WO2008062625A1 - Main de robot à doigts multiples - Google Patents

Main de robot à doigts multiples Download PDF

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Publication number
WO2008062625A1
WO2008062625A1 PCT/JP2007/070685 JP2007070685W WO2008062625A1 WO 2008062625 A1 WO2008062625 A1 WO 2008062625A1 JP 2007070685 W JP2007070685 W JP 2007070685W WO 2008062625 A1 WO2008062625 A1 WO 2008062625A1
Authority
WO
WIPO (PCT)
Prior art keywords
palm
gear
joint
palm portion
finger
Prior art date
Application number
PCT/JP2007/070685
Other languages
English (en)
Japanese (ja)
Inventor
Akinobu Okuda
Osamu Mizuno
Tohru Nakamura
Original Assignee
Panasonic Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2007235467A external-priority patent/JP4918004B2/ja
Application filed by Panasonic Corporation filed Critical Panasonic Corporation
Priority to CN2007800288996A priority Critical patent/CN101500764B/zh
Priority to US12/376,536 priority patent/US8100451B2/en
Publication of WO2008062625A1 publication Critical patent/WO2008062625A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs

Definitions

  • the present invention relates to a robot apparatus, and more particularly to a multi-fingered robot which grips and operates various articles.
  • FIGS. 15 (a) and 15 (b) show a human-like robot hand with a built-in motor capable of performing operations similar to human hands (see, for example, Patent Document 1).
  • the finger mechanism 60 has three bending joints 61, 62 and 63, and one opening and closing joint 64 orthogonal to the bending joint 63. It is configured to be driven by the motors 65, 66, 67, 68.
  • FIG. 15 (b) shows the five finger mechanisms 60, 70 attached to the palm section 69.
  • the finger mechanism 70 is configured to move the bending joint 61 and the bending joint 62 of the finger mechanism 60 in conjunction with each other by a four-bar link mechanism.
  • FIG. 16 is a robotic hand equipped with a thumb ball that is raised by rotation of a thumb, like a human hand (see, for example, Patent Document 2).
  • the robot 71 has a thumb ball 73 and a palm portion 74 disposed on the robot hand base 72, and a finger mechanism 75 corresponding to the thumb is indicated by an arrow 76 in the figure.
  • the ball 73 is designed to be raised against the surface of the palm portion 74 when it is turned to the side.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 11 156778
  • Patent Document 2 Japanese Patent Application Laid-Open No. 2004-351567
  • the conventional human-like robot hand shown in FIG. 15 (a) (b) has the following problems. That is, in this human-like robot hand, since the palm portion is a so-called single plate, only the tip of the finger mechanism and a part of the palm portion contact the article when gripping the article. It will be. For this reason, depending on the shape and size of the article in which the contact area between the article and the robot and the spoon is small, there is a problem that the stability of gripping is poor. In addition, since this robot notebook has a large number of joints of the force finger mechanism having a sufficient degree of freedom for gripping, it is difficult to make the mechanism for driving it compact in size, and as a result, the size and size of the hand is increased. There was a problem that the weight would increase. In addition, there is a problem that control becomes very complicated because the number of joints to control is large.
  • the robot hand having the conventional ball ball shown in FIG. 16 has the following problems. That is, in this robot robot, when holding an article having a plate-like shape such as a plate, even if the ball is raised, the structure is such that the item is held by the ball itself! Because, the stability of the grip is bad! /, And! /, There was a problem.
  • the present invention has been made to solve the above problems, and provides a multi-fingered robot hand which can stably hold various articles while suppressing an increase in the number of joints of a finger mechanism. Do.
  • a multi-fingered robot hand is a multi-fingered robot hand having a plurality of finger mechanisms, and a first finger having at least two finger mechanisms connected via a first root joint.
  • a second palm connected to at least one finger mechanism via a second root joint, and a connecting part connecting the first palm and the second palm.
  • the connection portion is configured to allow the connection angle of the second palm portion to the first palm portion to be changed.
  • FIG. L shows a multi-fingered robot hand according to Embodiment 1 of the present invention, (a) is a front view thereof, and (b) is a side view.
  • FIG. 2 is a conceptual view of a joint of a multi-fingered robot according to a first embodiment of the present invention.
  • FIG. 3 is a view showing a state in which the multi-fingered robot nozzle according to Embodiment 1 of the present invention grips a cylindrical cup.
  • FIG. 4 is a view showing a state in which the multi-fingered robot according to Embodiment 1 of the present invention is holding a plate-like plate.
  • FIG. 6 is a view showing a state in which the multi-fingered robot according to Embodiment 1 of the present invention holds a small article.
  • FIG. 7 shows a multi-fingered robot hand according to Embodiment 2 of the present invention, (a) is a front view thereof, (b) is a side view.
  • FIG. 8 (a) to (c) show a multi-fingered robot hand according to Embodiment 3 of the present invention, (a) is a front view thereof, (b) is a bag member contracted and contracted FIG. 6C is a side view of the state, and FIG.
  • FIG. 9 shows a multi-fingered robot hand according to Embodiment 4 of the present invention, (a) is a front view thereof, and (b) is a side view.
  • FIG. 10 is a view showing the vicinity of a connection portion in a multi-finger robot chain according to a fourth embodiment of the present invention.
  • FIG. 11 is a view showing a modified example of the multi-fingered robot strap according to Embodiment 4 of the present invention.
  • FIG. 12 shows a modification of the multi-fingered robot hand according to Embodiment 4 of the present invention, (a) is a front view thereof, and (b) is a side view.
  • FIG. 13 is a side view showing a multi-fingered robot nose according to Embodiment 5 of the present invention.
  • FIG. 14 shows a multi-fingered robot hand according to Embodiment 6 of the present invention, (a) is a side view thereof, and (b) is a front view.
  • FIG. 15 (a) is a block diagram of a single finger mechanism of a human-like type multi-fingered robot hand of the prior art example, and (b) is an overall view of a human-like type multi-fingered robot hand of the prior art example.
  • FIG. 16 is a block diagram of a robot hand having a ball of the prior art.
  • Figures 1 (a) and (b) illustrate one embodiment of a multi-fingered robot notebook according to the present invention!
  • the robot hand of the present embodiment has four finger mechanisms 1, 2, 3 and 4, and the three finger mechanisms 2, 3 and 4 (the first finger of them).
  • Mechanism) and one other finger mechanism 1 (second finger mechanism) hold the object to be grasped from both sides.
  • the finger mechanism 1 corresponds to the thumb
  • the finger mechanism 2 corresponds to the index finger
  • the finger mechanism 3 corresponds to the middle finger
  • the finger mechanism 4 corresponds to the crown finger.
  • the robot arm has a first palm 8 to which finger mechanisms 2, 3 and 4 are connected, a second palm 9 to which finger mechanism 1 is connected, and a first palm 8.
  • a palm joint 10 is provided as an example of a connecting portion connecting the second palm portion 9. That is, in the present embodiment, the connecting portion has one palm joint 10.
  • the first palm portion 8 is formed in a rectangular flat plate shape
  • the second palm portion 9 is formed in a trapezoidal flat plate shape.
  • the palm joint 10 has a pivot shaft 10a, and the first palm portion 8 and the second palm portion 9 can be relatively pivoted about the pivot shaft 10a. Thereby, the connection angle of the second palm 9 with respect to the first palm 8 is variable. In other words, the palm of the robot hand can be folded, and the angle between the first palm portion 8 and the second palm portion 9 can be freely adjusted.
  • the pivot shaft 10 a of the palm joint 10 is disposed at one end (the upper end in FIG. 1 (b)) in the thickness direction on the side surfaces of the first palm 8 and the second palm 9 facing each other. For this reason, the first palm portion 8 and the second palm portion 9 can be turned only to the palm side from the state of FIG. 1 (b) in which both of them are arranged on the same plane.
  • the finger mechanisms 2, 3 and 4 are connected to the first palm section 8 via root joints 12 (first root joints), respectively.
  • the root joints 12 are respectively provided on the surface (left end surface in FIG. 1A) opposite to the connection surface of the palm joint 10 in the first palm portion 8. That is, the left end face of the first palm portion 8 is a finger mechanism mounting surface!
  • the finger mechanism 1 is connected to the second palm 9 via a root joint 13 (second root joint).
  • the root joint 13 is provided on the surface (right end surface in FIG. 1A) opposite to the connection surface of the palm joint 10 in the second palm section 9. That is, the right end face of the second palm 9 is attached to the finger mechanism It is a face.
  • the finger mechanisms 2, 3 and 4 are arranged in parallel to one another. And in the state shown in Drawing 1 (b), each finger mechanism 1-4 is located on the same plane. In this state, the finger mechanism 1 is positioned so that its main axis substantially coincides with the extension of the main axis of the finger mechanism 3. Then, when the second palm 9 is rotated about the rotation axis 10 a with respect to the first palm 8, the finger mechanism 3 is positioned on the plane formed by the locus of the main axis of the finger mechanism 1. The main shaft is positioned. In other words, the finger mechanism 1 and the finger mechanism 3 are arranged to operate on substantially the same plane.
  • each root joint 12 on the first palm side has a bending joint 6.
  • the bending joint 6 has a pivoting shaft 6a, and the first palm portion 8 and the finger mechanisms 2, 3 and 4 can be relatively pivoted about the pivoting shaft 6a.
  • the bending joint 6 of the root joint 12 bends the finger mechanisms 2, 3 and 4 themselves in the gripping direction.
  • the root joint 13 on the second palm side has a pivoting axis 13a, and the second palm 9 and the finger mechanism 1 can be relatively pivoted about the pivoting axis 13a.
  • the root joint 13 functions as a bending joint that bends the finger mechanism 1 in the gripping direction.
  • the pivot shaft 6 a of the root joint 12 on the first palm side and the pivot shaft 13 a of the root joint 13 on the second palm side are both parallel to the pivot shaft 10 a of the palm joint 10.
  • the finger mechanism 1 and the finger mechanism 3 are disposed such that their main axes lie in substantially the same plane. Because of this, each finger tip can be made to face each other!
  • Each of the finger mechanisms 1 to 4 has a bending joint 5 and a bone member 11.
  • Each finger mechanism;! To 4 has one bending joint 5 each, and two bone members 11, that is, a distal side aggregate 11 and a root side aggregate 11 are connected by the bending joint 5. It is a structure.
  • the bending joint 5 is used to bend the finger mechanism;! To 4 and has a pivot shaft 5a disposed at an intermediate portion of the finger mechanisms 1 to 4.
  • the pivot shaft 5a is disposed in parallel to the pivot shafts 10a, 6a and 13a described above. Therefore, the finger mechanisms 1 and 3 operate on substantially the same plane when bending.
  • the root joints 12 of the finger mechanisms 2 and 4 have an open / close joint 7 for moving the finger mechanisms 2 and 4 in a direction orthogonal to the bending direction of the finger mechanisms 2 and 4.
  • the open / close joint 7 has a pivot shaft 7a disposed so as to extend in a direction orthogonal to the pivot shafts 5a, 6a, 10a, 13a.
  • the finger mechanisms 2 and 4 are pivotally movable in a direction (side) orthogonal to the gripping direction. That is, the finger mechanisms 2 and 4 can be opened and closed in the direction in which the adjacent finger mechanisms approach or separate from each other, that is, in the direction in which the finger mechanisms expand in the lateral direction.
  • the maximum bending angle to the left and right of the open / close joint 7 is preferably about 20 degrees to about 30 degrees. Further, the maximum bending angle in the bending direction of the bending joint 5 and the root joints 12 and 13 is desirably about 90 degrees to 110 degrees. This has the advantageous effect of being able to grip various articles handled by humans.
  • Each of the bending joint 5, the root joints 12 and 13, and the palm joint 10 is configured to be pivotable around pivoting shafts 5 a, 6 a, 7 a, 10 a and 13 a by pin connection.
  • the material of the bone member 11 is, for example, a light metal such as aluminum, an EN such as ABS (acrylonitrile 'butadiene' styrene resin), etc.
  • the surface portions of the finger mechanisms 1 to 4 excluding the joints, and the surface portions of the first palm 8 and the second palm 9 in contact with the articles have elastic skin members of uniform thickness. It has been overturned by As a result, a wider contact area can be obtained at each contact when gripping an article, and in addition, the friction with the gripping object can be increased to stabilize the gripping.
  • the material of the elastic skin member include rubber, urethane, silicone, sponge and the like. In this case, the rubber hardness is preferably about Hs (Hardness Spring) 20 degrees to 30 degrees in consideration of the contact with the article.
  • the elastic skin material may be formed in a single layer or in multiple layers.
  • each finger mechanism To 4 bending joint 5, root joints 12 and 13, and palm joint 10, for example, bone member 11, first palm 8 And a gear drive system for driving each joint through a speed reduction mechanism and a differential mechanism by a motor built in the second palm part 9 or the like, and a wire wound around each unillustrated pulley attached to each joint.
  • a wire drive system that drives each joint by applying a tensile force by a motor or a belt drive system that drives each joint using a belt such as a V-belt instead of a wire, and a combination of a motor and a link mechanism
  • a known technique such as a link drive system for driving a joint can be used.
  • the robot hand of the present embodiment has a first palm shown in FIGS. 1 (a) and (b). Fixedly connected to the robot manipulator on the back side of Part 8!
  • FIG. 3 is a gripping object 101 such as a cylindrical cup so as to be wrapped around using a four-finger mechanism;! To 4, a first palm portion 8 and a second palm portion 9. Show “grip holding”.
  • the second palm portion 9 is bent with respect to the first palm portion 8 through the palm joint 10.
  • the palm-side surface 21 of the palm portion 8 and the palm-side surface 22 of the second palm portion 9 can be made to be along the grasped article 101.
  • this gripping is a gripping mode used when gripping a tool or device with a grip such as a frying pan, a hammer, or a shovel, or a hose or the like.
  • FIG. 4 shows that an article 201 such as a plate-like plate is received so as to be sandwiched using four finger mechanisms 1 to 4, a first palm 8 and a second palm 9.
  • "Scissor receiver grip” is shown.
  • the first palm 8 and the second palm 9 are configured to bend, so the palm side surface 21 of the first palm 8 and the second palm An article can be sandwiched between the palm portion 9 and the palm-side surface 22.
  • grip form is a holding
  • Fig. 5 shows "support holding” to support an article such as bowl-shaped chopsticks 301 etc. using four finger mechanisms;! -4.
  • the angle formed by the first palm portion 8 and the second palm portion 9 can be adjusted via the palm joint 10. That is, the relative positional relationship between the root portions (attachment portions) 41 and 42 of the finger mechanisms 1 to 4 disposed in the palm portions 8 and 9 can be adjusted.
  • the yarn bottom 302 of the chopstick 301 is supported near the tip of the finger mechanism 3, and the vertical load and moment of the chopstick 301 are dealt with between the tip of the finger mechanism 1 and the tip.
  • Fig. 6 shows "knob gripping" in which a small article 401 such as a nut is pinched using two to four finger mechanisms. As shown in FIG.
  • the angle formed by the first palm portion 8 and the second palm portion 9 can be adjusted via the palm joint 10. That is, the positional relationship between the attachment portions 41 and 42 on the root side of the finger mechanisms 1 to 4 disposed on the palm portions 8 and 9 can be adjusted. Then, the article 401 is gripped by the finger mechanism 1 and the finger mechanism 3 opposed thereto, and the article 401 is gripped between the finger mechanism 2 and the finger mechanism 4. Note that this gripping is a gripping mode used when gripping a small article 401, such as a nut or a toothpick.
  • the angle formed between the first palm portion 8 and the second palm portion 9 can be freely adjusted.
  • the positional relationship between the root joint 12 of the finger mechanism 2 to 4 and the root joint 13 of the finger mechanism 1 disposed on the second palm side can be freely changed according to the object to be grasped, This makes it possible to take a posture that can be easily grasped according to the size and shape of the object to be grasped.
  • folding the palm parts 8 and 9 makes it possible to sandwich a plate-like plate like a dish using both the palm parts 8 and 9 and the finger mechanisms 1 to 4 The article can be stably gripped.
  • the palm joint 10 is one joint of the robot and the whole pin, the number of joints of the finger mechanisms 1 to 4 can be reduced by IJ while securing the degree of freedom of bending necessary for gripping.
  • the pivot shaft 10a of the palm joint 10 is the pivot shaft 5a of the bending joint 5, the pivot shaft 6a of the bending joint 6, and the pivot shaft 13a of the root joint 13. Since they are parallel, the object to be grasped can be grasped by pinching the object to be grasped from both sides by the finger mechanisms 1 to 4. Thereby, the object to be gripped can be stably held. Then, by folding the first palm 8 and the second palm 9, even a plate-like plate like a plate can be grasped using both the palms 8 and 9 and the finger mechanisms 1 to 4. Become. Therefore, stable holding can be realized for plate-like objects.
  • the finger mechanism 3 at the center on the first palm portion 8 side and the finger mechanism 1 on the second palm portion 9 side have a substantially opposing positional relationship, and an article As it is arranged to operate on substantially the same plane when gripping, stable gripping is possible even when gripping the article. Can be realized.
  • the root joints 12 of the left and right finger mechanisms 2 and 4 disposed in the first palm portion 8 have the open / close joints 7 that open and close in the lateral direction.
  • open and close the two left and right finger mechanisms 2, 4 disposed in the first palm section 8 sideways.
  • one bending joint 5 is provided for each of the finger mechanisms 1 to 4, so the robot node can have a simple configuration while securing the degree of freedom necessary for gripping an article. It is a power S to transform.
  • the force S described for the configuration in which only the root joints 12 and 12 of the finger mechanisms 2 and 4 are provided with the open / close joints 7 and 7 is not limited to this.
  • the base joints 12 and 13 of the finger mechanisms 1 and 3 may be provided with open / close joints 7 and 7 similarly to the finger mechanisms 2 and 4.
  • the opening and closing joint 7 on the root side of each finger mechanism is adjusted even when gripping small articles, and the finger mechanisms; Since the fingertips can be gathered around the article, more stable gripping can be realized.
  • the opening and closing operations of the left and right finger mechanisms 2 and 4 disposed in the first palm portion 8 may be driven independently or in conjunction with each other.
  • the force S as a multi-fingered robot hand having four finger mechanisms are not limited to this.
  • it may have five or more finger mechanisms, or the finger mechanism on the first palm portion 8 may have only two on the left and right.
  • the present invention is not limited to the configuration in which each of the finger mechanisms 1 to 4 has the bending joint 5 one by one.
  • at least one finger mechanism 1-4 may be configured to have two or more bending joints 5! /.
  • the force is assumed to be connected to the robot manipulator on the back side of the first palm portion 8 of the robot hand.
  • the present invention is not limited to this.
  • the pivot joint 10 a of the palm joint 10 connecting the second palm part 9 may be pivotally supported, and may be fixedly connected to the robot manipulator, or the robot on the back side of the second palm part 9 It may be configured to be fixedly connected to the manipulator.
  • FIG. 7 (a) and 7 (b) are diagrams showing a multi-fingered robot notebook according to Embodiment 2 of the present invention.
  • the elastic convex member 51 is provided on the palm-side surface of the second palm portion 9 of the first embodiment, and the other configuration and driving method are the same as those of the first embodiment. .
  • Elastic convex members 51 shown in FIGS. 7 (a) and 7 (b) are formed integrally with the elastic skin member according to the first embodiment so as to substantially cover the central surface of the second palm portion 9 on the palm side. It is done.
  • the material is the same as that of the elastic skin member, and is, for example, rubber, urethane, silicone, sponge or the like. In this case, it is desirable that the rubber hardness is approximately 20 degrees to 30 degrees Hs (Hardness Spring) in consideration of the contact with the article! / ⁇ .
  • this elastic convex member 51 actively makes the palm-side surfaces of the first palm 8 and the second palm 9
  • the product is nipped between the resilient convex members 51 and the finger mechanisms 1 to 4 or the other palm portion 8.
  • palm parts 8 and 9 are positively used.
  • the product can be held more stably.
  • the elastic convex member 51 is integrally formed with the elastic skin member! However, the elastic convex member 51 may be formed separately. Further, the elastic convex member 51 may be provided on the first palm portion 8 or may be provided on both of the palm portions 8 and 9.
  • FIGS. 8 (a) to 8 (c) are diagrams showing a multi-fingered robot hand according to Embodiment 3 of the present invention.
  • the present embodiment is provided with a bag member 55 that expands and contracts due to the inflow and outflow of fluid on the palm-side surface of the palm portion 9 of the first embodiment, and the other configuration and driving method are the same as those of the first embodiment. It is.
  • the bag member 55 shown in FIGS. 8 (a) to 8 (c) substantially covers the central area of the palm side surface of the second palm part 9, It is formed separately from the elastic skin member according to Embodiment 1.
  • the material is, for example, an elastic material such as rubber.
  • Examples of the fluid that enters and leaves the bag member 55 include gases such as compressed air and liquids such as water.
  • the multi-fingered robot hand when the multi-fingered robot hand actively uses the palm-side surfaces of the first palm portion 8 and the second palm portion 9 as shown in FIG. As shown in c), the fluid is allowed to flow into the bag member 55 to inflate the bag member 55, and the article is firmly held between the bag member 55 and the finger mechanism 1 to 4 or the palm portion 8 on the other side. Further, in gripping not actively using the palm-side surface of the second palm part 9, as shown in FIG. 8B, the bag member 55 is deflated so that the movable range of the palm joint 10 is not limited.
  • the palm portions 8 and 9 are provided by providing the bag member 55 that is expanded and contracted by the inflow and outflow of fluid on the palm-side surface of the second palm portion 9 of the multi-fingered robot hand. If you use the grip actively, you can hold the item more stably, but if you do not use the palm sections 8 and 9 actively, the movable range of the palm joint 10 is limited. You can not do it.
  • the bag member 55 may be provided on the first palm portion 8 or may be provided on both the palm portions 8 and 9.
  • FIGS. 9 (a) and 9 (b) show a multi-fingered robot rule according to a fourth embodiment of the present invention.
  • the present embodiment includes a drive unit for changing the relative connection angle of the first palm portion 8 with respect to the second palm portion 9.
  • the drive unit includes a motor 81.
  • the motor 81 generates driving force, and a motor gear 82 is provided on a drive shaft of the motor 81.
  • a first gear 86a is fixed to the first palm portion 8
  • a second gear 86b is fixed to the second palm portion 2
  • the second gear 86b is in mesh with the first gear 86a.
  • the first gears 86 a are respectively provided at both ends in the width direction of the first palm portion 8.
  • a through hole is formed in each of the first gears 86a, and the transmission shaft 84 is rotatably passed through the through holes of the first gears 86a.
  • the transmission shaft 84 is an axial center of the first gear 86a.
  • a transmission gear 83 is fixed to the transmission shaft 84, and the transmission gear 83 is engaged with the motor gear 82.
  • a recess 8a is formed at an end portion on the second palm side.
  • the recess 8 a is formed to extend in the width direction of the palm portion 8, and the first gear 86 a is fixed to both ends of the recess 8 a.
  • the recess 8a is cut out so that the corner of the end on the second palm side of the palm side 21 of the first palm 8 has a rectangular cross-sectional shape when the first palm 8 is viewed in the width direction. It is Therefore, at the end of the first palm portion 8, two flat planes intersecting at an angle of about 90 degrees are formed. One plane is parallel to the palm side 21.
  • the first gear 86a is configured by a partial gear in which a central angle is formed in a range of a predetermined angle. That is, the first gear 86a has a configuration in which the spur gear is cut away so as to leave a central through hole by two straight lines orthogonal to each other, and the teeth are formed in a range of at least 90 degrees. There is.
  • the first gear 86a is coupled to the recess 8a such that two orthogonal planes are joined to the two planes of the recess 8a. In this state, the first gear 86 a protrudes upward in FIG. 9B more than the palm side 21.
  • the second palm portion 9 is formed with a recess 9 a at an end portion on the first palm side.
  • the recess 9 a is formed to extend in the width direction of the palm portion 9, and the second gears 86 b are respectively fixed to both ends of the recess 9 a.
  • the recess 9a of the second palm portion 9 has the same configuration as the recess 8a of the first palm portion 8, and the depths of both the recesses 8a and 9a are the same.
  • the second gear 86 b protrudes upward in FIG. 9 (b) more than the palm side 22.
  • the second gear 86b is configured by a partial gear in which a central angle is formed in a range of a predetermined angle. That is, the second gear 86b has a configuration in which the spur gear is cut away so as to leave a central through hole by two straight lines orthogonal to each other, and the teeth are formed in a range of at least 90 degrees. There is. However, the second gear 86b is different from the first gear 86a in that the positions of the teeth are shifted. Specifically, the positions of the teeth of the first gear 86 a with respect to the palm side 21 of the first palm portion 8 and the positions of the teeth of the second gear 86 b with respect to the palm side 22 of the second palm 9 It is shifted by the equivalent of 1/2 phase of the tooth pitch. Therefore, even when the palm is in the extended state, that is, when the palm side 21 of the first palm 8 and the palm side 22 of the second palm 8 are flat, both palm sides 21 and 22 are obtained. There is no level difference between
  • both ends of the transmission shaft 84 each protrude outward beyond the first gear 86a. It's out.
  • a shaft portion 86c which is disposed so as to extend in the width direction of the second palm portion 9 and which is disposed in parallel with the transmission shaft 84 is rotatably passed through! .
  • the shaft portion 86c is an axial center of the second gear 86b. Each shaft portion 86c protrudes outward from the second gear 86b.
  • a connecting portion connecting the first palm portion 8 and the second palm portion 9 has a swing arm 85.
  • the swing arm 85 has one end fixedly coupled to the transmission shaft 84, and the other end fixedly coupled to the shaft 86c. Therefore, the driving force of the motor 81 is transmitted to the swing arm 85 via the motor gear 82, the transmission gear 83 and the transmission shaft 84, and becomes the drive force to swing the swing arm 85.
  • the swing arm 85 swings about the transmission shaft 84 as a swing center.
  • the first gear 86a and the second gear 86b change the position at which the first and second gears 86a and 86b move according to the amount of rocking of the rocking arm 85, and change the connection angle between the first palm 8 and the second palm 9.
  • the force S of one of the first palm portion 8 and the second palm portion 9 relative to the other pivots, and the amount of rotation thereof corresponds to the amount of swing of the swing arm 85.
  • the swinging arm 85 is the first palm. The angle is changed from the direction parallel to the part 8 to the direction perpendicular to the first palm part 8.
  • the connection angle between the first palm 8 and the second palm 9 is 0 degrees
  • the length of the swing arm 85 is between the palm side 21 of the first palm 8 and the palm side 22 of the second palm 9. Space will be secured.
  • a biasing member 88 for preventing backlash is provided on the shaft portion 86c of the second gear 86b.
  • the biasing member 88 is a torsion coil spring, and one end thereof is engaged with the second palm portion 9 while the other end is engaged with the transmission shaft 84.
  • the relative connection angle of the second palm portion 9 with respect to the first palm portion 8 is changed by driving the drive portion, whereby the root joint 12 and the second joint on the first palm side are formed.
  • the positional relationship with the root joint 13 on the palm side can be changed.
  • the swing arm 85 swings by the driving force generated by the motor 81, and the first palm portion 8 rotates relative to the second palm portion 9 in accordance with this. .
  • a space corresponding to the size of the first gear 86 a and the second gear 86 b is secured between the first palm 8 and the second palm 9.
  • the first gear 86a is obtained.
  • the second gear 86b is no level difference between the palm side 21 of the first palm part 8 and the palm side 22 of the second palm 9. Can be stabilized.
  • the first gear 86a and the second gear 86b are formed in a state in which the teeth are phase-shifted by 1/2, the same mounting of the first gear 86a and the second gear 86b is performed. Even at an angle, it is possible to secure a balance between the first gear 86a and the second gear 86b. For this reason, it can suppress that processing of the 1st palm part 8 and the 2nd palm part 9 becomes complicated.
  • the motor 81 for swinging the swing arm 85 and the power transmission shaft 84 are disposed on the first palm portion 8, instead of the force S, the second palm portion 9. You may arrange it in.
  • the shaft portion 86c is rotatably passed through the first gear 86a.
  • the force used to use the first gear 86a and the second gear 86b formed with the teeth shifted by 1/2 phase is replaced with this as shown in FIG.
  • the first gear 86a and the second gear 86b may be used without phase shift of the teeth. That is, the component that constitutes the first gear 86a and the component that constitutes the second gear 86b are the same component.
  • the mounting angle of the first gear 86 a and the mounting angle of the second gear 86 b and the force S are deviated by an angle corresponding to a half phase of the tooth pitch.
  • the angular force S of the recess 8 a of the first palm portion 8 and the recess 9 a of the second palm portion 9 is deviated by an angle equivalent to 1/2 phase of the tooth pitch.
  • one plane of the recess 8 a of the first palm portion 8 is parallel to the palm side 21, while one plane of the recess 9 a of the second palm 9 is inclined with respect to the palm side 22.
  • this may be reversed. That is, one plane of the recess 9 a of the second palm 9 is parallel to the palm side 22, while one plane of the recess 8 a of the first palm 8 is inclined with respect to the palm side 21.
  • the elastic convex members 87a and 87b are provided on the palms 8 and 9, respectively It may be provided.
  • the material of the elastic convex members 87a and 87b is, for example, rubber, urethane, silicon, sponge or the like.
  • the elastic convex member 87 a is attached to the entire palm side 21 of the first palm portion 8, and the elastic convex member 87 b is attached to the entire palm side 22 of the second palm 9.
  • the elastic convex members 87a and 87b exist in the space corresponding to the size of the gears 86a and 86b, that is, the space corresponding to the length of the swing arm 85. .
  • the force for pressing the object to be held can be alleviated by the deformation of the elastic convex members 87a and 87b.
  • breakage of the gripped article can be prevented.
  • the gripping article can be stably held with a force S.
  • the connecting part connecting the first palm part 8 and the second palm part 9 has a plurality of palm joints.
  • the connecting portion has a third palm portion 102, a first palm joint 106, and a second palm joint 107.
  • the first palm joint 106 connects the first palm 8 and the third palm 102
  • the second palm joint 107 connects the second palm 9 and the third palm 102.
  • the third palm portion 102 has, for example, a length similar to that of the swing arm 85 of the fourth embodiment.
  • Each of the first palm joint 106 and the second palm joint 107 has, for example, a pivot, and is configured to be relatively pivotable about the pivot. These pivot axes are parallel to the pivot axes 5a, 6a of the bending joints 5, 6.
  • the number of palm joints is not limited to two, and three or more may be provided.
  • the other configuration is the same as that of the first embodiment.
  • the sixth embodiment is provided with a drive unit of the open / close joint 7. It is a thing.
  • the drive unit of the open / close joint 7 includes a motor 113, worm wheels 107 and 108, worms 109 and 110, a shaft 111, gears 112, 114 and 115, and support walls 116 and 117.
  • the support walls 116 and 117 rotatably support the shaft 111 and are fixed to the first palm portion 8.
  • the shaft 111 is disposed so as to extend in the width direction of the first palm portion 8, and a gear 112 is fixed to the shaft 111.
  • the drive force is transmitted to the motor gear 114 fixed to the drive shaft of the motor 113 via the gear 115.
  • worms 109 and 110 having opposite spirals are fixed.
  • the worm wheel 107 is fixed to the root of the finger mechanism 2 and is engaged with the worm 110.
  • the worm wheel 108 is fixed to the root of the finger mechanism 4 while being engaged with the worm 109.
  • the first palm side first can be selected according to the object to be gripped. It is possible to freely change the positional relationship between the root joint of the arm and the second root joint on the side of the second palm, so that it is possible to take an easy-to-grip posture according to the size and shape of the object to be gripped. Can.
  • the connecting portion is one joint of the entire robot hand, the number of joints of the finger mechanism can be reduced while securing the degree of freedom of bending necessary for gripping.
  • connection portion has a pivot axis for changing a connection angle of the second palm portion with respect to the first palm portion
  • the first The root joint has a pivot for bending the finger mechanism to the palm side
  • the second root joint has a pivot for bending the finger mechanism to the palm side
  • the rotation axes are almost parallel to each other Is preferred.
  • the first root joint is connected to a surface opposite to a connection surface with the connection portion in the first palm portion, and the second The root joint is preferably connected to a surface of the second palm opposite to a connection surface with the connection.
  • Three finger mechanisms connected to the first palm portion are provided side by side, and among the finger mechanisms connected to the first palm portion, the finger mechanism disposed at the center and Preferably, the single finger mechanism connected to the second palm portion is arranged to move substantially on the same plane when it is bent.
  • the central finger mechanism on the first palm side and the finger mechanism on the second palm side have a substantially opposing positional relationship, so even when the article is pinched, , Stable gripping can be realized.
  • Three finger mechanisms connected to the first palm portion are provided side by side, and are connected to the finger mechanism connected to the first palm portion and the second palm portion
  • Each finger mechanism has a bending joint that bends the finger mechanism around an axis parallel to the rotation axis, and the first finger mechanism connected to the first palm portion is connected to the second finger mechanism of the finger mechanism at both ends.
  • the root joint 1 preferably has an open / close joint that operates a finger mechanism in a direction orthogonal to the bending direction of the bending joint.
  • the tip of the left and right two finger mechanisms disposed on the first palm portion is By opening and closing so as to move to the side, it is possible to adjust the left-right weight balance of the article, so that more stable gripping can be realized.
  • Each of the plurality of finger mechanisms has a bending joint that bends the finger mechanism around an axis parallel to the rotation axis, and both of the first and second root joints are: It is preferable to have an open / close joint that operates a finger mechanism in a direction orthogonal to the bending direction of the bending joint.
  • the opening and closing joints on the root side of each finger mechanism are adjusted. This makes it possible to collect the fingertips of the finger mechanism around the article, thus achieving more stable gripping.
  • by adjusting the opening and closing mechanism according to the weight balance of the article stable gripping can be realized.
  • the bending joints may be provided one by one for each finger mechanism. In this aspect, it is possible to simplify the configuration of the robot template while securing the degree of freedom necessary for gripping the article.
  • At least one of the first and second palm portions may have an elastic convex member on the palm side surface.
  • the elastic convex member can hold and hold the article firmly. Therefore, a more stable grip can be realized.
  • At least one of the first and second palm portions may have a bag member on the palm-side surface that expands and contracts as fluid flows in and out.
  • the bag member when the article is held between the pair of palm parts or gripped by the finger mechanism and the palm part, the bag member is inflated, so that the article can be tightened by the bag member. Can be held. Therefore, more stable gripping can be realized.
  • the movable range of the connecting portion can be prevented from being restricted by shortening the bag member.
  • a drive unit may be provided to change the relative connection angle of the second palm to the first palm.
  • the relative angle of the second palm portion with respect to the first palm portion is changed by driving the drive portion, whereby the positional relationship between the first root joint and the second root joint is determined. It can be changed.
  • connection portion is pivotally supported by one of the first palm portion and the second palm portion and is pivotably supported by the one of the first and second palm portions.
  • a swing arm capable of swinging the other of the palm portion and the second palm portion is provided, and the drive portion be provided with a motor capable of generating a driving force for swinging the swing arm.
  • the swinging arm is swung by the driving force of the motor, whereby the first palm portion and the second palm portion with respect to one of the first palm portion and the second palm portion. The other swings relatively.
  • a first gear is fixed to the first palm portion
  • a second gear is fixed to the second palm so as to be engaged with the first gear
  • the amount of rocking of the rocking arm Accordingly, the position at which the first gear and the second gear are engaged changes, and the first palm and the second palm with respect to one of the first palm and the second palm. It is preferable that the other of the palms relatively swings.
  • the first palm portion or the second palm portion moves relative to the other palm portion while changing the position where the first gear and the second gear are engaged with each other as the swing arm swings. And relatively rotate.
  • the amount of rotation of the other palm portion corresponds to the amount of rocking of the rocking arm. Then, when the palm is folded, a space corresponding to the size of the first gear and the second gear is secured between the first palm and the second palm, and the space to be gripped is held. Can hold the
  • the positions of the teeth of the first gear with respect to the palm surface of the first palm portion and the positions of the teeth of the second gear with respect to the palm surface of the second palm portion are the teeth It is preferable to be offset by an amount corresponding to 1/2 phase of the pitch.
  • a gap between the first gear and the second gear is obtained. It is possible to secure a match.
  • the palm when the palm is extended, there is no step between the palm surface of the first palm part and the palm surface of the second palm part, so that the article placed on the palm surface can be stabilized.
  • an attachment angle of the first gear with respect to the first palm portion is preferably deviated by an angle corresponding to a half phase of a tooth pitch.
  • Each of the first gear and the second gear is a partial gear in which a central angle is provided in a range of a predetermined angle, and the first gear and the second gear are partial gears.
  • the gear may be formed with a half phase shift of the teeth. In this aspect, even if the first gear and the second gear have the same mounting angle, it is possible to ensure the balance between the first gear and the second gear. For this reason, it can suppress that processing of a 1st palm part and a 2nd palm part becomes complicated.
  • the connecting part preferably has at least one palm joint.
  • the connecting portion connects a third palm portion, the first palm portion, and the third palm portion It may have a first palm joint and a second palm joint connecting the second palm portion and the third palm portion.
  • the connection angle of the palm joint can be freely changed in accordance with the object to be gripped, so that objects of various sizes can be stably gripped by effectively using the palm face having a large contact area. it can.
  • various articles can be stably gripped while suppressing an increase in the number of joints of the finger mechanism.
  • the multi-fingered robot according to the present invention can handle various kinds of articles because it can have the effect of holding the various articles dexterously and stably while having a configuration with few degrees of freedom. It is useful as an end effector for industrial and home use robots and as a prosthetic hand.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une main de robot à doigts multiples ayant un nombre minimum requis d'articulations dans des mécanismes de doigts et capable de maintenir une variété d'articles de manière stable. La main de robot à doigts multiples comporte une première partie de paume (8) à laquelle trois mécanismes de doigts (2, 3, 4) sont reliés par des articulations principales (12), une seconde partie de paume (9) à laquelle un seul mécanisme de doigt (1) est relié par une articulation principale (13), et une articulation de paume (10) pour relier la première partie de paume (8) et la seconde partie de paume (9). L'articulation de paume (10) est adaptée pour permettre une variation de l'angle de liaison de la seconde partie de paume (9) à la première partie de paume (8). L'articulation de paume (10), une articulation de pliage (5), des articulations de pliage (6) des articulations principales (12), et l'articulation principale (13) possèdent des axes de rotation parallèles les uns aux autres, et les mécanismes de doigts sont pliés lorsqu'ils tournent autour des axes de rotation.
PCT/JP2007/070685 2006-11-24 2007-10-24 Main de robot à doigts multiples WO2008062625A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2007800288996A CN101500764B (zh) 2006-11-24 2007-10-24 多指机器手
US12/376,536 US8100451B2 (en) 2006-11-24 2007-10-24 Multi-fingered robot hand

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2006-316877 2006-11-24
JP2006316877 2006-11-24
JP2007-235467 2007-09-11
JP2007235467A JP4918004B2 (ja) 2006-11-24 2007-09-11 多指ロボットハンド

Publications (1)

Publication Number Publication Date
WO2008062625A1 true WO2008062625A1 (fr) 2008-05-29

Family

ID=39429564

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/070685 WO2008062625A1 (fr) 2006-11-24 2007-10-24 Main de robot à doigts multiples

Country Status (1)

Country Link
WO (1) WO2008062625A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101879101A (zh) * 2010-08-19 2010-11-10 上海理工大学 腕关节驱动仿生机械假手
US8287017B2 (en) 2008-09-10 2012-10-16 Harmonic Drive Systems Inc. Robot hand and method for handling planar article
CN113133800A (zh) * 2021-04-27 2021-07-20 中国人民解放军陆军军医大学第一附属医院 一种用于关节置换手术的人体骨智能修磨设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04189493A (ja) * 1990-11-21 1992-07-07 Yaskawa Electric Corp ロボットハンド
JP2006000992A (ja) * 2004-06-18 2006-01-05 Toyota Motor Corp ロボットハンド
JP2006026875A (ja) * 2004-07-21 2006-02-02 Toyota Motor Corp ロボットハンドの把持制御装置
JP2006116667A (ja) * 2004-10-22 2006-05-11 Sharp Corp 多関節機構ならびにロボットハンド

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04189493A (ja) * 1990-11-21 1992-07-07 Yaskawa Electric Corp ロボットハンド
JP2006000992A (ja) * 2004-06-18 2006-01-05 Toyota Motor Corp ロボットハンド
JP2006026875A (ja) * 2004-07-21 2006-02-02 Toyota Motor Corp ロボットハンドの把持制御装置
JP2006116667A (ja) * 2004-10-22 2006-05-11 Sharp Corp 多関節機構ならびにロボットハンド

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8287017B2 (en) 2008-09-10 2012-10-16 Harmonic Drive Systems Inc. Robot hand and method for handling planar article
DE112008004009B4 (de) 2008-09-10 2023-10-12 Harmonic Drive Systems Inc. Roboterhand und Verfahren für die Handhabung von flächigen Gegenständen
CN101879101A (zh) * 2010-08-19 2010-11-10 上海理工大学 腕关节驱动仿生机械假手
CN113133800A (zh) * 2021-04-27 2021-07-20 中国人民解放军陆军军医大学第一附属医院 一种用于关节置换手术的人体骨智能修磨设备
CN113133800B (zh) * 2021-04-27 2023-03-14 中国人民解放军陆军军医大学第一附属医院 一种用于关节置换手术的人体骨智能修磨设备

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