JP4234547B2 - Hand device - Google Patents

Description

  The present invention relates to a hand device equipped in a robot or the like, and more particularly, to a hand device that can handle a heavy load while being small and can realize gripping or gripping operations of various patterns with high accuracy.

  Industrial robots are equipped with hand devices for performing various operations, and gripper types are widely used as the hand devices. For example, a gripper-type hand device has a configuration in which a pair of flat plates are swingably supported on one axis or two parallel axes to open and close, and generally has high strength and can handle a high load. It has been highly evaluated in terms of reliability in combination with a simple configuration. However, the gripper type has a drawback that it is inferior in applicability to various operations because of its simple configuration. This is because even when used for simple work (welding, painting, drilling, component mounting, article transfer, etc.), it is necessary to design according to the work or target article, and to add or replace attachments.

  Therefore, what is called a power grasp hand has been proposed as a hand device that can hold a variety of objects with little restriction on the object to be held (for example, Patent Documents 1, 2, and 3). This hand device has a plurality of articulated fingers, can grasp an object with the fingertips of these fingers, or can grasp an object using a part corresponding to a palm together with the finger, It is said that the function is demonstrated without much influence from the shape and posture of the object. In addition, multi-fingered hand devices have been developed for the purpose of performing more complex motions, that is, motions similar to human hands, and such hand devices are applied to humanoid robots that imitate humans. A mechanism has also been proposed that enables an opening / closing operation (abduction) between adjacent fingers (for example, Patent Documents 4, 5, and 6).

Japanese Examined Patent Publication No. 6-104310 JP-A-11-245187 Japanese Patent No. 2849056 JP-A-8-126984 JP 2001-287182 A JP 2003-117873 A

  According to the power grasp hand, it is possible to perform a complicated operation as compared with a gripper type having a simple configuration, and in a multi-finger type hand device, an operation similar to that of a human hand is possible with high accuracy. However, in order to realize it, a movable system such as a finger or a joint, a link for driving these movable parts, an operation element such as a wire or an actuator, and a drive system such as a motor, and a drive The number of control systems to be controlled increases and the control system becomes complicated, and therefore it is difficult to reduce the size. In addition, the precise configuration promotes a reduction in resistance to high loads, and in this respect, it can be said that the gripper type is advantageous.

  Accordingly, an object of the present invention is to provide a hand device that can stably hold an article having a complicated shape while having a simple and miniaturized configuration that can sufficiently cope with a heavy load such as a gripper type. It is said.

The present invention includes a hand base portion having a palm surface, a first finger portion supported by the hand base portion so as to be swingable, and swinging the hand base portion about an axis substantially orthogonal to the swing axis of the first finger portion. A second finger portion movably supported; a third finger portion supported by the second finger portion so as to be swingable about an axis substantially parallel to the swing axis of the second finger portion; finger, first finger drive means for independently oscillating second finger and third finger portions, respectively, and a second finger drive means and the third finger drive means, the second finger drive means A first link that is swingably attached to the hand base via a fixed shaft, and is longer than the first link, one end of which is swingably connected to the first link via a connecting pin, and the other end is movable. A second link attached to the second finger part via the shaft so as to be able to swing on the fingertip side with respect to the swinging shaft of the second finger part, and supported by the hand base so as to be swingable. And a screw that is non-rotatable with respect to the casing and supported so as to be movable in the axial direction, and whose end is swingably connected to the connecting pin, and that is rotatable to the screw and stationary in the axial direction. It is characterized by comprising a mounted nut and a motor for rotating the nut via a worm gear .

In the present invention, the first to third finger portions are appropriately swung to perform an opening / closing operation, thereby holding an article between each finger portion or between each finger portion and the palm surface of the hand base. Can be held, hooked and received. The following are examples of these operation patterns.
a. The first finger is closed, and the article is sandwiched between the first finger and the second and / or third finger. In this operation, the second finger part or the third finger part may be appropriately opened and closed.
b. The third finger part is closed, and the article is sandwiched between the second finger part and the third finger part.
c. The second finger part or the third finger part is closed, and the article is sandwiched between the second finger part and / or the third finger part and the palm surface of the hand base. In this operation, the third finger may be closed.
d. In said b and c, a 1st finger part is closed and an article | item is pinched also by a 1st finger part.
e. The second finger part and / or the third finger part are closed, and the article is sandwiched between the second and third finger parts and the first finger part.
f. The second finger portion and the third finger portion are appropriately opened so that the inner surface faces upward, and the article is received thereon. In this operation, the first finger may assist the operation of receiving the article.
The above is an example in the case of performing work with the hand device of the present invention, and the opening / closing operation and the opening / closing angle of each finger portion are in accordance with the shape, size, or posture of the article.
In the present invention, the above-described various operation patterns can be realized while having a simple configuration having a swing structure corresponding to three fingers and joints as a basic structure.

The present invention includes the following aspects.
(A) Details of the first finger The first finger portion includes an inner surface that is a palm surface side of the hand base, an outer surface opposite to the inner surface, and both inner surfaces and side surfaces on both sides of the outer surface as work surfaces.
2. The tip of the first finger is bent toward the palm side of the hand base.
3. The first finger part drive means includes a first finger part drive source and first finger part drive transmission means for transmitting the power of the first finger part drive source to the first finger part. The transmission means blocks reverse input from the first finger unit to the first finger unit drive source.

(B) Details of second finger 1. The second finger portion includes an inner surface, which is the palm surface side of the hand base portion, and side surfaces on both sides opposite to the first finger portion side and the first finger portion side as work surfaces.
2. The second finger part driving means includes a second finger part driving source and second finger part driving transmission means for transmitting the power of the second finger part driving source to the second finger part. The transmission means blocks reverse input from the second finger part to the second finger part drive source.
3. The second finger part drive transmission means includes a second finger part link mechanism that increases the swing speed of the second finger part as the second finger part is located away from the hand base.
4). By the second finger link mechanism, the swinging torque of the second finger increases as the second finger moves closer to the hand base.
5. The second finger link mechanism includes a buffering means for reducing external forces such as impact and vibration applied to the second finger.

(C) Details of the third finger The tip of the third finger is bent toward the palm surface of the hand base.
2. The third finger portion includes an inner surface which is the palm surface side of the hand base, an outer surface opposite to the inner surface, and both inner surfaces and side surfaces on both sides of the outer surface as work surfaces.
3. The third finger part drive means includes a third finger part drive source and third finger part drive transmission means for transmitting the power of the third finger part drive source to the third finger part. The transmission means blocks reverse input from the third finger to the third finger drive source.
4). The third finger part drive transmission means is configured to increase the swing speed of the third finger part as the third finger part is located farther away from the second finger part from a substantially middle part of the swing range. A finger link mechanism is provided.
5. By the third finger unit link mechanism, the swinging torque of the third finger unit increases as the third finger unit is positioned closer to the second finger unit from a substantially middle part of the swing range.
6). The third finger link mechanism includes a buffering means for reducing external forces such as impact and vibration applied to the third finger.
7). The third finger part drive transmission means includes an actuator that operates the third finger part link mechanism by a rectilinear movement, a connecting part that connects a tip part of the operator and the third finger part link mechanism, and a third finger part. And a moment receiving surface that receives the moment transmitted from the connecting portion through the third finger link mechanism to the connecting portion and blocks transmission to the actuator.

  According to the present invention, since there are only three oscillating shafts corresponding to the fingers and joints, the configuration is simple, and therefore the rigidity can be increased, and as a result, sufficient for high load loads. In addition to being able to cope with it, it is possible to reduce the size. In addition, since various operation patterns are possible as exemplified in the above a to f, it is possible to stably grip an article having a complicated shape. That is, it has the advantages of the gripper type hand device and the power grasp hand or multi-finger type hand device, which is promising as a hand device for industrial robots and humanoid robots.

Hereinafter, the best mode for carrying out the present invention will be described.
FIGS. 1 and 2 show left-handed and right-handed hand devices 1L and 1R that are symmetrical and have the same configuration, respectively. Hereinafter, the configuration of the present embodiment will be described using the left hand side hand device 1L. 3 is a plan view of the hand device 1L, FIG. 4 is a side view, and FIG. 5 is a partially sectional back view. The hand device 1L is mainly configured by the hand base 10, the first finger unit 100, the second finger unit 200, and the third finger unit 300, which will be described in order below. In the description, directions such as up and down, left and right, and front and rear are based on the basic state shown in FIGS.

(A) Hand base 1L includes a hand base 10 having a substantially rectangular parallelepiped shape, and an arm of a robot such as an industrial robot or a humanoid robot via a cylindrical attachment 11 provided on the hand base 10. Attached to the tip is rotatable about the axis of the attachment 11. The hand base 10 has a palm surface 12 on the front surface, and a housing 13 is provided at a lower portion of one side surface (physically inner surface).

(B) First Finger Part The housing 13 of the hand base 10 has a first finger part 100 corresponding to the thumb within a predetermined swing angle range via a first swing shaft 101 extending in the vertical direction. It is supported so that it can swing. The distal end portion of the first finger portion 100 is bent at an appropriate angle toward the palm surface 12 of the hand base portion 10, and the width of the bent portion 102 becomes narrower toward the distal end. The first finger portion 100 has a rectangular cross section, and four surfaces forming the four sides of the cross section are an inner surface 106 facing the palm surface 12 side of the hand base 10 and an outer surface 105 opposite to the inner surface 106. These are the upper side surface 104 and the lower side surface 103 on both sides with respect to the inner surface 106 and the outer surface 105, and these four surfaces are working surfaces.

  As shown in FIG. 5, the first finger 100 is fixed to a first swing shaft 101 having a worm wheel 107, and the first swing shaft 101 includes a worm gear 109 including a worm wheel 107 and a worm 108. And a pinion 111 a of the first motor 111 via the reduction gear group 110. The power of the first motor 111 is transmitted to the first swing shaft 101 via the reduction gear group 110 and the worm gear 109, whereby the first finger unit 100 is moved horizontally as shown in FIGS. 6 (a) to 6 (b). Swing in the direction. In this case, the reverse input from the first finger 100 to the first motor 111 is blocked by the characteristic of the worm gear that the worm 108 does not rotate even when the worm wheel 107 is driven to rotate. For this reason, the load applied to the first finger unit 100 is not transmitted to the first motor 111, and the burden on the first motor 111 is reduced. The first swing shaft 101 and the worm 108 are rotatably supported by the housing 13, and the first motor 111 is fixed in the hand base 10. In this case, the worm gear 109, the reduction gear group 110, and the first motor 111 constitute a driving means for the first finger unit 100.

(C) Second finger part The upper part of the front end of the hand base part 10 has a second finger part 200 with a predetermined swing through a second swinging shaft 201 extending in the left-right direction (perpendicular to the first swinging shaft 101). It is supported so as to be able to swing within the range of motion angles. As shown in FIG. 4, the respective shaft support portions of the first finger portion 100 and the second finger portion 200 are offset in the vertical direction, whereby the article is sandwiched between the first finger portion 100 and the second finger portion 200. A space is formed. The second finger part 200 has a width approximately the same as that of the hand base part 10 and has a substantially L-shaped plate-like shape in side view having an obtuse bent part 202 that is recessed inward at the intermediate part. The inner surface 203 facing the palm surface 12 side of the hand base 10, the outer side surface 205 and the inner side surface 206 on both sides opposite to the first finger unit 100 side and the first finger unit 100 side are respectively used as work surfaces. Is formed. Further, as shown in FIGS. 1 and 3, a recess 207 is formed near the first finger portion 100 (on the right side) on the upper surface of the base end portion of the second finger portion 200. A second motor 211 that swings the second finger unit 200 is provided.

  As shown in FIG. 7, the second finger part 200 is connected to the hand base part 10 via the second finger part link mechanism 220. The second finger link mechanism 220 includes a first link 221 and a second link 222 that are movable so that their one end portions are swingably connected to each other via a connecting pin 223. The other end of the first link 221 is swingably attached to the hand base 10 via a fixed shaft 224 and is longer than the first link 221 (for example, the distance between the axes is about twice). The other end portion is swingably attached to the second finger portion 200 via the movable shaft 225. As shown in FIG. 7A in the basic state, the connecting pin 223, the fixed shaft 224, and the movable shaft 225 are parallel to the second swing shaft 201. The movable shaft 225 is disposed at a position above and above the second swing shaft 201, and the fixed shaft 224 is disposed at a position behind and above the second swing shaft 201. The movable shaft 225 is close to the second swing shaft 201, but the fixed shaft 224 is considerably separated from the second swing shaft 201 as compared to the movable shaft 225. As shown in FIG. 1, the shaft support portion of the first link 221 with respect to the hand base portion 10 and the shaft support portion of the second link 222 with respect to the second finger portion 200 are respectively bifurcated, and the second motor 211 is The second link 222 is disposed inside the fork. In the basic state shown in FIG. 7A, the second finger link mechanism 220 is slightly bent downward.

  The second motor 211 is configured such that a pinion (not shown) is disposed on the lower side and the axis is tilted forward, and a casing 230 that tilts backward is fixed to the lower end surface thereof as shown in FIG. ing. The casing 230 is swingably supported by the hand base 10 via a casing shaft 231 extending in the left-right direction. The rear end of the casing 230 penetrates the casing 230 and is a pinion of the second motor 211. And a screw 232 parallel to each other. The screw 232 is supported by the spline structure so as not to rotate and to be movable in the axial direction. The axial movement is arranged in the casing 230 and is rotatable and immovable in the axial direction. This is done by rotating a nut (not shown) attached to the screw 232. This nut is connected to the pinion of the second motor 211 via a worm gear (not shown). The upper end of the screw 232 is swingably connected to the connecting pin 223 of the second finger link mechanism 220.

  The power of the second motor 211 rotates the nut via the worm gear, and thereby the screw 232 advances and retreats. When the screw 232 advances upward from the basic state shown in FIG. 7A, the connecting pin 223 is pushed up as shown in FIG. 7B, and the second finger link mechanism 220 is further bent, and the second The finger part 200 is pulled backward by the second link 222 and swings in a direction of opening around the second swinging shaft 201. On the other hand, when the screw 232 retracts downward, as shown in FIG. 7C, the connecting pin 223 is pulled down to extend the second finger link mechanism 220, and the second finger 200 is moved forward by the second link 222. Is swung in the direction of closing around the second rocking shaft 201. In this case, the second finger portion drive transmission means is configured by the nut and screw 232, the worm gear (not shown) that connects the nut and the pinion of the second motor 211, and the second finger link mechanism 220.

  According to the second finger link mechanism 220, the stroke of the screw 232 (between the nut and the connecting pin 223) and the rotation angle of the second finger 200 are not proportional to each other, and are shown in FIG. Thus, as the stroke of the screw 232 becomes longer, the rotation angle per unit length of the stroke becomes larger. Therefore, as the second finger part 200 is opened, that is, as the second finger part 200 is located away from the hand base part 10, the swing speed of the second finger part 200 is increased. As for the swing torque, as shown in FIG. 8B, the torque per unit length of the stroke increases as the stroke of the screw 232 becomes shorter. Therefore, as the second finger part 200 is closed, that is, as the second finger part 200 is located closer to the hand base 10, the swinging torque of the second finger part 200 increases. Since the second finger unit 200 grips the article by closing from the open state, the fact that the swing speed and the swing torque are set to vary according to the rotation angle in this way is When approaching and gripping with fast and weak torque, it acts to grip slowly and with strong torque. For this reason, an article can be quickly and reliably grasped.

  Further, the nut does not rotate even if the screw 232 is driven to move forward and backward, and this characteristic blocks the reverse input from the second finger part 200 to the second motor 211. For this reason, the load applied to the second finger unit 200 is not transmitted to the second motor 211, and the burden on the second motor 211 is reduced. In addition, it is preferable to attach a rubber ring or the like interposed between the movable shaft 225 of the second link 222 and the second finger part 200 because external forces such as impact and vibration applied to the second finger part 200 are reduced. .

(D) Third Finger Part As shown in FIGS. 3 and 4, the third finger part is connected to the tip of the second finger part 200 via a third swinging shaft 301 parallel to the second swinging shaft 201. The part 300 is supported so as to be able to swing within a predetermined swing angle range. The third finger part 300 has a width similar to that of the second finger part 200, and has a plate-like shape having a bent part 302 bent at an obtuse angle on the inner surface (back surface) side at the tip part. An inner surface 303 facing the palm surface 12 side of the hand base 10, an outer surface 304 opposite to the inner surface 303, an outer side surface 305 and an inner side surface 306 on both sides of the inner surface 303 and the outer surface 304, respectively, are working surfaces. It is formed as.

  As shown in FIGS. 9 and 10, the third finger unit 300 is connected to the second finger unit 200 via the third finger unit link mechanism 320. The third finger link mechanism 320 is integrated with the third finger 300 and is connected to the fixed link 321 extending rearward and slightly downward from the rear end surface of the third finger 300 and the rear end of the fixed link 321. It comprises a movable link 322 that is pivotably connected at one end via a pin 323. The movable link 322 extends rearward, and a rear end portion is supported in a swingable manner in a hook (connecting portion) 334 integrally formed with a screw (operator) 332 described later via a movable shaft 325. ing. As shown in FIG. 11, both ends of the movable shaft 325 are rotatably inserted into the slider 340. The sliders 340 slide in the front-rear direction between a lower slide surface 240 (moment receiving surface) formed on the second finger portion 200 and an upper slide guide 241 fixed to the second finger portion 200. It is sandwiched freely. The movable shaft 325 is inserted into the movable link 322 via a rubber ring (buffer means) 326. As shown in FIGS. 1 and 11, the third finger link mechanism 320 and the hook 334 are in a recess 208 formed on the outer side of the second finger part 200 (opposite the first finger part 100). It is arranged. In the basic state shown in FIG. 9A, the connecting pin 323 is disposed at a position slightly rearward and above the third swing shaft 301, and the movable shaft 325 is substantially horizontally rearward from the third swing shaft 301. The third finger link mechanism 320 extends almost straight in a slightly upwardly raised state.

  As shown in FIGS. 1 and 3, a recess 210 is formed behind the recess 208 of the second finger 200 with a partition wall 209 interposed therebetween. The recess 210 is formed on the side of the recess 207 in which the second motor 211 is disposed, and the third motor 311 is disposed in the recess 210. The third motor 311 is fixed to the partition wall portion 209 via the casing 330 in a state where a pinion (not shown) is directed forward in the horizontal direction. As shown in FIG. 10, the casing 330 has a screw 332 that penetrates the casing 330 and the partition wall portion 209, is parallel to the pinion of the third motor 311, extends backward from the hook 334, and is integrally formed. It is installed. The screw 332 is supported by the spline structure so as not to rotate and to be movable in the axial direction. The axial movement is arranged in the casing 330 so that the screw 332 can be rotated and does not move in the axial direction. This is done by rotating a nut 333 attached to the screw 332. The nut 333 is connected to the pinion of the third motor 311 through a worm gear. A worm wheel 307 constituting this worm gear is formed integrally with the nut 333. As the screw 332 advances and retreats, the hook 334 slides back and forth between the slide surface 240 and the slide guide 241. That is, the slide surface 240 and the slide guide 241 guide the movement of the hook 334 and the screw 332.

  The power of the third motor 311 rotates the nut 333 via the worm gear, whereby the screw 332 moves forward and backward. In the basic state shown in FIGS. 9A and 10, the third finger 300 is in the most open state, and when the screw 332 advances forward from this state, as shown in FIG. The shaft 325 is pushed forward, the movable link 322 rises, the third finger link mechanism 320 bends, and the third finger 300 swings in a closing direction around the third swing shaft 301. FIG. 9B shows a gripping position set on the third finger unit 300. When the screw 332 further advances from this state, the connecting pin 323 is pushed forward and is most closed as shown in FIG. 9C. The third finger unit 300 swings to the position, that is, the gripping position. When the screw 332 retracts backward from the state of FIG. 9C, the third finger 300 swings in the opening direction by the reverse action to that described above. In this case, the screw 332 provided with the nut 333 and the hook 334, the worm gear for connecting the nut 333 and the pinion of the third motor 311, the third finger link mechanism 320, the slide surface 240 and the slide guide for guiding the hook 334. 241 constitutes a third finger drive transmission means.

  According to the third finger link mechanism 320, the stroke of the screw 332 (between the nut 333 and the hook 334) and the rotation angle of the third finger 300 are not in a proportional relationship, and are shown in FIG. Thus, the rotation angle is larger than the stroke after that from the stroke end on the shortest side of the screw 332 to the substantially intermediate stroke. That is, the third finger part 300 is set so that the swing speed of the third finger part 300 becomes faster as the third finger part 300 is located farther from the second finger part 200 from the substantially middle part of the swing range. Yes. In this case, specifically, as shown in FIG. 9, in the movement trajectory of the connecting pin 323 of the third finger link mechanism 320, the third line is defined as a boundary (intermediate part) on the vertical line passing through the third swing shaft 301. The swing speed of the finger part 300 is displaced, and the swing speed becomes faster as the third finger part 300 is opened in a range where the connecting pin 323 is closer to the second finger part 200 than the vertical line. As for the swing torque, as shown in FIG. 8 (d), the swing torque increases from the shortest stroke end to the almost intermediate stroke, but from this intermediate stroke to the longest stroke end. On the contrary, the swing torque is made small. That is, the swinging torque of the third finger part 300 is set to be smaller as the third finger part 300 is located closer to the second finger part 200 from the substantially middle part of the swinging range. Yes. Specifically, the displacement point of the oscillation torque is the same as the displacement point of the oscillation speed, that is, the passing point on the vertical line passing through the third oscillation shaft 301 in the movement locus of the connecting pin 323. As a boundary, the swinging torque of the third finger 300 is displaced as described above.

  The third finger unit 300 grips the article by closing from the open state, but the swing speed and swing torque are set so as to vary according to the rotation angle as described above. On the other hand, while gripping fast, gripping is slow when gripping, and gripping is performed with the strongest torque in the middle part of the swinging range.

  Further, since the nut 333 does not rotate even if the screw 332 is driven to move forward and backward, the reverse input from the third finger 300 to the third motor 311 is blocked by this characteristic. For this reason, the load applied to the third finger unit 300 is not transmitted to the third motor 311, and the burden on the third motor 311 is reduced. In addition, since the movable shaft 325 is inserted into the movable link 322 via the rubber ring 326, external forces such as impact and vibration applied to the third finger unit 300 are absorbed and relaxed by the rubber ring 326. Further, when the third finger unit 300 grips the article, a moment in the direction in which the third finger unit 300 opens due to the reaction force is generated. This moment is applied to the slider 340 via the third finger unit link mechanism 320. It is converted into stress that pushes downward. At this time, since the slider 340 is received by the slide surface 240 and is not transmitted to the screw 332, the deformation of the screw 332 is prevented.

  The above is the configuration of the hand device 1L, and the first finger unit 100, the second finger unit 200, and the third finger unit 300 are appropriately opened and closed to grasp or hold an article or perform other operations. Is called. FIGS. 12A and 12B show a state in which the finger portions 100, 200, and 300 are most opened and closed, respectively. FIGS. 13A and 13B show a state in which the finger portions 100, 200, and 300 of the hand device 1R are most opened and closed, respectively.

(E) Operation Pattern Next, a specific operation pattern of the hand device 1L (1R) is illustrated.
a. The first finger unit 100 is closed and an article is held between the first finger unit 100 and the second finger unit 200 and / or the third finger unit 300. In this operation, the article may be sandwiched by combining the operations of opening and closing the second finger unit 200 and the third finger unit 300 as appropriate.
a-1. As shown in FIG. 14A, a rod-shaped article W is sandwiched between the tip of the first finger part 100 and the inner side surfaces 206, 306 of the second finger part 200 and the third finger part 300, and the first finger The article W is gripped by the closing operation of the unit 100.
a-2. As shown in FIG. 14B, the rod-shaped article W is sandwiched between the bent portion 102 of the first finger portion 100 and the inner side surface 206 of the second finger portion 200, and the first finger portion 100 is closed. The article W is gripped.
a-3. 14C, a small ball-shaped article W is sandwiched between the tip of the first finger unit 100 and the inner side surface 306 of the third finger unit 300, and the first finger unit 100 is closed by the closing operation. The article W is gripped.

b. The third finger part 300 is closed, and the second finger part 200 and the third finger part 300 are used to grip or hold the article or to hook the article.
b-1. As shown in FIG. 15, the third finger part 300 is closed and the handle of the article W is hooked on the bent part 302 and hung.
b-2. As shown in FIG. 16, the third finger 300 is closed and the horizontal bar of the ladder H is gripped between the third finger 300 and the third finger 300 is opened and closed sequentially to raise and lower the ladder H.

c. The second finger part 200 or the third finger part 300 is closed, and the article is gripped or held by the second finger part 200 and / or the third finger part 300 and the palm surface 12 of the hand base 10. Or In this operation, the third finger unit 300 may also be closed.
c-1. As shown in FIG. 17, a pipe-shaped article W is sandwiched between the inner surfaces 203, 303 of the second finger part 200 and the third finger part 300 and the palm surface 12 of the hand base part 10, and the third finger part 300 The article W is gripped by the closing operation.

d. In b and c above, the first finger 100 is closed and the article is also sandwiched between the first fingers 100.
d-1. In the above b-2 shown in FIG. 16, the horizontal bar of the ladder H is also sandwiched between the first finger parts 100.
d-2. As shown in FIG. 18A, a ball-shaped article W is sandwiched between the inner surface 106 of the first finger unit 100 and the inner surface 306 of the inner surface 303 of the third finger unit 300, and the first finger unit 100. And the article W is pinched by the closing operation of the third finger part 300.
d-3. As shown in FIG. 18B, the ball-shaped article W is sandwiched between the inner surface 106 of the first finger portion 100 and the inner surfaces 203 and 303 of the second finger portion 200 and the third finger portion 300, and these finger portions 100. , 200 to grasp the article W.
d-4. As shown in FIG. 18C, the rectangular parallelepiped article W is gripped by the pair of left and right hand devices 1L and 1R. In this case, the bent parts 102 and 302 of the first finger part 100 and the third finger part 300 hook and hold the article W, and the article is gripped by the closing operation of the finger parts 100 and 300.

e. The second finger part 200 and / or the third finger part 300 are closed, and the article is sandwiched between the second and third finger parts 300 and the first finger part 100.
e-1. As shown in FIG. 19, a plate-shaped article W is gripped by a pair of left and right hand devices 1L and 1R. In this case, the second finger part 200 and the third finger part 300 are opened, the inner surfaces 203 and 303 are directed upward, the article W is sandwiched between the finger parts 200 and 300 and the first finger part 100, and the second finger The unit 200 and / or the third finger unit 300 is closed.

f. The article is received on the second finger part 200 and the third finger part 300 which are appropriately opened and the back surface is directed upward. In this operation, the first finger 100 may assist the operation of receiving the article.
f-1. As shown in FIG. 20, a rectangular parallelepiped article W is received on the inner surfaces 203 and 303 of the second finger part 200 and the third finger part 300 facing upward in an open state.
f-2. As shown in FIG. 21, a pair of left and right hand devices 1L and 1R receive a rectangular parallelepiped article W on the inner surfaces 203 and 303 of the second finger portion 200 and the third finger portion 300 facing upward in an open state, The side surface of the article W is supported by the first finger unit 100.
f-3. As shown in FIG. 22, the egg-shaped article W is received by the left hand side hand device 1L, and the right hand side hand device 1R supports the article W from the side. In this case, the tips of both first finger portions 100 are applied to the article W to prevent the body from falling down.

  In addition to the above a to f, as shown in FIG. 23, the article can be pressed by the opened first to third finger parts 100, 200, 300 and the lower edge part of the palm surface 12 of the hand base 10. . Further, as shown in FIG. 24, the first finger part 100 and the third finger part 300 are closed and held, and the article is pushed by the outer surface 304 of the third finger part 300. Furthermore, contrary to the pushing operation, as shown in FIG. 25, the operation of opening the drawer D by hooking the handle of the drawer D to the tip of the opened third finger unit 300 can be performed.

  The above is an example in which work is performed with the hand device 1L (1R) of the present embodiment, and the opening / closing operation and the opening / closing angle of each finger unit 100, 200, 300 are in accordance with the shape, size, or posture of the article. It will be a thing. In the hand device 1L (1R) of the present embodiment, the three finger portions 100, 200, 300 and the swing shafts 101, 201, 301 corresponding to the joints have a simple structure as described above. Various operation patterns as described above can be realized.

It is a perspective view of the left hand side hand device concerning an embodiment of the present invention. It is a perspective view of the right hand side hand device concerning an embodiment of the present invention. It is a top view of a hand device. It is a side view of a hand device. FIG. 5 is a cross-sectional view taken along line VV in FIG. 4. (A) The partial cross section back view of the hand apparatus in the state which opened the 1st finger part most, (b) The partial cross section back view of the hand apparatus in the state which closed the 1st finger part most. It is a side view which shows the structure and effect | action of a 2nd finger part. (A) Diagram showing the relationship between the screw stroke and rotation angle of the second finger link mechanism, (b) Diagram showing the relationship between the screw stroke and swing torque, c) A diagram showing a relationship between a screw stroke and a rotation angle, and (d) a diagram showing a relationship between a screw stroke and a swinging torque. It is a side view which shows the structure and effect | action of a 3rd finger part. FIG. 4 is a cross-sectional view taken along line X-X in FIG. 3. It is a XI-XI line sectional view taken on the line of FIG. FIG. 4A is a perspective view of the left hand side hand device in an open state, and FIG. 4B is a perspective view in a closed state. FIG. 4A is a perspective view of the right hand side hand device in an open state, and FIG. 4B is a perspective view in a closed state. It is a perspective view showing an example of an operation pattern which grasps an article. It is a perspective view which shows the example of the operation | movement pattern which hooks and has an article | item. It is a perspective view which shows the example of the operation | movement pattern which raises / lowers a ladder. It is a perspective view which shows the example of the operation | movement pattern which holds an article | item. It is a perspective view which shows the other example of the operation | movement pattern which hold | grips an article | item. It is (a) a perspective view and (b) a side view showing other examples of an operation pattern which grasps an article. It is a perspective view which shows the example of the operation | movement pattern which receives articles | goods. It is a perspective view which shows the other example of the operation | movement pattern which receives articles | goods. It is a perspective view which shows the further another example of the operation | movement pattern which receives articles | goods. It is a perspective view which shows the example of the operation | movement pattern which hold | suppresses articles | goods. It is a perspective view which shows the example of the operation | movement pattern which pushes articles | goods. It is a perspective view which shows the example of the operation | movement pattern which opens a drawer | drawer.

Explanation of symbols

1L, 1R ... Hand device 10 ... Hand base 12 ... Palm surface 100 ... First finger 101, 201, 301 ... Oscillating shaft 102, 202, 302 ... Bending part 103, 104, 205, 206, 305, 306 ... Side 105, 304 ... outer surface 106, 203, 303 ... inner surface 111 ... first motor 200 ... second finger portion 211 ... second motor 220 ... second finger portion link mechanism 240 ... slide surface (moment receiving surface)
300 ... 3rd finger 311 ... 3rd motor 320 ... 3rd finger link mechanism 326 ... Rubber ring (buffer means)
232, 332 ... Screw (operator)
334 ... Hook (connection part)

Claims (10)

A hand base having a palm surface;
A first finger portion that is swingably supported by the hand base, and
A second finger portion supported by the hand base so as to be swingable about an axis substantially orthogonal to the swing axis of the first finger portion;
A third finger portion supported by the second finger portion so as to be swingable about an axis substantially parallel to the swing axis of the second finger portion;
A first finger driving means, a second finger driving means and a third finger driving means for independently swinging the first finger, the second finger and the third finger,
The second finger drive means includes a first link attached to the hand base through a fixed shaft so as to be swingable.
Longer than the first link, one end is connected to the first link via a connecting pin so as to be swingable, and the other end is swingable to the second finger via a movable shaft. A second link attached so as to be swingable on the fingertip side from the shaft;
A casing that is swingably supported by the hand base;
A screw that is non-rotatable with respect to the casing and is supported so as to be movable in the axial direction, and an end portion of which is pivotably coupled to the coupling pin;
A nut mounted on the screw so as to be rotatable and stationary in the axial direction;
And a motor for rotating the nut via a worm gear .   The first finger portion includes an inner surface that is the palm surface side of the hand base, an outer surface opposite to the inner surface, and both the inner surface and both side surfaces with respect to the outer surface as work surfaces. The hand device according to claim 1.   The hand device according to claim 1, wherein a distal end portion of the first finger portion is bent toward the palm surface of the hand base portion. The first finger drive means
A first finger drive source;
First finger drive transmission means for transmitting the power of the first finger drive source from the worm to a worm wheel fixed to the swing shaft of the first finger;
Hand device according to claim 1, characterized in that it comprises a.   The second finger portion includes an inner surface which is the palm surface side of the hand base portion, and side surfaces on both sides opposite to the first finger portion side and the first finger portion side as work surfaces. The hand apparatus according to any one of claims 1 to 4, wherein the hand apparatus is characterized in that: Hand device according to any one of claims 1-5, characterized in that the rubber ring is mounted between the second finger and the movable shaft of the second link. The tip of the third finger portion, a hand device according to any one of claims 1 to 6, characterized in that it is bent to the palm side of the hand base. The third finger portion includes an inner surface which is the palm surface side of the hand base portion, an outer surface opposite to the inner surface, and both the inner surface and both side surfaces with respect to the outer surface as work surfaces. The hand device according to any one of claims 1 to 7 . The third finger unit drive means
A fixed link extending rearward from the third finger,
One end of the fixed link is pivotally connected to the rear end via a connecting pin, and the other end is pivotally supported in the hook via a movable shaft.
A rotatable and integral screw formed integrally with the hook; and
A nut attached to the screw;
A motor for rotating the nut via a worm gear;
Hand device according to claim 1, characterized in that it comprises a. The hand device according to claim 9 , wherein the movable shaft of the movable link is inserted into the movable link via a rubber ring .

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