903B2
公开(公告)日：2023-11-28
申请号：US17685713
申请日：2022-03-03
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
CPC分类号： B25J15/0009
摘要： A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.
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公开(公告)号：US20230040751A1
公开(公告)日：2023-02-09
申请号：US17698211
申请日：2022-03-18
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
摘要： A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.
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公开(公告)号：US11685057B2
公开(公告)日：2023-06-27
申请号：US17698211
申请日：2022-03-18
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
CPC分类号： B25J15/0009 , B25J9/1045
摘要： A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.
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公开(公告)号：US20220242506A1
公开(公告)日：2022-08-04
申请号：US17505003
申请日：2021-10-19
发明人： Ki Hyeon Bae , Hyun Seop Lim , Sang In Park , Ju Young Yoon , Dong Hyun Lee , Beom Su Kim , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Kyu Jung Kim
IPC分类号： B62D57/028
摘要： A movable object includes an upper frame and a drive part that is provided under the upper frame and is connected to the upper frame. The drive part includes a first actuator that is connected to the upper frame and rotates on a vertical axis, a first link that is connected to the first actuator and rotatable on the vertical axis by the first actuator, a second actuator that is provided on a first side of the first link and rotates on a horizontal axis, and a second link that faces the first link and is rotatable on a first end portion thereof facing the first link by the second actuator.
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公开(公告)号：US20230044228A1
公开(公告)日：2023-02-09
申请号：US17698261
申请日：2022-03-18
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
IPC分类号： B25J15/10
摘要： A robot hand module includes a palm part and a thumb module coupled to the palm part, wherein the thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part, and wherein the thumb phalangeal part includes a thumb pre-tensioner configured to pull the thumb cable part, a first side of the thumb pre-tensioner being fixed relative to the thumb phalangeal part, and a second side of the thumb pre-tensioner being fixed to the thumb cable part.
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公开(公告)号：US20230042013A1
公开(公告)日：2023-02-09
申请号：US17698187
申请日：2022-03-18
发明人： Beom Su Kim , Hyun Seop Lim , Sang In Park , Ki Hyeon Bae , Kyu Jung Kim , Dong Hyun Lee , Joo Won Lee , Hyo Joong Kim , Dong Jin Hyun , Ju Young Yoon
IPC分类号： B25J15/10
摘要： A robot hand module includes a palm part and a thumb module coupled to the palm part. The thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part. The thumb cable part includes a first thumb cable extended from the thumb driving part and having a first side fixed in the thumb phalangeal part and a second thumb cable having a first side and a second side fixed in the thumb phalangeal part.
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