WO2013069118A1 - ロボットハンド及びロボット - Google Patents
ロボットハンド及びロボット Download PDFInfo
- Publication number
- WO2013069118A1 WO2013069118A1 PCT/JP2011/075853 JP2011075853W WO2013069118A1 WO 2013069118 A1 WO2013069118 A1 WO 2013069118A1 JP 2011075853 W JP2011075853 W JP 2011075853W WO 2013069118 A1 WO2013069118 A1 WO 2013069118A1
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- WO
- WIPO (PCT)
- Prior art keywords
- link member
- finger
- link
- robot hand
- frame
- Prior art date
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
- Y10S901/32—Servo-actuated
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
- Y10S901/39—Jaw structure
Definitions
- the present invention relates to a robot hand and a robot.
- Patent Document 1 discloses a grasping type hand having a plurality of finger mechanisms each including a finger joint, an actuator that drives the finger joint, and a link that is supported by the finger joint and operates under the driving force of the actuator.
- the grasping hand further includes an operation control unit capable of controlling the actuators of the plurality of finger mechanisms independently of each other, a position detection unit for detecting the operation positions of the finger joints of the plurality of finger mechanisms,
- Each of the finger mechanisms includes a strain detector that detects strain generated in the link due to the force applied to the finger mechanism.
- the motion control unit cooperatively controls the actuators of the plurality of finger mechanisms based on the operation positions of the finger joints detected by the position detection unit and the link strain detected by the strain detection unit, so that the grasping force by the plurality of finger mechanisms is controlled. Adjust.
- a hand having a plurality of finger mechanisms is provided with a number of motors corresponding to the degree of freedom of each finger mechanism in order to drive these finger mechanisms.
- An object of this invention is to provide the robot hand by an underdrive and the robot provided with this hand.
- a frame Provided with the frame, and comprising at least two finger units for gripping a gripping object;
- Each finger unit includes a finger frame provided on the frame;
- a swing lever member whose one end is rotatably connected to the finger frame, and is connected rotatably to the other end of the swing lever member at a connecting portion located at an intermediate portion.
- a Scott Russell mechanism configured at least by a conversion link member that moves in a direction intersecting the moving direction of the end portion and is capable of contacting the grasped object;
- a first parallel link mechanism configured at least by the swing lever member and a common link member rotatably connected to the connecting portion; The common link member, the conversion link member, and a distal end link that is disposed at a position facing the common link member, is rotatably connected to the other end of the conversion link member, and can contact the grasped object.
- a second parallel link mechanism that is at least configured by a member and an opposing conversion link member that is disposed at a position facing the conversion link member and is rotatably connected to the common link member and the tip link member, respectively. The robot hand is applied.
- the frame First to third finger units provided on the frame and gripping a gripping object; A robust unit for driving the first to third finger units; A servo motor which is provided on the frame and drives the Roverval unit;
- Each of the first to third finger units includes a finger frame provided on the frame; A swing lever member whose one end is rotatably fixed with respect to the finger frame, and a connecting portion located at an intermediate portion is rotatably connected to the other end of the swing lever member, and the other end is connected to the other end.
- a Scott Russell mechanism configured at least by a conversion link member that moves in a direction intersecting the moving direction of the end portion and is capable of contacting the grasped object;
- a first parallel link mechanism configured at least by the swing lever member and a common link member rotatably connected to the connecting portion;
- a second parallel link mechanism that is disposed at a position facing the conversion link member and at least includes a counter conversion link member rotatably connected to the common link member and the tip end link member.
- the Roverval unit has a first Roverval mechanism that divides the output of the servo motor into an intermediate output and a first output for driving the first finger unit;
- a robot hand having a second roval mechanism for dividing the intermediate output into a second output for driving the second finger unit and a third output for driving the third finger unit Applies.
- the robot hand includes a frame and at least two finger units that are provided on the frame and grip a gripping object.
- Each finger unit includes a finger frame provided on the frame; A swing lever member whose one end is rotatably fixed with respect to the finger frame, and a connecting portion located at an intermediate portion is rotatably connected to the other end of the swing lever member, and the other end is connected to the other end.
- a Scott Russell mechanism configured at least by a conversion link member that moves in a direction intersecting the moving direction of the end portion and is capable of contacting the grasped object;
- a first parallel link mechanism configured at least by the swing lever member and a common link member rotatably connected to the connecting portion; The common link member, the conversion link member, and a distal end link that is disposed at a position facing the common link member, is rotatably connected to the other end of the conversion link member, and can contact the grasped object.
- a second parallel link mechanism that is at least configured by a member and an opposing conversion link member that is disposed at a position facing the conversion link member and is rotatably connected to the common link member and the tip link member, respectively. The robot that has is applied.
- the robot hand can be operated by inferior driving.
- a robot hand 10 according to an embodiment of the present invention is provided, for example, on a flange 16 of an arm 14 of a robot 12 as shown in FIG.
- the robot 12 is, for example, an industrial robot or a humanoid robot.
- the orientation of the robot hand 10 varies depending on the posture of the robot 12, but for the sake of convenience of explanation, the direction of the tip of the robot hand 10 will be described as the upward direction.
- the robot hand 10 drives the frame 20, the first to third finger units 22a, 22b, and 22c provided on the frame 20, and the finger units 22a, 22b, and 22c.
- a servo motor SVM1 (see FIG. 12) provided on the frame 20 and serving as a drive source for the robust unit 30.
- the first finger unit 22a When the robot hand 10 is viewed in plan view, that is, when the first to third finger units 22a, 22b, and 22c are viewed from the distal end side, the first finger unit 22a has the second and third fingers on one side. Units 22b and 22c are arranged side by side on the other side (see FIG. 2C). The second and third finger units 22b and 22c are preferably arranged so as to be symmetrical with respect to each other across a center line C passing through the first finger unit 22a in plan view.
- each finger unit 22a, 22b, 22c is provided on the distal end side of the conversion link member 41 as the first gripping portion that can contact the gripping object, and the gripping target. And a tip end link member 42 as a second gripping part capable of contacting the object.
- the finger units 22a, 22b, and 22c are substantially the same in configuration, although there are differences such as, for example, wrongness. Therefore, hereinafter, the finger units 22a, 22b, and 22c may be simply described as “finger unit 22” without being distinguished from each other.
- the finger unit 22 is driven by a link mechanism that operates when a force Fin is applied to the input unit INP.
- the robot hand 10 when a force Fin is applied to the input unit INP, the robot hand 10 performs a closing operation to close the conversion link member 41 (first gripping unit) of the finger unit 22 (see states A to C). ). At that time, as shown by a broken line in FIG. 4, the robot hand 10 moves the position P in the distal direction of the distal end link member 42 (second gripping part) (the flange 16 provided at the distal end of the arm 14 of the robot 12). The distance L) from the surface including the mounting surface to the tip of the tip link member 42 is suppressed. At the same time, the posture of the distal end link member 42 operates in a state in which fluctuations are suppressed.
- the robot hand 10 can perform a picking operation of gripping an object to be gripped using the distal end side link member 42 (second gripping portion) by the closing operation in the states A to C.
- the robot hand 10 can grip a rectangular parallelepiped gripping object OBJa.
- a gripping operation can be performed in which the gripping object gripped by the conversion link member 41 is pressed using the tip end link member 42 as in the state D.
- the robot hand 10 can grip the cylindrical object OBJb.
- the robot hand 10 is configured to perform two types of gripping operations, that is, a picking operation and a gripping operation, by using only one servo motor SVM1.
- a cover 50 can be provided on the proximal end portion of the finger unit 22.
- the Roverval unit 30 has a first Roverval mechanism RM1 that moves together with the slider 52, and a second Roverval mechanism RM2 that is driven by the first Roverval mechanism RM1, and the servo motor SVM1.
- the output can be divided into a total of three outputs (first to third outputs).
- the first to third outputs of the robust unit 30 are the inputs (driving forces) of the first to third finger units 22a, 22b, and 22c, respectively. That is, the output of the servo motor SVM1 is applied as a force Fin to the input part INP of the finger unit 22 via the robust unit 30.
- the servo motor SVM1 drives the slider 52 via a rack and pinion mechanism RP1 having a pinion gear 62 fixed to the motor shaft and a rack gear 64 meshing with the pinion gear 62. That is, when the driving force by the servo motor SVM1 is input, the first roval mechanism RM1 is driven together with the slider 52, and the second roval mechanism RM2 is driven by the first roval mechanism RM1. As a result, each of the finger units 22a, 22b, and 22c is driven by the robust unit 30, and the operation as shown in FIG. 4 is performed to perform the picking operation and the grasping operation.
- FIG. 12 shows the operation of the robust unit 30 when the finger unit 22 moves in the closing direction. By reversing the servo motor SVM1, the directions of the input and the first to third outputs shown in FIG. 12 are also reversed, and the finger unit 22 operates in the opening direction.
- the finger unit 22 (each finger unit 22a, 22b, 22c) will be described in detail.
- the finger units 22 shown in FIGS. 6A to 6D and FIGS. 7A to 7D each include a Scott Russell mechanism SRM, a first parallel link mechanism PLM1, and a second parallel link mechanism PLM2. And an input link member IL.
- the Scott Russell mechanism SRM includes at least a swing lever member SL and a conversion link member 41.
- One end of the swing lever member SL is rotatably connected to the finger frame 21 at a connecting portion J10.
- the finger frame 21 is translated with respect to the frame 20 by an adjustment unit, which will be described later, but does not rotate. Therefore, one end of the swing lever member SL is not only the finger frame 21 but also the frame at the connecting portion J10. It can be said that it is connected to 20 in a rotatable manner.
- the conversion link member 41 (first gripping portion) is rotatably connected to the other end portion of the swing lever member SL at a connection portion J11 located at the intermediate portion of the conversion link member 41.
- One end portion of the conversion link member 41 is rotatably connected to a slider 76 (see FIGS. 6A to 6C) that is movable in the vertical direction at the connecting portion J12. Therefore, the connection part J13 in the other end part of the conversion link member 41 can move in a direction crossing the moving direction of the connection part J12 in the one end part. That is, when the connecting portion J12 at one end of the conversion link member 41 moves in the vertical direction, the connecting portion J13 at the other end can move in a direction to open and close the conversion link member 41 (first gripping portion).
- the connecting portion J13 at the other end is positioned in the distal direction of the distal end link member 42 (second gripping portion) as in the states A to C shown in FIG. 4 due to the characteristics of the Scott Russell mechanism. (The distance from the surface including the attachment surface of the flange 16 of the arm 14 of the robot 12 to the other end) and the movement of the posture are suppressed.
- the conversion link member 41 is provided on each of the front side and the back side, and can support the tip end link member 42 by both ends.
- the Scott Russell mechanism SRM is provided with a first stopper 55 that protrudes from the finger frame 21 to the side through which the slider 76 passes and can contact the upper side surface of the slider 76 (see FIG. 11A). Accordingly, the upward movement of the slider 76 is restricted by the first stopper 55. That is, the conversion link member 41 connected to the first stopper 55 at the connecting portion J12 closes the finger unit 22 to a predetermined position (state C shown in FIG. 4) when there is no gripping object. The operation is restricted.
- the first parallel link mechanism PLM1 is opposed to the swing lever member SL, the common link member CL, and the swing lever member SL of the Scott Russell mechanism SRM. It has a lever member SLf and an opposing common link member CLf.
- the common link member CL is, for example, a triangular plate member as shown in FIGS. 7B to 7D and FIG.
- the common link member CL is rotatably connected to the connecting portion J11.
- the opposing swing lever member SLf is rotatably connected at one end to the common link member CL at the connecting portion J22 and at the other end to the opposing common link member CLf at the connecting portion J21.
- the opposing common link member CLf has one end rotatably connected to the swing lever member SL at the connecting portion J10 and the other end rotatably connected to the other end of the opposing swing lever member SLf at the connecting portion J21.
- a notch 45 is provided at the end of the facing common link member CLf on the side of the connecting portion J10. The notch 45 abuts on the second stopper 57 fixed to the finger frame 21, and the rotation of the opposed common link member CLf around the connecting portion J10 is restricted to a predetermined range.
- Each link of the first parallel link mechanism PLM1 has an angular arrangement so as not to pass the thought point in the process (states A to D shown in FIG. 4) in which the finger unit 22 picks and holds the object to be grasped. ing.
- the angular arrangement of each link can be set so that the first parallel link mechanism PLM1 passes the thought point.
- a thought point avoidance link may be added so that the operation does not become unstable even when the first parallel link mechanism PLM1 passes the thought point.
- the second parallel link mechanism PLM2 includes a common link member CL, a conversion link member 41, a tip link member 42 disposed at a position facing the common link member CL, and a conversion link member. 41 and a facing conversion link member 41f disposed at a position facing to 41.
- the tip link member 42 (second gripping portion) is connected to the other end (tip end) of the conversion link member 41 and the other end (tip end) of the opposing conversion link member 41f, respectively.
- J23 are rotatably connected.
- the distal end link member 42 is bent inward from the base of the distal end link member 42 as shown in the state D of FIG. 4 and FIG. 5B, and can be gripped in contact with the gripping object.
- the opposing conversion link member 41f is rotatably connected to the common link member CL and the tip end link member 42 by connecting portions J22 and J23, respectively.
- the second parallel link mechanism PLM2 is provided with a tension spring SP.
- the tension spring SP is, for example, a coil spring. One end of the tension spring SP is fixed to the conversion link member 41, and the other end is fixed to the opposing conversion link member 41f.
- the longitudinal direction of the tension spring SP is a direction that intersects the direction in which the conversion link member 41 extends.
- the tension spring SP is such that the notch 45 of the opposed common link member CLf abuts against the second stopper 57 until the object to be gripped is gripped or until the slider 76 contacts the first stopper 55. A tensile force can be applied between the opposite conversion link member 41f.
- Each link of the second parallel link mechanism PLM2 has an angular arrangement that does not pass the thought point in the process in which the finger unit 22 grips the gripping object.
- the angular arrangement of each link can be set so that the second parallel link mechanism PLM2 passes the thought point.
- a thought point avoidance link may be added so that the operation does not become unstable even when the second parallel link mechanism PLM2 passes the thought point.
- the input link member IL can rotatably connect the common link member CL and the tip end link member 42. 9B, when the finger unit 22 shown in FIG. 9B is opened, the front end portion of the input link member IL is connected to the front end side of the connecting portion J23 at the front end portion of the opposing conversion link member 41f. It is connected to the tip end link member 42 at a portion J32. Further, as shown in FIG. 9B, when the finger unit 22 shown in FIG. 9B is opened, the front end portion of the input link member IL is connected to the front end side of the connecting portion J23 at the front end portion of the opposing conversion link member 41f. It is connected to the tip end link member 42 at a portion J32. Further, as shown in FIG.
- the base end portion of the input link member IL is viewed from the front in a state where the finger unit 22 is open, and each link member 41 of the second parallel link mechanism PLM2 41f, CL, and 42 are connected to the common link member CL at a connecting portion J31 inside the parallelogram formed by the connecting portions J11, J22, J23, and J13. Further, the line segment connecting the connecting portion J31 and the connecting portion J32 of the input link member IL extends in parallel with the conversion link member 41 (the line segment connecting the connecting portion J11 and the connecting portion J13). Note that “parallel” here is not parallel in a strict sense. That is, “parallel” means that a manufacturing error is allowed in design and means “substantially parallel” (hereinafter the same).
- the input link member IL has a force Fin for the conversion link member 41 (first gripping portion) to grip the gripping target and the tip end link member 42 (second gripping portion) to grip the gripping target. Added in one direction. This force is applied to the input part INP provided in the input link member IL (see FIG. 4).
- the input link member IL is driven by a cam plate CP (see FIGS. 6A and 7A) provided in the finger unit 22.
- the cam plate CP is provided on the slider 83 that moves on the guide 82 shown in FIG. 7C and can move in the opening / closing direction of the finger unit 22 (direction intersecting the moving direction of the connecting portion J12 at one end of the conversion link member 41).
- the cam plate CP has a long hole H1 that is long in the vertical direction, and the input part INP is fitted in the long hole H1.
- the force for driving the finger unit 22 is not applied to the input portion INP of the input link member IL, but constitutes the Scott Russell mechanism SRM, the first parallel link mechanism PLM1, and the second parallel link mechanism PLM2. It may be added to any link. However, since the finger unit 22 operates by continuously applying a force in one direction, it is preferable to apply a force to the input link member IL.
- the finger unit 22 is the input link member arrange
- the finger unit 22 is the input link member arrange
- the finger unit 22 is the input link member arrange
- the third parallel link mechanism composed of IL.
- the third parallel link mechanism passes the thought point in the process in which the finger unit 22 grips the grasped object.
- the opposing conversion link member 41f constituting a part of the second parallel link mechanism PLM2 is regarded as a thought point avoidance link for continuing the operation stably even when the third parallel link mechanism reaches the thought point. You can also
- the robust unit 30 includes the first robust mechanism RM1 and the second robust mechanism RM2 (see FIG. 12).
- the first robust mechanism RM1 can divide the driving force of the servo motor SVM1 into an intermediate output and a first output for driving the first finger unit 22a.
- the first roval mechanism RM1 outputs an input link RaIL to which the driving force of the servomotor SVM1 is input and a first output that outputs a part of the input driving force of the servomotor SVM1. It has a link ROL1 and an intermediate output link ML that outputs the remainder of the input driving force of the servo motor SVM1.
- 14A and 14B are schematic views of the first Roverval mechanism RM1 as viewed from above.
- the input link RaIL is disposed in parallel with the moving direction of the cam plate CP along the center line C shown in FIG. 2C.
- the slider 52 functions as the input link RaIL, and the driving force of the servo motor SVM1 is input to the input link RaIL via the rack and pinion mechanism RP1.
- one end portion of the input link RaIL is rotatably connected to an intermediate portion of a link RL11 extending in a direction intersecting with the moving direction of the cam plate CP.
- the other end portion of the input link RaIL intersects the moving direction of the cam plate CP in plan view and is rotatably connected to an intermediate portion of the link RL12 extending in parallel with the link RL11.
- the first output link ROL1 has the same length as the input link RaIL and is disposed in parallel with the moving direction of the cam plate CP.
- One end portion of the first output link ROL1 is rotatably connected to the link RL11, and the other end portion is rotatably connected to the link RL12.
- the output part OUT1 of the first output link ROL1 is fitted in a long hole H2 formed in the connecting member 88a.
- a rack gear 92 is provided on a side surface of the connecting member 88a and meshes with a pinion gear 94 having a rotation shaft fixed to the frame 20.
- the pinion gear 94 further meshes with the rack gear 96.
- the first output link ROL1 moves the cam plate CP in the direction opposite to the moving direction of the output portion OUT1 of the first output link ROL1 via the connecting member 88a and the reversing unit 100 having the rack and pinion mechanism.
- the first output is an inverted output whose direction is inverted by the inverting unit 100 (see the arrow shown in FIG. 13), and the cam plate CP is driven by the inverted output.
- the intermediate output link ML has the same length as the input link RaIL and is disposed in parallel with the moving direction of the cam plate CP.
- One end portion of the intermediate output link ML is rotatably connected to the link RL11, and the other end portion is rotatably connected to the link RL12.
- the intermediate output link ML can be omitted as shown in FIG. In this case, it can be considered that the end J91 of the link RL11 opposite to the first output link ROL1 and the end J92 of the link RL12 opposite to the first output link ROL1 output the intermediate output.
- the first roval mechanism RM1 applies a force Fr1 that inhibits the movement to the intermediate output link ML as shown in FIG. 14B, for example.
- the movement of the input link RaIL and the first output link ROL1 can be continued.
- the second robust mechanism RM2 drives the intermediate output output by the intermediate output link ML of the first robust mechanism RM1, the second output for driving the second finger unit 22b, and the third finger unit 22c. Can be divided into a third output.
- the second robust mechanism RM2 includes an input link RbIL to which an intermediate output is input as a driving force, a second output link ROL2 that outputs a part of the input driving force, and an input And a third output link ROL3 for outputting the remaining driving force.
- 15A and 15B are schematic views of the second Roverval mechanism RM2 as viewed from above.
- the input link RbIL is disposed in parallel with the moving direction of the cam plate CP.
- the link RL11 of the first robust mechanism RM1 the slider 52 as the input link RaIL, and the link RL12 function as the input link RbIL.
- An intermediate output output from the intermediate output link ML (the ends J91 and J92 of the link RL11 and the link RL12 opposite to the first output link ROL1) of the first robust mechanism RM1 is input to the input link RbIL. (See FIG. 14A).
- one end portion of the input link RbIL is rotatably connected to an intermediate portion of a link RL21 extending in a plane view and intersecting with the moving direction of the cam plate CP.
- the other end of the input link RbIL intersects the moving direction of the cam plate CP in a plan view and is rotatably connected to an intermediate portion of a link RL22 extending in parallel with the link RL21.
- the second output link ROL2 has the same length as the input link RbIL and is disposed in parallel with the moving direction of the cam plate CP.
- One end of ROL2 of the second output link is rotatably connected to link RL21, and the other end is rotatably connected to link RL22.
- the output part OUT2 of the second output link ROL2 is fitted in a long hole H12 formed in the connecting lever 88b (see FIG. 2C). That is, the second output link ROL2 can drive the cam plate CP via the connecting lever 88b.
- the third output link ROL3 has the same length as the input link RbIL and is disposed in parallel with the moving direction of the cam plate CP.
- One end portion of the third output link ROL3 is rotatably connected to the link RL21, and the other end portion is rotatably connected to the link RL22.
- the output part OUT3 of the third output link ROL3 is fitted in a long hole H13 formed in the connecting lever 88c (see FIG. 2C). That is, the third output link ROL3 can drive the cam plate CP via the connecting lever 88c.
- the second roval mechanism RM2 When an intermediate output is input to the input link RbIL, the second roval mechanism RM2 is input even if a force Fr2 that inhibits the movement is applied to the third output link ROL3, for example, as shown in FIG. 15B. The movement of the link RbIL and the second output link ROL2 can be continued.
- the ratio of the distance D1 from the input link RaIL to the first output link ROL1 and the distance DM from the input link RaIL to the intermediate output link ML is preferably set to be 1: 1 (see FIG. 14A). ).
- the ratio of the magnitude of the first output and the intermediate output is set to 1: 1. Is done.
- the ratio of the distance D2 from the input link RbIL to the second output link ROL2 and the distance D3 from the input link RbIL to the third output link ROL3 is preferably set to be 1: 1 (FIG. 15A).
- the intermediate output is divided equally, and the ratio of the magnitudes of the second output and the third output is set to be 1: 1. . That is, the first output and the intermediate output are set to have a ratio of 1: 1, and a ratio of the second output to the third output is set to 1: 1.
- the output part OUT2 of the second output link ROL2 is arranged offset to the side opposite to the input link RbIL, and the output part OUT3 of the third output link ROL3 is Are offset from the input link RbIL side (second output link ROL2 side). More preferably, as shown in FIG. 16, the output part OUT2 and the output part OUT3 are arranged symmetrically with respect to the center line C. By arranging the output units OUT2 and OUT3 such that the distance Lb from the output unit OUT2 to the center line C and the distance Lc from the output unit OUT3 to the center line C are the same, The dynamic conditions of the driving force applied to the second and third finger units 22b and 22c arranged on the object can be matched.
- the robust unit 30 is driven via the rack and pinion mechanism RP1.
- the first and second robust mechanisms RM1 and RM2 are driven, and the output of the servo motor SVM1 is divided into first to third outputs.
- the direction of the first output is reversed via the connecting member 88a and the reversing unit 100, and the reversed output shown in FIG. 13 is input to the cam plate CP for driving the first finger unit 22a.
- the second output is input to the cam plate CP for driving the second finger unit 22b via the connecting lever 88b.
- the third output is input to the cam plate CP for driving the third finger unit 22c via the connecting lever 88c.
- a unidirectional force Fin is applied to the input portion INP by the cam plate CP.
- the input unit moves upward in the elongated hole H1 (see FIG. 6A) extending in the vertical direction, and the finger units 22a, 22b, and 22c each perform a closing operation (see FIG. 4). ).
- each finger unit 22a, 22b, 22c performs a picking operation as shown in FIG. 5A when the tip link member 42 (second gripping portion) grips the gripping target.
- Each finger unit 22a, 22b, 22c has a tip link when the conversion link member 41 (first gripping part) grips the gripping object or when the slider 76 contacts the first stopper 55.
- the member 42 (second gripping portion) is bent, and the gripping operation shown in FIG. 5B is performed.
- the input link member IL drives the second parallel link mechanism PLM2 and the first parallel link mechanism PLM1 sharing the common link member CL with the second parallel link mechanism PLM2.
- the conversion link member 41 constituting a part of the second parallel link mechanism PLM2 and the swing lever member SL constituting a part of the first parallel link mechanism PLM1 constitute the Scott Russell mechanism SRM.
- the distal end link member 42 moves in a state where fluctuations in the position P in the distal end direction are suppressed.
- the notch 45 of the opposing common link member CLf is kept in contact with the second stopper 57 by the action of the tensile force of the tension spring SP, so the common link member CL facing the opposing common link member CLf Attitude is also maintained.
- the distal end link member 42 faces the common link member CL, and thus moves in a state in which the change in posture is suppressed. That is, a picking operation is performed.
- the movement of the conversion link member 41 is regulated by the gripping object. Further, when the slider 76 contacts the first stopper 55, the movement of the conversion link member 41 is restricted by the first stopper 55. That is, in any case, the operation of the Scott Russell mechanism SRM is restricted, and the movement of the swing lever member SL and the conversion link member 41 is restricted, and the first parallel link mechanism PLM1 and the second parallel link mechanism. PLM2 operates. Specifically, since the common link member CL is rotated about the connecting portion J11 by the input link member IL, the distal end link member 42 at the opposing position is also rotated while being maintained parallel to the common link member CL. That is, a grasping operation is performed.
- one of the first to third finger units 22a, 22b, and 22c first comes into contact with the gripping object.
- the remaining finger units are driven by the robust unit 30, the operation can be continued.
- the input link RbIL and the second output link ROL2 move even when the third finger unit 22c first contacts the grasped object and a force Fr2 as shown in FIG. 15B is applied to the third output link ROL3. Therefore, the operation of the first finger unit 22a and the second finger unit 22b can be continued.
- the output of the servo motor SVM1 is divided into three by the robust unit 30, so that the first to third finger units 22a, 22b, 22c using one servo motor SVM1. Can be gripped by grasping or grasping the object to be grasped. Further, the robot hand 10 can move the closed finger unit 22 in the opening direction by reversing the servo motor SVM1 as described above, and can release the grasped grasped object.
- the robot hand 10 may further include an adjustment unit that adjusts the distance Dp (see FIG. 2B) between the second finger unit 22b and the third finger unit 22c. Since the distance Dp between the second finger unit 22b and the third finger unit 22c is adjusted by the adjustment unit, the robot hand can grip objects to be grasped having different sizes.
- the adjustment unit includes a servo motor SVM2, a drive mechanism 109 (only a part is shown), and sliders 110b and 110c.
- the servo motor SVM2 is fixed to the frame 20, and the rotation shaft of the motor shaft is arranged in a direction along the center line C.
- the Robert unit 30 is mounted on the servo motor SVM2, the Robert unit 30 is mounted.
- the drive mechanism 109 is constituted by, for example, a rack and pinion mechanism having a pinion gear connected to the motor shaft and two rack gears respectively meshed with the pinion gear, and the driving force of the servo motor SVM2 is directed in directions opposite to each other. Can be divided and output.
- the sliders 110b and 110c are driven by one output and the other output of the drive mechanism 109, respectively, and can move in directions that intersect with the center line C and in which the slider 110b and the slider 110c approach or separate from each other.
- Second and third finger units 22b and 22c are placed on the sliders 110b and 110c, respectively.
- the driving force of the servo motor SVM2 is divided in directions opposite to each other by the driving mechanism 109, and the sliders 110b and 110c are driven by the divided driving force. That is, when the servo motor SVM2 rotates, the distance Dp between the second finger unit 22b and the third finger unit 22c is adjusted.
- the present invention is not limited to the above-described embodiments, and modifications can be made without changing the gist of the present invention.
- a case where the invention is configured by combining some or all of the above-described embodiments and modifications is also included in the technical scope of the present invention.
- the robot hand divides the driving force of one motor using the robust unit and drives all the finger units.
- a motor for driving the finger unit may be provided corresponding to each finger unit.
- the robot hand is not limited to a form having three finger units.
- the robot hand may have a form having two finger units arranged to face each other. That is, the robot hand only needs to have at least two finger units.
- the tension spring is not limited to a spring that applies a tensile force between the conversion link member and the opposing conversion link member.
- the tension spring can be a spring that applies a tension force between the conversion link member and the input link member.
- a compression spring that applies a compressive force between the opposing conversion link member and the input link member may be used. In other words, it is sufficient that a force for causing each mechanism to perform a predetermined operation can be applied until the conversion link member (first gripping portion) grips the gripping object or contacts the first stopper.
- the tension spring and the compression spring can be provided in a mechanism other than the second parallel link mechanism. That is, a spring that applies a force so as to close the conversion link member may be provided.
- the second stopper is provided so as to be in contact with the opposed common link member and restricts the rotation of the opposed common link member to a predetermined range, but is not limited thereto.
- the second stopper is provided so as to contact the common link member, and by restricting the rotation of the common link member to a predetermined range, the posture variation of the tip link member is suppressed during the picking operation. It is also possible.
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Abstract
Description
本発明は、劣駆動によるロボットハンド及び該ハンドを備えたロボットを提供することを目的とする。
前記フレームに設けられ、把持対象物を把持する少なくとも2つの指ユニットとを備え、
前記各指ユニットは、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に連結された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンク部材に対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、前記把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有するロボットハンドが適用される。
前記フレームに設けられ、把持対象物を把持する第1~第3の指ユニットと、
前記第1~第3の指ユニットを駆動するためのロバーバルユニットと、
前記フレームに設けられ、前記ロバーバルユニットを駆動するサーボモータとを備え、
前記第1~第3の指ユニットは、それぞれ、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に固定された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンクに対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有し、
前記ロバーバルユニットは、前記サーボモータの出力を、中間出力と前記第1の指ユニットを駆動するための第1の出力とに分割する第1のロバーバル機構と、
前記中間出力を、前記第2の指ユニットを駆動するための第2の出力と前記第3の指ユニットを駆動するための第3の出力とに分割する第2のロバーバル機構とを有するロボットハンドが適用される。
前記各指ユニットは、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に固定された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンク部材に対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、前記把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有するロボットが適用される。
なお、ロボットハンド10の向きは、ロボット12の姿勢によって変化するが、説明の便宜上、ロボットハンド10の先端方向を上方向として説明する。
更に、状態Dのように変換リンク部材41によって把持された把持対象物を先端部リンク部材42を用いて押さえ込む、握り込み動作も行える。この握り込み動作により、例えば図5Bに示すように、ロボットハンド10は、円柱状の把持対象物OBJbを把持することができる。
なお、図5A及び図5Bに示すように、指ユニット22の基端側の部分にカバー50を設けることもできる。
ロバーバルユニット30の第1~第3の出力は、それぞれ、第1~第3の指ユニット22a、22b、22cの入力(駆動力)となる。つまりサーボモータSVM1の出力が、ロバーバルユニット30を介して指ユニット22の入力部INPに力Finとして加えられる構成となっている。
即ち、サーボモータSVM1による駆動力が入力されると、スライダ52と共に第1のロバーバル機構RM1が駆動され、第1のロバーバル機構RM1によって第2のロバーバル機構RM2が駆動される。その結果、ロバーバルユニット30によって各指ユニット22a、22b、22cが駆動され、図4に示したような動作をして摘み動作や握り込み動作が行われる。
なお、図12は指ユニット22が閉じる方向に動作する場合のロバーバルユニット30の動作を示している。サーボモータSVM1を逆転させることで、図12に示した入力及び第1~第3の出力の方向も反転し、指ユニット22は開く方向に動作する。
次に、指ユニット22(各指ユニット22a、22b、22c)について、詳細に説明する。
図6A~図6D及び図7A~図7Dに示す指ユニット22は、それぞれ、図8に示すように、スコットラッセル機構SRMと、第1の平行リンク機構PLM1と、第2の平行リンク機構PLM2と、入力リンク部材ILとを有している。
揺動レバー部材SLの一端部は、連結部J10にて指フレーム21に対して回転可能に連結されている。なお、指フレーム21は、後述の調整ユニットによってフレーム20に対して並進移動するが、回転移動しないので、揺動レバー部材SLの一端部は、連結部J10にて、指フレーム21だけでなくフレーム20に対しても回転可能に連結されているといえる。
なお、変換リンク部材41は、図7Bに示すように、正面側と背面側にそれぞれ設けられ、先端部リンク部材42を両持ちにより支持できる。
対向共通リンク部材CLfの連結部J10側の端部には、図11Bに示すように、切り欠き45が設けられている。この切り欠き45は、指フレーム21に固定された第2のストッパ57に突き当たり、対向共通リンク部材CLfの連結部J10回りの回転が予め決められた範囲に規制される。
ただし、第1の平行リンク機構PLM1が思案点を通過するように各リンクの角度配置を設定することも可能である。この場合、第1の平行リンク機構PLM1が思案点を通過しても、動作が不安定にならないように、思案点回避用のリンクを追加すればよい。
ただし、第2の平行リンク機構PLM2が思案点を通過するように各リンクの角度配置を設定することも可能である。この場合、第2の平行リンク機構PLM2が思案点を通過しても、動作が不安定にならないように、思案点回避用のリンクを追加すればよい。
また、入力リンク部材ILの連結部J31及び連結部J32を結ぶ線分は、変換リンク部材41(連結部J11及び連結部J13を結ぶ線分)と平行に延びている。なお、ここに言う「平行」とは、厳密な意味での平行ではない。即ち、「平行」とは、設計上、製造上の誤差が許容され、「実質的に平行」という意味である(以下、同様)。
この場合、第3の平行リンク機構は、指ユニット22が把持対象物を握り込む過程において、思案点を通過する。第2の平行リンク機構PLM2の一部を構成する対向変換リンク部材41fは、第3の平行リンク機構が思案点に到達しても安定して動作を継続するための思案点回避用リンクと捉えることもできる。
次に、ロバーバルユニット30について、詳細に説明する。
ロバーバルユニット30は、前述の通り、第1のロバーバル機構RM1と、第2のロバーバル機構RM2とを有している(図12参照)。
第1のロバーバル機構RM1は、例えば図14Aに示すように、サーボモータSVM1の駆動力が入力される入力リンクRaILと、入力されたサーボモータSVM1の駆動力の一部を出力する第1の出力リンクROL1と、入力されたサーボモータSVM1の駆動力の残りを出力する中間出力リンクMLとを有している。図14A及び図14Bは第1のロバーバル機構RM1を上から見た状態の模式図である。
入力リンクRaILの一端部は、図14Aに示すように、平面視してカムプレートCPの移動方向と交差して延びるリンクRL11の中間部に回転可能に連結されている。入力リンクRaILの他端部は、平面視してカムプレートCPの移動方向と交差し、リンクRL11と平行に延びるリンクRL12の中間部に回転可能に連結されている。
第1の出力リンクROL1の出力部OUT1は、図13に示すように、連結部材88aに形成された長孔H2に嵌っている。
連結部材88aの側面には、ラックギア92が設けられ、フレーム20に回転軸が固定されたピニオンギア94と噛み合っている。ピニオンギア94は、更にラックギア96と噛み合っている。
従って、第1の出力リンクROL1は、連結部材88a及びラックアンドピニオン機構を有する反転ユニット100を介して、カムプレートCPを第1の出力リンクROL1の出力部OUT1の移動方向とは反対の方向に駆動できる。換言すると、第1の出力は反転ユニット100によって方向が反転された反転出力となり(図13に示す矢印参照)、この反転出力によって、カムプレートCPが駆動される。
但し、中間出力リンクMLは図12に示すように、省略することも可能である。この場合、リンクRL11の第1の出力リンクROL1とは反対側の端部J91、及びリンクRL12の第1の出力リンクROL1とは反対側の端部J92が中間出力を出力すると考えることができる。
第2のロバーバル機構RM2は、例えば図15Aに示すように、中間出力が駆動力として入力される入力リンクRbILと、入力された駆動力の一部を出力する第2の出力リンクROL2と、入力された駆動力の残りを出力する第3の出力リンクROL3とを有している。図15A及び図15Bは第2のロバーバル機構RM2を上から見た状態の模式図である。
入力リンクRbILには、第1のロバーバル機構RM1の中間出力リンクML(リンクRL11及びリンクRL12の、第1の出力リンクROL1とは反対側の端部J91、J92)が出力する中間出力が入力される(図14A参照)。
第2の出力リンクROL2の出力部OUT2は、連結レバー88bに形成された長孔H12に嵌っている(図2C参照)。即ち、第2の出力リンクROL2は、連結レバー88bを介して、カムプレートCPを駆動できる。
第3の出力リンクROL3の出力部OUT3は、連結レバー88cに形成された長孔H13に嵌っている(図2C参照)。即ち、第3の出力リンクROL3は、連結レバー88cを介して、カムプレートCPを駆動できる。
また、入力リンクRbILから第2の出力リンクROL2までの距離D2と入力リンクRbILから第3の出力リンクROL3までの距離D3の比は、1:1となるように設定されることが好ましい(図15A参照)。このように、距離D2と距離D3の比が設定されることで、中間出力が等しく分割され、第2の出力と第3の出力の大きさの比が1:1となるように設定される。
つまり、第1の出力と中間出力の大きさの比が1:1、第2の出力と第3の出力の大きさの比が1:1となるように設定されることで、第1の指ユニット22aを駆動するための第1の出力、第2の指ユニット22bを駆動するための第2の出力、及び第3の指ユニット22cを駆動するための第3の出力の大きさの比は、1.0:0.5:0.5となり、第1の指ユニット22aが把持対象物を把持する力の大きさが、第2及び第3の指ユニット22b、22cが把持対象物を把持する力の大きさの合計と釣り合うように設定される。
ロボットハンド10が開いた状態からサーボモータSVM1が駆動されると、ラックアンドピニオン機構RP1を介して、ロバーバルユニット30が駆動される。即ち、第1のロバーバル機構RM1及び第2のロバーバル機構RM2が駆動され、サーボモータSVM1の出力は、第1~第3の出力に分割される。
その結果、各指ユニット22a、22b、22cは、先端部リンク部材42(第2の把持部)が把持対象物を把持した場合には、図5Aに示すような摘み動作を行う。また、各指ユニット22a、22b、22cは、変換リンク部材41(第1の把持部)が把持対象物を把持した場合又はスライダ76が第1のストッパ55に接触した場合には、先端部リンク部材42(第2の把持部)が折れ曲がり、図5Bに示す握り込み動作を行う。
その際、第2の平行リンク機構PLM2の一部を構成する変換リンク部材41及び第1の平行リンク機構PLM1の一部を構成する揺動レバー部材SLは、スコットラッセル機構SRMを構成するので、図4に示すように、先端部リンク部材42は、その先端方向の位置Pの変動が抑制された状態で移動する。
また、引っ張りバネSPの引っ張り力の作用によって、対向共通リンク部材CLfの切り欠き45が第2のストッパ57に突き当たった状態に維持されるので、対向共通リンク部材CLfに対向する共通リンク部材CLの姿勢も維持される。結果として、先端部リンク部材42は、共通リンク部材CLに対向しているので、その姿勢の変動が抑制された状態で移動する。即ち、摘み動作が行われる。
具体的には、入力リンク部材ILにより、共通リンク部材CLが連結部J11を中心に回転するので、対向する位置にある先端部リンク部材42も共通リンク部材CLと平行を維持しながら回転する。即ち、握り込み動作が行われる。
このように、ロボットハンド10は、ロバーバルユニット30によって、サーボモータSVM1の出力が3つに分割されるので、1つのサーボモータSVM1を用いて第1~第3の指ユニット22a、22b、22cをそれぞれ駆動し、把持対象物を摘んだり握り込んだりして把持することができる。
また、ロボットハンド10は、前述のようにサーボモータSVM1を逆転させることで、閉じた指ユニット22を開く方向に動作させることができ、把持した把持対象物を放すことができる。
調整ユニットにより、第2の指ユニット22bと第3の指ユニット22cとの距離Dpが調整されるので、ロボットハンドは、大きさの異なる把持対象物を把持できる。
サーボモータSVM2は、フレーム20に固定され、モータシャフトの回転軸が、中心線Cに沿う方向に配置されている。サーボモータSVM2の上には、ロバーバルユニット30が載っている。
Claims (8)
- フレームと、
前記フレームに設けられ、把持対象物を把持する少なくとも2つの指ユニットとを備え、
前記各指ユニットは、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に連結された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンク部材に対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、前記把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有するロボットハンド。 - 請求項1記載のロボットハンドにおいて、
前記共通リンク部材と前記先端部リンク部材とをそれぞれ回転可能に連結し、前記指ユニットを駆動するための力が一方向に向かって加えられる入力リンク部材を更に備えたロボットハンド。 - 請求項1又は2記載のロボットハンドにおいて、
前記変換リンク部材と前記対向変換リンク部材との間に引っ張り力を作用させる引っ張りバネを更に備えたロボットハンド。 - 請求項3記載のロボットハンドにおいて、
前記引っ張りバネは、コイルバネであり、該引っ張りバネの長手方向は、前記変換リンク部材が延びる方向と交差する方向となっているロボットハンド。 - 請求項1又は2記載のロボットハンドにおいて、
前記変換リンク部材が閉じるように力を加えるバネを更に備えたロボットハンド。 - フレームと、
前記フレームに設けられ、把持対象物を把持する第1~第3の指ユニットと、
前記第1~第3の指ユニットを駆動するためのロバーバルユニットと、
前記フレームに設けられ、前記ロバーバルユニットを駆動するサーボモータとを備え、
前記第1~第3の指ユニットは、それぞれ、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に固定された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンク部材に対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、前記把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有し、
前記ロバーバルユニットは、前記サーボモータの出力を、中間出力と前記第1の指ユニットを駆動するための第1の出力とに分割する第1のロバーバル機構と、
前記中間出力を、前記第2の指ユニットを駆動するための第2の出力と前記第3の指ユニットを駆動するための第3の出力とに分割する第2のロバーバル機構とを有するロボットハンド。 - 請求項6記載のロボットハンドにおいて、
前記第1~第3の指ユニットを先端側から見て、前記第1の指ユニットが一方の側に、前記第2及び第3の指ユニットが他方の側に並んで配置され、
前記第1の指ユニットが前記把持対象物を把持する力が、前記第2及び第3の指ユニットが前記把持対象物を把持する力の合計と釣り合うように、前記第1~第3の出力が設定されるロボットハンド。 - フレーム及び該フレームに設けられ把持対象物を把持する少なくとも2つの指ユニットを有するロボットハンドを備え、
前記各指ユニットは、前記フレームに設けられた指フレームと、
一端部が前記指フレームに対して回転可能に固定された揺動レバー部材と、中間部に位置する連結部にて前記揺動レバー部材の他端部に回転可能に連結され、一端部が他端部の移動方向と交差する方向に移動し、前記把持対象物に接触可能な変換リンク部材とにより少なくとも構成されるスコットラッセル機構と、
前記揺動レバー部材と、前記連結部に回転可能に連結された共通リンク部材とにより少なくとも構成される第1の平行リンク機構と、
前記共通リンク部材と、前記変換リンク部材と、該共通リンク部材に対向する位置に配置され、該変換リンク部材の他端部に回転可能に連結され、前記把持対象物に接触可能な先端部リンク部材と、前記変換リンク部材に対向する位置に配置され、前記共通リンク部材及び前記先端部リンク部材にそれぞれ回転可能に連結された対向変換リンク部材により少なくとも構成される第2の平行リンク機構とを有するロボット。
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JP5892173B2 (ja) | 2016-03-23 |
KR20140066246A (ko) | 2014-05-30 |
JPWO2013069118A1 (ja) | 2015-04-02 |
CN103917338B (zh) | 2016-01-20 |
US9089976B2 (en) | 2015-07-28 |
EP2777895A1 (en) | 2014-09-17 |
EP2777895A4 (en) | 2016-07-13 |
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