WO2022137747A1 - Hand mechanism, robot hand, and robot - Google Patents

Hand mechanism, robot hand, and robot Download PDF

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Publication number
WO2022137747A1
WO2022137747A1 PCT/JP2021/037871 JP2021037871W WO2022137747A1 WO 2022137747 A1 WO2022137747 A1 WO 2022137747A1 JP 2021037871 W JP2021037871 W JP 2021037871W WO 2022137747 A1 WO2022137747 A1 WO 2022137747A1
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WO
WIPO (PCT)
Prior art keywords
finger
link
hand mechanism
tip
mechanism according
Prior art date
Application number
PCT/JP2021/037871
Other languages
French (fr)
Japanese (ja)
Inventor
雄希 松尾
史朗 佐久間
Original Assignee
東京ロボティクス株式会社
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Filing date
Publication date
Application filed by 東京ロボティクス株式会社 filed Critical 東京ロボティクス株式会社
Publication of WO2022137747A1 publication Critical patent/WO2022137747A1/en

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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
    • 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

Definitions

  • the present invention relates to a hand mechanism, for example, a robot hand mechanism arranged at the tip of a robot's arm or the like.
  • Patent Document 1 is provided with a thumb portion that is controlled so as to be swiveled or bent around the hand body portion with respect to the side surface of the hand body portion corresponding to the palm portion, with respect to the tip end portion of the hand body portion.
  • a hand mechanism provided with an operating finger and an auxiliary finger controlled to be bent.
  • the mechanism of the robot hand is , It is preferable that it is an appropriate model of the complicated human hand mechanism. If this modeling is inappropriate, the movement of the robot hand may not intuitively correspond to the movement of the human hand, or the movement may feel strange.
  • the present invention has been made in view of the above-mentioned technical background, and an object thereof is to provide a hand mechanism or the like capable of intuitively realizing a human-like operation.
  • the hand mechanism according to the present invention is a hand mechanism including a palm portion, a first finger extending from the side portion of the palm portion, and a tip finger extending from the tip of the palm portion.
  • the first finger is axially supported with respect to the palm portion and swings about a first axis substantially parallel to the extension direction of the tip finger, and an axis with respect to the first link. It is provided with a second link that is supported and swings around a second axis that is slightly tilted from a direction perpendicular to the first axis.
  • the first axis which is the swing center axis of the first axis
  • the second axis which is the swing center axis of the second link
  • the first axis may be further arranged parallel to the palm portion.
  • the first finger can be swiveled around the palm like a human.
  • It may be further provided with a third link that is pivotally supported by the second link and swings around a third axis perpendicular to the second axis.
  • the swing center axis of the second link and the swing center axis of the third link are orthogonal to each other, it can operate in a human-like manner.
  • It may be further provided with a fourth link that is pivotally supported by the third link and swings in conjunction with the third link.
  • the first finger may be configured to face the tip surface of the bent tip finger by bending.
  • the object can be gripped between the tip finger and the first child by bending.
  • the first drive unit that drives the first link may be one that is supported by the palm portion.
  • the finger can be miniaturized and other mechanisms such as a sensor can be stored in the finger.
  • the second drive unit that drives the second link may be one that is supported by the first link.
  • the portion from the second link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
  • the third drive unit that drives the third link and the fourth link may be one that is supported by the second link.
  • the portion from the third link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
  • the first drive unit may be driven by using a ball screw.
  • the second drive unit may be driven by using a ball screw.
  • the third drive unit may be driven by using a ball screw.
  • Each of the tip fingers may have a four-node link structure that bends or extends in conjunction with the tip finger drive unit arranged in the palm portion.
  • the tip finger can be miniaturized and other mechanisms such as a sensor can be stored in the tip finger.
  • the tip finger drive unit may be driven by using a ball screw.
  • the tip finger may be a three finger consisting of a second finger, a third finger and a fourth finger.
  • the object can be grasped so as to wrap it with three fingers.
  • the rotation axis of the base portion of the third finger to the palm portion is sharp with the rotation axis of the base portion of the second finger to the palm portion and the rotation axis of the base portion of the fourth finger to the palm portion. It may be something that is doing.
  • the object can be grasped so as to wrap the object with three fingers in a human-like manner.
  • the present invention can also be thought of as a robot hand equipped with the above-mentioned hand mechanism.
  • the present invention can also be thought of as a robot equipped with the above-mentioned hand mechanism.
  • FIG. 1 is a front view of the robot hand.
  • FIG. 2 is a right side view of the robot hand.
  • FIG. 3 is a front view of the robot hand in the closed state.
  • FIG. 4 is a perspective view for explaining the configuration around the first joint portion.
  • FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis.
  • FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit.
  • FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner.
  • FIG. 8 is a perspective view for explaining the configuration around the second joint portion.
  • FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis.
  • FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit.
  • FIG. 1 is a front view of the robot hand.
  • FIG. 2 is a right side view of the robot hand.
  • FIG. 3 is a front view of the robot hand in the closed state.
  • FIG. 4
  • FIG. 11 is a schematic diagram showing a simplified second drive unit.
  • FIG. 12 is an explanatory diagram regarding the arrangement of the first to third rotation axes.
  • FIG. 13 is a perspective view for explaining the configuration of the third joint portion and the fourth joint portion.
  • FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis and the fourth rotation axis.
  • FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit.
  • FIG. 16 is a schematic diagram showing a simplified third drive unit.
  • FIG. 17 is a perspective view of the third finger of the robot hand.
  • FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger.
  • FIG. 1 is a front view of the robot hand 500 in a completely open state
  • FIG. 2 is a right side view of the robot hand 500 in the same state.
  • the open state means a state in which all the joints provided in the robot hand 500 are in the extended state.
  • the closed state means a state in which some or all the joints provided in the robot hand 500 are bent.
  • the robot hand 500 mainly includes a palm portion 9 having a substantially rectangular parallelepiped shape. From the right side surface of the palm portion 9, the first finger 1 corresponding to the first finger (thumb) of the human hand extends. From the upper surface or the tip of the palm portion 9, in order from the side of the first finger 1, it corresponds to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) of the human hand. The third finger 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend.
  • An instep cover 91 that covers the range from the entire instep to the side surface is attached to the back side of the palm portion 9, that is, the instep side of the robot hand 500. Further, on the front side of the palm portion 9, a palm portion cover 92 having a substantially keyhole shape, which is used for connecting to the tip end portion of an arm (not shown) and covers almost the entire palm portion, is provided.
  • the first finger 1 is configured by connecting the first link 111, the second link 112, the third link 113, and the fourth link 114 in order so as to extend from the side portion of the palm portion 9. It should be noted that the first link 111 and the second link 112 are not shown in the figure because they are covered by the first finger cover 199.
  • the first finger 1 is in order from the palm portion 9 side toward the tip of the finger, the first joint portion 121 (corresponding to the so-called CM joint), the second joint portion 122, and the third joint portion 123 (so-called MP joint). Correspondingly), and has four joints of the fourth joint 124.
  • the three joints of the first joint portion 121, the second joint portion 122, and the third joint portion 123 have the first rotation axis 101, the second rotation axis 102, and the third rotation axis 103, respectively. It actively rotates as a center, and the remaining fourth joint 124 passively rotates. That is, these structures enable operations such as bending a finger to grip an object.
  • the second finger 6 is configured by connecting the first link 611, the second link 612, and the third link 613 in order so as to extend from the tip of the palm portion 9.
  • the second finger 6 has three joint portions, that is, the first joint portion 621 (corresponding to the so-called MP joint), the second joint portion 622, and the third joint portion 623, in order from the palm portion 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 621 actively rotates around the first rotation shaft 601 and the remaining second joint portion 622 and the third joint portion 623 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the third finger 7 is configured by connecting the first link 711, the second link 712, and the third link 713 in order so as to extend from the tip of the palm portion 9.
  • the third finger 7 has three joints, that is, the first joint 721 (corresponding to the so-called MP joint), the second joint 722, and the third joint 723, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 721 actively rotates around the first rotation shaft 701, and the remaining second joint portion 722 and the third joint portion 723 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the fourth finger 8 is configured by connecting the first link 811, the second link 812, and the third link 813 in order so as to extend from the tip of the palm portion 9.
  • the fourth finger 8 has three joints, that is, the first joint 821 (corresponding to the so-called MP joint), the second joint 822, and the third joint 823, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 821 actively rotates around the first rotation shaft 801 and the remaining second joint portion 822 and the third joint portion 823 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the rotating shafts 801 are not parallel to each other but have sharp angles with each other. That is, in the figure, although the first rotation axis 701 of the third finger 7 is parallel to the surface on the base side of the palm portion 9, the first rotation axis 601 of the second fingers 6 on the left and right thereof And the first rotation axis 801 of the fourth finger 8 are arranged evenly on the left and right sides with a slight inclination toward the side.
  • the robot hand 500 having the above joints and links can be opened and closed by rotating the joints.
  • FIG. 3 is a front view of the robot hand 500 in a completely closed state. As shown in the figure, by bending the first finger 1, the second finger 6, the third finger 7, and the fourth finger 8, the fingertips can be brought close to each other so as to grip the desired object.
  • the tip of the first finger 1 is drawn so as to be substantially perpendicular to the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8.
  • the tip of the first finger 1 is made to face each finger, that is, the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8. be able to.
  • FIG. 4 is a perspective view for explaining the configuration around the first joint portion 121.
  • covers such as the instep cover 91 and the first finger cover 199, and other fingers and the like are not shown.
  • a frame member 901 having the first drive shaft 131 as one side is provided in the substantially center of the palm portion 9.
  • the first finger 1 is supported by the palm portion 9.
  • the first drive shaft 131 brings the first rotation shaft 101.
  • a substantially cylindrical first servomotor 135 is arranged in the center of the frame member 901, and its output rotation axis protrudes from a hole provided on the left side surface of the frame member 901.
  • a small-diameter first spur gear 136 is attached to the tip of the protruding output rotating shaft.
  • a first screw shaft 138 constituting a ball screw is arranged in parallel with the longitudinal direction of the first servomotor 135.
  • One end of the first screw shaft 138 is pivotally supported together with one end of the first servomotor 135, while the other end protrudes from the hole on the left side surface.
  • a second spur gear 137 having a relatively large diameter is attached to the end of the protruding first screw shaft 138 so as to mesh with the first spur gear 136 having a small diameter.
  • a first nut member 139 is slidably attached to the first screw shaft 138 so as to form a ball screw. As will be described later, the first nut member 139 is connected to the first link 111 via the first transmission link 140 that transmits the driving force.
  • a series of members from the first servomotor 135 to the first transmission link 140 may be referred to as a first drive unit.
  • the first drive unit that rotates the first joint portion 121 is supported by the palm portion 9.
  • the palm portion 9 As a result, it is possible to reduce the size of the first finger 1 and secure a space for storing a mechanism such as a sensor in the first finger 1.
  • the first link 111 is pivotally supported so as to rotate about the first drive shaft 131, that is, the first rotation shaft 101, and freely rotates by receiving a driving force from the first servomotor 135.
  • An absolute encoder 132 for detecting the rotation angle of the first drive shaft 131 is arranged at the upper end of the first drive shaft 131.
  • FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis 101.
  • FIG. 5A shows the state of the robot hand 500 when the first link is at the position of 45 °
  • FIG. 5B shows the state of the robot hand when the first link is at the position of 90 °. It shows the state of 500.
  • the angle of the first link 111 when it is in a completely open state is set to 0 °.
  • FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit.
  • the first transmission link 140 is pivotally supported with respect to the first nut member 139 via the first shaft member 141 so as to be slidable in a direction perpendicular to the first screw shaft (translation). Restraint). As a result, the first transmission link 140 also moves in the direction perpendicular to the first screw shaft 138 in accordance with the translational motion.
  • the first transmission link 140 that moves two-dimensionally is rotatably connected to the first link 111 via the second shaft member, the first link connects the first drive shaft 131. It will rotate as the center.
  • FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner. It should be noted that FIG. 7 is only a schematic diagram for explaining the principle and does not necessarily match the shapes and the like of the parts constituting the actual robot hand 500.
  • the first transmission link 140 translates accordingly.
  • the force from the first transmission link 140 is transmitted to the end of the first link 111, and rotation around the first drive shaft 131 is realized in the first link 111.
  • the first joint portion 121 of the first finger 1 rotates (turns) around an axis parallel to or substantially parallel to the extending direction of the second finger 6, the third finger 7, and the fourth finger 8. ) Is configured to be possible.
  • FIG. 8 is a perspective view for explaining the configuration around the second joint portion 122.
  • the first link 111 is further connected to the second link 112 in a manner that allows it to swing around the second rotation shaft 102.
  • the second rotation axis 102 is not perpendicular to the first rotation axis 101, but is slightly tilted toward the finger side other than the vertical, that is, has an acute angle.
  • a second servomotor 152 (not shown) is arranged inside the vicinity of the second rotation shaft 102 on the proximal end side of the second link 112, and its output shaft protrudes from the lower side in the figure.
  • a small-diameter third spur gear 153 is attached to the tip of the protruding output shaft.
  • the third spur gear 153 meshes with the fourth spur gear 154 having a relatively large diameter and transmits a rotational force.
  • the fourth spur gear 154 is connected to the second screw shaft 151 constituting the ball screw, and rotates the second screw shaft 151 in conjunction with the second screw shaft 151.
  • An absolute encoder 155 for detecting the swing angle is provided near the center of the second link 112.
  • a series of members that cause the swing from the second servomotor 152 to the second link 112 may be referred to as a second drive unit.
  • the swing function of the second joint portion can be integrated in the first finger 1. ..
  • FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis 102.
  • FIG. 9A shows the state of the robot hand 500 when the first finger 1 is closest to the second finger 6
  • FIG. 9B shows the state of the robot hand 500 when the first finger 1 is from the second finger 6. It shows the state of the robot hand 500 when it is in the farthest position.
  • FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit.
  • a second transmission link 156 having a shaft portion supported by the open end and having the other end pivotally supported by the rotation indicating member 157 with respect to the second link 112 is attached to the open end of the second nut member 155. ing. The shaft portion of the second transmission link 156 slides in the axial direction with the translational motion of the second nut member 155.
  • the second transmission link 156 is supported by the second link 112, the second link 112, the third link 113, and the second link 113 are accompanied by the translational motion of the second nut member 155.
  • the four links 114 swing integrally around the second rotation shaft 102.
  • FIG. 11 is a schematic diagram showing a simplified second drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
  • one end of the second link 112 is connected to the first link 111 so as to swing around the second rotation shaft 102. Further, the second screw shaft 151 constituting the ball screw is rotationally supported with respect to the first link.
  • one end of the second transmission link 156 is translated and restrained by the second nut shaft member 155, and the other end of the other end is rotatably supported by the second link 112. Therefore, when the second nut shaft member 155 moves, the second transmission link 156 translates in the direction of the arrow in the drawing on the second nut shaft member 155 days, whereby the second link moves to the second rotation shaft. It swings around 102.
  • FIG. 12 is an explanatory diagram of the arrangement of the first to third rotation axes 101 to 103 when the robot hand 500 in the open state is observed from the right side surface.
  • the first rotation axis 101 and the second rotation axis 102 are not orthogonal to each other, and are arranged so as to be slightly tilted with respect to the tip end side of the palm portion 9 so as to form ⁇ ( ⁇ 90 °). ..
  • Such a structure is similar to the structure of the human hand. That is, even in a human hand, the surface forming the belly of the tip of the first finger (thumb) is arranged so as to be slightly inclined to the tip side rather than parallel to the palm portion in the open state.
  • the second rotation shaft 102 and the third rotation shaft 103 are arranged so as to be orthogonal to each other.
  • FIG. 13 is a perspective view for explaining the configuration of the third joint portion 123 and the fourth joint portion 124.
  • a substantially cylindrical third servomotor 161 is arranged substantially horizontally with the longitudinal direction of the second link 112.
  • the lower end of the third servomotor 161 is supported by a predetermined support housing, and a small-diameter fifth spur gear 162 attached to the output shaft of the third servomotor 161 projects from the support housing.
  • the fifth spur gear 162 meshes with the sixth spur gear 163 having a relatively large diameter.
  • the sixth spur gear 163 is coupled to a third screw shaft 164 (not shown) that forms a part of the ball screw at its center (see FIG. 15).
  • a third nut member 175 (not shown) is connected to the third screw shaft 164 (see FIG. 15), and the third nut member 175 slides in the axial direction of the third screw shaft 164 via a bolt 176. It is linked to a possible third transmission link 165.
  • the third transmission link 165 is connected to one end of the U-shaped transmission link 171 via the first connection shaft 167.
  • the U-shaped transmission link 171 is supported by the second connecting shaft 169 in the middle thereof, and is connected to the fourth joint portion 124 by the fourth connecting shaft 177 through the inside of the third link 113 and the fourth link 114. ing.
  • the base of the third link 113 is swingably connected to the second link 112 via the third connecting shaft 170. Further, the tip of the third link 113 is connected to the fourth link 114 via the fifth connecting shaft 178.
  • a series of drive systems from the third servomotor 161 to the fourth connecting shaft 177 may be hereinafter referred to as a third drive unit.
  • FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis 103 and the fourth rotation axis 104.
  • FIG. 14A shows the robot hand 500 in the open state
  • FIG. 14B shows the robot hand 500 in the closed state only in the third joint portion 123 and the fourth joint portion 124.
  • FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit.
  • the third screw shaft 164 is arranged substantially parallel to the longitudinal direction of the second link 112.
  • a third nut member 175 is attached to the third screw shaft 163 so as to form a ball screw, and a third transmission link 165 is connected to the nut member 175 via a bolt 176.
  • the housing supporting the third screw shaft 164 is rotatably connected to the second link 112 via the fifth rotation shaft 174.
  • FIG. 15B shows a state in which the third nut member 175 is moved by a predetermined amount due to the rotation of the third screw shaft 164.
  • the movement of the third nut member 175 causes an operation of pushing up the third transmission link 165 from below.
  • the third screw shaft 164 and the like rotate around the sixth rotation shaft 174.
  • FIG. 15 (c) shows a state in which the third nut member 175 is further raised with respect to the third screw shaft 164 from the state of FIG. 15 (b).
  • the third nut member 175 is arranged at the upper limit position of the third screw shaft 164.
  • the third transmission link 165 is further pushed upward, and the third screw shaft 164 and the like are rotated so as to be further tilted from the vertical direction about the sixth rotation shaft 174.
  • FIG. 16 is a schematic diagram showing a simplified third drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
  • the third screw shaft 164 is pivotally supported by the second link 112, and the third nut member 175 translates up and down along the third screw shaft 164.
  • the third nut member 175 is connected to the lower end of the third transmission link 165, and the third transmission link 165 moves up and down together with the third nut member 175.
  • the upper end of the third transmission link 165 is rotatably connected to one end of the U-shaped transmission link 171, and the vicinity of the center of the U-shaped transmission link 171 is swingably supported with respect to the second link 112. Therefore, when one end of the third transmission link 165 is pushed up, the other end is pushed down.
  • the fourth link 114 rotatably connected to the third connecting shaft 177 is bent toward the palm side. Further, with this bending, the third link 113 also swings toward the palm side around the third connecting shaft 170.
  • the third drive system is supported by the second link 112, and one drive system drives two joints of the third joint 113 and the fourth joint 114. Therefore, the internal configurations of the third link 113 and the fourth link 114 can be simplified. As a result, the fingertip can be miniaturized, and a space for attaching the sensor to the fingertip can be provided.
  • the third joint portion 113 and the fourth joint portion are bent so as to be interlocked with each other, so that a natural bending motion can be realized. That is, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
  • FIG. 17 is a perspective view of the third finger 7 of the robot hand 500.
  • the third finger is provided with a substantially L-shaped side support part 737 fixed to the palm portion 9.
  • the support component 737 has an L-shape, it is possible to provide a space for another mechanism including the first child 1 in the palm portion 9.
  • Servo motor 731 is arranged on the instep side of the support component 737. Further, from the upper end of the support component 737, the one link 711, the second link 712, and the third link 713 are connected via the second connecting shaft 741, the third connecting shaft 748, and the fourth connecting shaft 750, respectively. There is.
  • the second connecting shaft 747 is provided with an absolute encoder 738 that detects the rotation angle thereof.
  • the link that transmits the driving force from the servomotor 731 is protected by the first cover 781 that covers the palm portion 9 side and the second cover 780 that covers the instep portion side. ..
  • FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger 7.
  • the first spur gear 732 which is a small diameter spur gear attached to the output shaft thereof, rotates.
  • the second spur gear 733 which is a large-diameter spur gear that meshes with the first spur gear 732, is driven to rotate.
  • the gripping force at the time of gripping the object can be secured.
  • a V-shaped transmission link 745 whose center is rotatably supported by the fifth connecting shaft 746 is provided.
  • the V-shaped transmission link 745 is rotatably connected to the nut member 742 at one end thereof via the seventh connecting shaft 744, and is connected to the base of the second link 712 at the other end.
  • the second connecting link 712 is rotatably supported by the third connecting shaft 748 with respect to the first link 711, the second connecting link is rooted by the V-shaped transmission link 745. When pushed down, the second link swings about the third connecting shaft 748.
  • the support plate 735 that supports the lower end of the servomotor is rotatably connected to the lower end of the support component 737, it is configured to rotate by the reaction force received from the nut member 742.
  • the first joint portion 721 and the second joint portion 722 can be interlocked and bent by using the driving force from one servomotor.
  • the distance between the second link 712 and the third link 713 is fixed.
  • the present invention is not limited to such a configuration, and the third joint portion 713 may also be configured to be further interlocked.
  • the robot hand 15 is configured from the palm portion 9 to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) corresponding to the third finger (middle finger) of the human hand. It is assumed that the three fingers 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend, but the present invention is not limited to such a configuration. Therefore, for example, a fifth finger corresponding to the little finger may be further provided, or more fingers may be provided. On the contrary, the number may be smaller, such as the third finger and the fourth child.
  • the number of joints of each finger of the robot hand 15 is not limited to the above-described embodiment, and may be larger or smaller than the above-mentioned number of joints.
  • the present invention can be used at least in an industry that manufactures robot hands, robots, and the like.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Provided is a hand mechanism comprising a palm part, a first finger that extends from a side section of the palm part, and a distal-end finger that extends from the distal end of the palm part, wherein the first finger is provided with: a first link that is supported by the palm part and that swings about a first axis substantially parallel to the extension direction of the distal-end finger; and a second link that is supported by the first link and that swings about a second axis, which is slightly tilted from a direction perpendicular to the first axis.

Description

ハンド機構、ロボットハンド及びロボットHand mechanism, robot hand and robot
　この発明は、ハンド機構、例えば、ロボットの腕の先端等に配されるロボットハンド機構に関する。 The present invention relates to a hand mechanism, for example, a robot hand mechanism arranged at the tip of a robot's arm or the like.
　近年、人間類似の動作を実現することを目的として、人間類似の構造を有するロボットハンドについて研究開発が行われている。 In recent years, research and development have been conducted on robot hands having a human-like structure for the purpose of realizing human-like movements.
　この種のハンドでは、手掌部の側部に対して人の親指に相当する指が、手掌部の先端部に対して人差し指乃至薬指に相当する指が備えらえている。例えば、特許文献１には、手掌部に相当するハンド本体部の側面に対して、ハンド本体部周りに旋回し又は折り曲げられるよう制御される親指部が備えられ、ハンド本体部の先端部に対して、折り曲げられるよう制御された操作指部と補助指部が備えられたハンド機構が開示されている。 In this type of hand, a finger corresponding to a human thumb is provided on the side of the palm, and a finger corresponding to the index finger or the ring finger is provided on the tip of the palm. For example, Patent Document 1 is provided with a thumb portion that is controlled so as to be swiveled or bent around the hand body portion with respect to the side surface of the hand body portion corresponding to the palm portion, with respect to the tip end portion of the hand body portion. Disclosed is a hand mechanism provided with an operating finger and an auxiliary finger controlled to be bent.
特開２０１７－１６４８３１号公報Japanese Unexamined Patent Publication No. 2017-164831
　ところで、この種のロボットハンドを人間の手の動作に合わせて遠隔操作しようとする場合や、ロボットハンドに対してプログラムにより人間類似の動作を実行させようとする場合には、ロボットハンドの機構は、人間の複雑な手の機構を適切にモデル化したものであることが好ましい。このモデル化が不適切な場合、ロボットハンドの動作が人間の手の動作と直感的に対応付かなかったり、或いは、その動作に違和感が生じるおそれがある。 By the way, when trying to remotely control this kind of robot hand according to the movement of a human hand, or when trying to make a robot hand execute a human-like movement by a program, the mechanism of the robot hand is , It is preferable that it is an appropriate model of the complicated human hand mechanism. If this modeling is inappropriate, the movement of the robot hand may not intuitively correspond to the movement of the human hand, or the movement may feel strange.
　しかしながら、従前のロボットハンドにおいては、人間の複雑な手構造について過度の単純化がなされ、人間の手構造のモデル化が不十分であった。その結果、ロボットハンドを直感的に動作させること等が困難であった。 However, in the conventional robot hand, the complicated human hand structure was oversimplified, and the modeling of the human hand structure was insufficient. As a result, it was difficult to operate the robot hand intuitively.
　本発明は上述の技術的背景に鑑みてなされたものであり、その目的は、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することにある。 The present invention has been made in view of the above-mentioned technical background, and an object thereof is to provide a hand mechanism or the like capable of intuitively realizing a human-like operation.
　上述の技術的課題は、以下の構成を有するハンド機構等により解決することができる。 The above-mentioned technical problem can be solved by a hand mechanism or the like having the following configuration.
　すなわち、本発明に係るハンド機構は、手掌部と、前記手掌部の側部から延出する第一指と、前記手掌部の先端から延出する先端指と、を備えるハンド機構であって、前記第一指は、前記手掌部に対して軸支され、前記先端指の延出方向と略平行な第一軸を中心として揺動する、第一リンクと、前記第一リンクに対して軸支され、前記第一軸に対して垂直な方向からやや傾けた第二軸を中心として揺動する、第二リンクと、を備えている。 That is, the hand mechanism according to the present invention is a hand mechanism including a palm portion, a first finger extending from the side portion of the palm portion, and a tip finger extending from the tip of the palm portion. The first finger is axially supported with respect to the palm portion and swings about a first axis substantially parallel to the extension direction of the tip finger, and an axis with respect to the first link. It is provided with a second link that is supported and swings around a second axis that is slightly tilted from a direction perpendicular to the first axis.
　このような構成によれば、第一軸の揺動中心軸である第一軸と、第二リンクの揺動中心軸である第二軸が非垂直的位置関係となっている。その結果、人間の第一指の構造に近似したハンド機構を提供することができ、これにより、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することができる。 According to such a configuration, the first axis, which is the swing center axis of the first axis, and the second axis, which is the swing center axis of the second link, have a non-vertical positional relationship. As a result, it is possible to provide a hand mechanism that is similar to the structure of the first finger of a human, and thereby it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
　前記第一軸は、さらに、前記手掌部に対して平行に配置されていてもよい。 The first axis may be further arranged parallel to the palm portion.
　このような構成によれば、人間と同様に、第一指を手掌部周りに旋回させることができる。 According to such a configuration, the first finger can be swiveled around the palm like a human.
　前記第二リンクに軸支され、前記第二軸と垂直な第三軸を中心として揺動する第三リンクをさらに備える、ものであってもよい。 It may be further provided with a third link that is pivotally supported by the second link and swings around a third axis perpendicular to the second axis.
　このような構成によれば、第二リンクの揺動中心軸と第三リンクの揺動中心軸は直交するので、人間類似の態様で動作することができる。 According to such a configuration, since the swing center axis of the second link and the swing center axis of the third link are orthogonal to each other, it can operate in a human-like manner.
　前記第三リンクに軸支され、前記第三リンクと連動して揺動する第四リンクをさらに備える、ものであってもよい。 It may be further provided with a fourth link that is pivotally supported by the third link and swings in conjunction with the third link.
　このような構成によれば、第三リンクと第四リンクとは連動するので、対象物を包み込むような把持を実現することができる。 According to such a configuration, since the third link and the fourth link are linked, it is possible to realize a grip that wraps the object.
　前記第一指は屈曲することで、屈曲した前記先端指の先端面と対向可能に構成されている、ものであってもよい。 The first finger may be configured to face the tip surface of the bent tip finger by bending.
　このような構成によれば、第一子の屈曲により先端指との間で対象物を把持することができる。 According to such a configuration, the object can be gripped between the tip finger and the first child by bending.
　前記第一リンクを駆動する第一駆動ユニットは、前記手掌部に支持されている、ものであってもよい。 The first drive unit that drives the first link may be one that is supported by the palm portion.
　このような構成によれば、駆動ユニットが手掌部へと支持されていることから、指を小型化させたり、指にセンサ等の他の機構を格納させることができる。 According to such a configuration, since the drive unit is supported by the palm portion, the finger can be miniaturized and other mechanisms such as a sensor can be stored in the finger.
　前記第二リンクを駆動する第二駆動ユニットは、第一リンクに支持されている、ものであってもよい。 The second drive unit that drives the second link may be one that is supported by the first link.
　このような構成によれば、駆動ユニットが第一リンクに支持されているので、第二リンクから先端に向けた部分を小型化させたり、当該部分にセンサ等の他の機構を格納することができる。 According to such a configuration, since the drive unit is supported by the first link, the portion from the second link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
　前記第三リンク及び第四リンクを駆動させる第三駆動ユニットは、第二リンクに支持されている、ものであってもよい。 The third drive unit that drives the third link and the fourth link may be one that is supported by the second link.
　このような構成によれば、駆動ユニットが第二リンクに支持されているので、第三リンクから先端に向けた部分を小型化させたり、当該部分にセンサ等の他の機構を格納することができる。 According to such a configuration, since the drive unit is supported by the second link, the portion from the third link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
　前記第一駆動ユニットは、ボールねじを用いて駆動される、ものであってもよい。 The first drive unit may be driven by using a ball screw.
　このような構成によれば、高精度で高い把持力を出力することができる。 According to such a configuration, it is possible to output a high gripping force with high accuracy.
　前記第二駆動ユニットは、ボールねじを用いて駆動される、ものであってもよい。 The second drive unit may be driven by using a ball screw.
　このような構成によれば、高精度で高い把持力を出力することができる。 According to such a configuration, it is possible to output a high gripping force with high accuracy.
　前記第三駆動ユニットは、ボールねじを用いて駆動される、ものであってもよい。 The third drive unit may be driven by using a ball screw.
　このような構成によれば、高精度で高い把持力を出力することができる。 According to such a configuration, it is possible to output a high gripping force with high accuracy.
　各前記先端指は、手掌部に配置される先端指用駆動ユニットにより、連動して屈曲又は伸展する四節リンク構造を備えている、ものであってもよい。 Each of the tip fingers may have a four-node link structure that bends or extends in conjunction with the tip finger drive unit arranged in the palm portion.
　このような構成によれば、手掌部に駆動ユニットがあることから、先端指を小型化したり先端指内にセンサ等の他の機構を格納することができる。 According to such a configuration, since the drive unit is located in the palm portion, the tip finger can be miniaturized and other mechanisms such as a sensor can be stored in the tip finger.
　前記先端指用駆動ユニットは、ボールねじを用いて駆動される、ものであってもよい。 The tip finger drive unit may be driven by using a ball screw.
　このような構成によれば、高精度で高い把持力を出力することができる。 According to such a configuration, it is possible to output a high gripping force with high accuracy.
　前記先端指は、第二指、第三指及び第四指から成る三本の指である、ものであってもよい。 The tip finger may be a three finger consisting of a second finger, a third finger and a fourth finger.
　このような構成によれば、三本の指で対象物を包み込むように把持することができる。 According to such a configuration, the object can be grasped so as to wrap it with three fingers.
　前記第三指の前記手掌部への付け根部分の回転軸は、前記第二指の前記手掌部への付け根部分の回転軸及び前記第四指の前記手掌部への付け根部分の回転軸と鋭角を為している、ものであってもよい。 The rotation axis of the base portion of the third finger to the palm portion is sharp with the rotation axis of the base portion of the second finger to the palm portion and the rotation axis of the base portion of the fourth finger to the palm portion. It may be something that is doing.
　このような構成によれば、人間類似の態様で、三本の指で対象物を包み込むように把持することができる。 According to such a configuration, the object can be grasped so as to wrap the object with three fingers in a human-like manner.
　また、本発明は、上述のハンド機構を備えたロボットハンドとしても観念することができる。 The present invention can also be thought of as a robot hand equipped with the above-mentioned hand mechanism.
　さらに、本発明は上述のハンド機構を備えたロボットとしても観念することができる。 Furthermore, the present invention can also be thought of as a robot equipped with the above-mentioned hand mechanism.
　本発明によれば、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することができる。 According to the present invention, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
図１は、ロボットハンドの正面図である。FIG. 1 is a front view of the robot hand. 図２は、ロボットハンドの右側面図である。FIG. 2 is a right side view of the robot hand. 図３は、閉状態のロボットハンドの正面図である。FIG. 3 is a front view of the robot hand in the closed state. 図４は、第一関節部周辺の構成について説明するための斜視図である。FIG. 4 is a perspective view for explaining the configuration around the first joint portion. 図５は、第一回転軸周りの回転の様子について表す説明図である。FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis. 図６は、第一駆動ユニットの動作原理について示す説明図である。FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit. 図７は、第一駆動ユニットを簡略化して示した模式図である。FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner. 図８は、第二関節部周辺の構成について説明するための斜視図である。FIG. 8 is a perspective view for explaining the configuration around the second joint portion. 図９は、第二回転軸周りの回転の様子について表す説明図である。FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis. 図１０は、第二駆動ユニットの動作原理について示す説明図である。FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit. 図１１は、第二駆動ユニットを簡略化して示した模式図である。FIG. 11 is a schematic diagram showing a simplified second drive unit. 図１２は、第一～第三の各回転軸の配置についての説明図である。FIG. 12 is an explanatory diagram regarding the arrangement of the first to third rotation axes. 図１３は、第三関節部及び第四関節部の構成について説明するための斜視図である。FIG. 13 is a perspective view for explaining the configuration of the third joint portion and the fourth joint portion. 図１４は、第三回転軸及び第四回転軸周りの回転の様子について表す説明図である。FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis and the fourth rotation axis. 図１５は、第三駆動ユニットの動作原理について示す説明図である。FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit. 図１６は、第三駆動ユニットを簡略化して示した模式図である。FIG. 16 is a schematic diagram showing a simplified third drive unit. 図１７は、ロボットハンドの第三指の斜視図である。FIG. 17 is a perspective view of the third finger of the robot hand. 図１８は、第三指の動作原理について説明するための説明図である。FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger.
　以下、本発明の好適な実施の形態について添付の図を参照しつつ詳細に説明する。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached figures.
　（１．第１の実施形態）
  第１の実施形態として、本発明を、図示しないロボットの腕部の先端に備えられるロボットハンド５００に対して適用した例について説明する。なお、ロボットハンド５００が取り付けられる位置は限定されず、他の様々な装置や部位等に取り付けることができる。 (1. First Embodiment)
As a first embodiment, an example in which the present invention is applied to a robot hand 500 provided at the tip of a robot arm (not shown) will be described. The position where the robot hand 500 is attached is not limited, and it can be attached to various other devices, parts, and the like.
　（１．１　ハンド機構の全体構成と動作）
  図１及び図２を参照しつつ、ロボットハンド５００の全体構成について説明する。図１は、完全な開状態にあるロボットハンド５００の正面図であり、図２は、同状態のロボットハンド５００の右側面図である。なお、開状態とは、ロボットハンド５００に備えられるすべての関節を伸展状態とした状態を言う。また、これとは逆に、閉状態とは、ロボットハンド５００に備えられる一部又はすべての関節を屈曲させた状態を言う。 (1.1 Overall configuration and operation of the hand mechanism)
The overall configuration of the robot hand 500 will be described with reference to FIGS. 1 and 2. FIG. 1 is a front view of the robot hand 500 in a completely open state, and FIG. 2 is a right side view of the robot hand 500 in the same state. The open state means a state in which all the joints provided in the robot hand 500 are in the extended state. On the contrary, the closed state means a state in which some or all the joints provided in the robot hand 500 are bent.
　図１及び図２から明らかな通り、ロボットハンド５００は、略直方体形状の手掌部９を中心に備えている。手掌部９の右側面からは人間の手の第一指（親指）に相当する第一指１が延出している。手掌部９の上面又は先端からは、第一指１の側から順に、人間の手の第二指（示指）に相当する第二指６、人間の手の第三指（中指）に相当する第三指７、及び、人間の手の第四指（薬指）に相当する第四指８が延出している。 As is clear from FIGS. 1 and 2, the robot hand 500 mainly includes a palm portion 9 having a substantially rectangular parallelepiped shape. From the right side surface of the palm portion 9, the first finger 1 corresponding to the first finger (thumb) of the human hand extends. From the upper surface or the tip of the palm portion 9, in order from the side of the first finger 1, it corresponds to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) of the human hand. The third finger 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend.
　手掌部９の背面側、すなわちロボットハンド５００の甲側には、甲部全体から側面にかけての範囲をカバーする甲部カバー９１が取り付けられている。また、手掌部９の正面側には、図示しないアームの先端部等との連結に利用され掌のおよそ全体をカバーする略鍵穴形状を有する掌部カバー９２が設けられている。 An instep cover 91 that covers the range from the entire instep to the side surface is attached to the back side of the palm portion 9, that is, the instep side of the robot hand 500. Further, on the front side of the palm portion 9, a palm portion cover 92 having a substantially keyhole shape, which is used for connecting to the tip end portion of an arm (not shown) and covers almost the entire palm portion, is provided.
　第一指１は、手掌部９の側部から延出するように、順に、第一リンク１１１、第二リンク１１２、第三リンク１１３及び第四リンク１１４が連結され構成されている。なお、第一リンク１１１及び第二リンク１１２は、第一指カバー１９９によりカバーされているため、同図においては不図示であることに留意されたい。 The first finger 1 is configured by connecting the first link 111, the second link 112, the third link 113, and the fourth link 114 in order so as to extend from the side portion of the palm portion 9. It should be noted that the first link 111 and the second link 112 are not shown in the figure because they are covered by the first finger cover 199.
　また、第一指１は、手掌部９側から指の先端に向けて順に、第一関節部１２１（所謂ＣＭ関節に相当）、第二関節部１２２、第三関節部１２３（所謂ＭＰ関節に相当）、及び、第四関節部１２４の４つの関節部を備えている。そのうち、第一関節部１２１、第二関節部１２２、及び、第三関節部１２３の３つの関節部は、それぞれ、第一回転軸１０１、第二回転軸１０２、及び、第三回転軸１０３を中心として能動的に回動し、残りの第四関節部１２４は受動的に回動する。すなわち、これらの構造により指を折り曲げて物を把持するような動作が可能となる。 Further, the first finger 1 is in order from the palm portion 9 side toward the tip of the finger, the first joint portion 121 (corresponding to the so-called CM joint), the second joint portion 122, and the third joint portion 123 (so-called MP joint). Correspondingly), and has four joints of the fourth joint 124. Among them, the three joints of the first joint portion 121, the second joint portion 122, and the third joint portion 123 have the first rotation axis 101, the second rotation axis 102, and the third rotation axis 103, respectively. It actively rotates as a center, and the remaining fourth joint 124 passively rotates. That is, these structures enable operations such as bending a finger to grip an object.
　第二指６は、手掌部９の先端から延出するように、順に、第一リンク６１１、第二リンク６１２、及び、第三リンク６１３が連結されて構成されている。 The second finger 6 is configured by connecting the first link 611, the second link 612, and the third link 613 in order so as to extend from the tip of the palm portion 9.
　また、第二指６は、手掌部９側から指の先端に向けて順に、第一関節部６２１（所謂ＭＰ関節に相当）、第二関節部６２２、第三関節部６２３の３つの関節部を備えている。そのうち、第一関節部６２１は、第一回転軸６０１を中心として能動的に回動し、残りの第二関節部６２２及び第三関節部６２３は受動的に回動する。すなわち、これらの構造により指を折り曲げて物を把持するような動作が可能となる。 Further, the second finger 6 has three joint portions, that is, the first joint portion 621 (corresponding to the so-called MP joint), the second joint portion 622, and the third joint portion 623, in order from the palm portion 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 621 actively rotates around the first rotation shaft 601 and the remaining second joint portion 622 and the third joint portion 623 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
　第三指７は、手掌部９の先端から延出するように、順に、第一リンク７１１、第二リンク７１２、及び、第三リンク７１３が連結されて構成されている。 The third finger 7 is configured by connecting the first link 711, the second link 712, and the third link 713 in order so as to extend from the tip of the palm portion 9.
　また、第三指７は、手掌部９側から指の先端に向けて順に、第一関節部７２１（所謂ＭＰ関節に相当）、第二関節部７２２、第三関節部７２３の３つの関節部を備えている。そのうち、第一関節部７２１は、第一回転軸７０１を中心として能動的に回動し、残りの第二関節部７２２及び第三関節部７２３は受動的に回動する。すなわち、これらの構造により指を折り曲げて物を把持するような動作が可能となる。 Further, the third finger 7 has three joints, that is, the first joint 721 (corresponding to the so-called MP joint), the second joint 722, and the third joint 723, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 721 actively rotates around the first rotation shaft 701, and the remaining second joint portion 722 and the third joint portion 723 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
　第四指８は、手掌部９の先端から延出するように、順に、第一リンク８１１、第二リンク８１２、及び、第三リンク８１３が連結されて構成されている。 The fourth finger 8 is configured by connecting the first link 811, the second link 812, and the third link 813 in order so as to extend from the tip of the palm portion 9.
　また、第四指８は、手掌部９側から指の先端に向けて順に、第一関節部８２１（所謂ＭＰ関節に相当）、第二関節部８２２、第三関節部８２３の３つの関節部を備えている。そのうち、第一関節部８２１は、第一回転軸８０１を中心として能動的に回動し、残りの第二関節部８２２及び第三関節部８２３は受動的に回動する。すなわち、これらの構造により指を折り曲げて物を把持するような動作が可能となる。 Further, the fourth finger 8 has three joints, that is, the first joint 821 (corresponding to the so-called MP joint), the second joint 822, and the third joint 823, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 821 actively rotates around the first rotation shaft 801 and the remaining second joint portion 822 and the third joint portion 823 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
　なお、同図から明らかな通り、手掌部９の先端部付近に設けられた、第二指６の第一回転軸６０１、第三指７の第一回転軸７０１及び第四指８の第一回転軸８０１は互いに平行ではなく互いに鋭角を為している。すなわち、同図にあって、第三指７の第一回転軸７０１は手掌部９の付け根側の面に対して平行となっているものの、その左右の第二指６の第一回転軸６０１と第四指８の第一回転軸８０１は、左右均等に、それぞれ側部側にやや傾いて配置されている。 As is clear from the figure, the first rotation shaft 601 of the second finger 6, the first rotation shaft 701 of the third finger 7, and the first of the fourth fingers 8 provided near the tip of the palm portion 9. The rotating shafts 801 are not parallel to each other but have sharp angles with each other. That is, in the figure, although the first rotation axis 701 of the third finger 7 is parallel to the surface on the base side of the palm portion 9, the first rotation axis 601 of the second fingers 6 on the left and right thereof And the first rotation axis 801 of the fourth finger 8 are arranged evenly on the left and right sides with a slight inclination toward the side.
　このような構成によれば、各指が手掌部９の中心に向けて折り曲げられるので、人間類似の態様で対象物を把持することができる。 According to such a configuration, since each finger is bent toward the center of the palm portion 9, the object can be gripped in a human-like manner.
　以上の関節部とリンクを備えたロボットハンド５００は、その関節部を回動させることにより、開閉することができる。 The robot hand 500 having the above joints and links can be opened and closed by rotating the joints.
　図３は、完全な閉状態のロボットハンド５００の正面図である。同図で示されるように、第一指１、第二指６、第三指７及び第四指８をそれぞれ折り曲げることで、所望の対象物を把持するよう指先を近付けることができる。 FIG. 3 is a front view of the robot hand 500 in a completely closed state. As shown in the figure, by bending the first finger 1, the second finger 6, the third finger 7, and the fourth finger 8, the fingertips can be brought close to each other so as to grip the desired object.
　なお、同図においては、第一指１の先端は、第二指６の先端、第三指７の先端及び第四指８の先端と略垂直をなすように描かれているものの、第一指１の第二関節部１２２を回動させることにより、第一指１の先端を各指、すなわち、第二指６の先端、第三指７の先端及び第四指８の先端と対向させることができる。 In the figure, the tip of the first finger 1 is drawn so as to be substantially perpendicular to the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8. By rotating the second joint portion 122 of the finger 1, the tip of the first finger 1 is made to face each finger, that is, the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8. be able to.
　このような構成によれば、対象物を指先でつまむような巧みな動作を実現することができる。 With such a configuration, it is possible to realize a skillful operation such as pinching an object with a fingertip.
　（１．２　第一指１の構成と動作）
  以下、第一指１の構成と動作について関節毎に詳述する。 (1.2 Configuration and operation of first finger 1)
Hereinafter, the configuration and operation of the first finger 1 will be described in detail for each joint.
　（第一関節部）
  まず、図４～図７を参照しつつ、第一指１の第１関節部１２１に係る構成と動作について詳述する。 (First joint)
First, with reference to FIGS. 4 to 7, the configuration and operation of the first joint portion 121 of the first finger 1 will be described in detail.
　図４は、第一関節部１２１周辺の構成について説明するための斜視図である。なお、同図においては、説明のため、甲部カバー９１、第一指カバー１９９等のカバー並びに他の指等は不図示とされている。 FIG. 4 is a perspective view for explaining the configuration around the first joint portion 121. In the figure, for the sake of explanation, covers such as the instep cover 91 and the first finger cover 199, and other fingers and the like are not shown.
　同図から明らかな通り、手掌部９の略中央には、第一駆動軸１３１を一辺とする枠部材９０１が備えられている。これにより、第一指１は、手掌部９に対して支持される。なお、この第一駆動軸１３１は、第一回転軸１０１をもたらすものである。 As is clear from the figure, a frame member 901 having the first drive shaft 131 as one side is provided in the substantially center of the palm portion 9. As a result, the first finger 1 is supported by the palm portion 9. The first drive shaft 131 brings the first rotation shaft 101.
　枠部材９０１の中央には、略円筒状の第一サーボモータ１３５が配置され、その出力回転軸は、枠部材９０１の左側面に設けられた孔部から突出している。突出した出力回転軸の先端には、小径の第一平歯車１３６が取り付けられている。 A substantially cylindrical first servomotor 135 is arranged in the center of the frame member 901, and its output rotation axis protrudes from a hole provided on the left side surface of the frame member 901. A small-diameter first spur gear 136 is attached to the tip of the protruding output rotating shaft.
　第一サーボモータ１３５の直下には、第一サーボモータ１３５の長手方向と平行にボールねじを構成する第一ねじ軸１３８が配置されている。この第一ねじ軸１３８の一端は、第一サーボモータ１３５の一端と共に軸支されており、一方、他端は、左側面の孔部から突出している。また、この突出した第一ねじ軸１３８の端部には、相対的に大径の第二平歯車１３７が、小径の第一平歯車１３６と噛合するよう取り付けられている。 Immediately below the first servomotor 135, a first screw shaft 138 constituting a ball screw is arranged in parallel with the longitudinal direction of the first servomotor 135. One end of the first screw shaft 138 is pivotally supported together with one end of the first servomotor 135, while the other end protrudes from the hole on the left side surface. Further, a second spur gear 137 having a relatively large diameter is attached to the end of the protruding first screw shaft 138 so as to mesh with the first spur gear 136 having a small diameter.
　第一ねじ軸１３８には、ボールねじを形成するよう第一ナット部材１３９が摺動可能に取り付けられている。後述するように、第一ナット部材１３９は、駆動力を伝達する第一伝達リンク１４０を介して、第一リンク１１１と連結されている。 A first nut member 139 is slidably attached to the first screw shaft 138 so as to form a ball screw. As will be described later, the first nut member 139 is connected to the first link 111 via the first transmission link 140 that transmits the driving force.
　なお、第一サーボモータ１３５から第一伝達リンク１４０へと至る一連の部材を第一駆動ユニットと称することがある。 A series of members from the first servomotor 135 to the first transmission link 140 may be referred to as a first drive unit.
　このように、第１関節部１２１を回動させる第一駆動ユニットは、手掌部９に支持されている。これにより、第一指１の小型化や第一指１内にセンサ等の機構を格納するスペースの確保等を行うことができる。 In this way, the first drive unit that rotates the first joint portion 121 is supported by the palm portion 9. As a result, it is possible to reduce the size of the first finger 1 and secure a space for storing a mechanism such as a sensor in the first finger 1.
　第一リンク１１１は、第一駆動軸１３１、すなわち、第一回転軸１０１を中心として回転するよう軸支されており、第一サーボモータ１３５からの駆動力を受けて自在に回転する。なお、第一駆動軸１３１の上端には、第一駆動軸１３１の回転角度を検出するアブソリュートエンコーダ１３２が配置されている。 The first link 111 is pivotally supported so as to rotate about the first drive shaft 131, that is, the first rotation shaft 101, and freely rotates by receiving a driving force from the first servomotor 135. An absolute encoder 132 for detecting the rotation angle of the first drive shaft 131 is arranged at the upper end of the first drive shaft 131.
　図５は、第一回転軸１０１周りの回転の様子について表す説明図である。図５（ａ）は、第一リンクが４５°の位置にある場合のロボットハンド５００の状態を示しており、図５（ｂ）は、第一リンクが９０°の位置にある場合のロボットハンド５００の状態を示している。なお、同図においては、完全な開状態にある時の第一リンク１１１の角度を０°としている。 FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis 101. FIG. 5A shows the state of the robot hand 500 when the first link is at the position of 45 °, and FIG. 5B shows the state of the robot hand when the first link is at the position of 90 °. It shows the state of 500. In the figure, the angle of the first link 111 when it is in a completely open state is set to 0 °.
　続いて、図６及び図７を参照しつつ、第一リンク１１１の駆動原理について説明する。図６は、第一駆動ユニットの動作原理について示す説明図である。 Subsequently, the driving principle of the first link 111 will be described with reference to FIGS. 6 and 7. FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit.
　図６から明らかな通り、第一サーボモータ１３５が駆動されると、第一平歯車１３６が回転する。この回転は第二平歯車１３７を介して第一ねじ軸１３８へと伝達され、第一ねじ軸１３８が連動して回転する。 As is clear from FIG. 6, when the first servomotor 135 is driven, the first spur gear 136 rotates. This rotation is transmitted to the first screw shaft 138 via the second spur gear 137, and the first screw shaft 138 rotates in conjunction with the first screw shaft 138.
　第一ねじ軸１３８が回転すると、第一ナット部材１３９はその回転に応じてねじ軸１３８に沿って並進運動する。この並進運動は、連結される第一伝達リンク１４０へと伝達されて、第一伝達リンク１４０を第一ねじ軸に平行な方向に並進運動させる。 When the first screw shaft 138 rotates, the first nut member 139 translates along the screw shaft 138 according to the rotation. This translation is transmitted to the connected first transmission link 140 to translate the first transmission link 140 in a direction parallel to the first screw axis.
　このとき、第一伝達リンク１４０は、第一ナット部材１３９に対して、第一ねじ軸と垂直な方向に摺動可能な態様にて第一軸部材１４１を介して軸支されている（並進拘束）。これにより、第一伝達リンク１４０は、並進運動に合わせて、第一ねじ軸１３８と垂直な方向にも移動する。 At this time, the first transmission link 140 is pivotally supported with respect to the first nut member 139 via the first shaft member 141 so as to be slidable in a direction perpendicular to the first screw shaft (translation). Restraint). As a result, the first transmission link 140 also moves in the direction perpendicular to the first screw shaft 138 in accordance with the translational motion.
　このような二次元的に移動する第一伝達リンク１４０は、第一リンク１１１と第二軸部材を介して回動可能に連結されていることから、第一リンクは、第一駆動軸１３１を中心として回転することとなる。 Since the first transmission link 140 that moves two-dimensionally is rotatably connected to the first link 111 via the second shaft member, the first link connects the first drive shaft 131. It will rotate as the center.
　このように、ボールねじを用いて駆動力を発生させる構成によれば、高い精度と把持力を実現することができる。 As described above, according to the configuration in which the driving force is generated by using the ball screw, high accuracy and gripping force can be realized.
　図７は、第一駆動ユニットを簡略化して示した模式図である。なお、図７はあくまで原理の説明のための模式図であり、実際のロボットハンド５００を構成する部品の形状等とは必ずしも一致しない点に留意されたい。 FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner. It should be noted that FIG. 7 is only a schematic diagram for explaining the principle and does not necessarily match the shapes and the like of the parts constituting the actual robot hand 500.
　同図から明らかな通り、第一ナット部材１３９が第一ねじ軸１３８上を並進運動すると、それに連動して第一伝達リンク１４０が並進運動する。この第一伝達リンク１４０からの力は、第一リンク１１１の端部へと伝達され、第一リンク１１１において第一駆動軸１３１を中心とした回転が実現される。 As is clear from the figure, when the first nut member 139 translates on the first screw shaft 138, the first transmission link 140 translates accordingly. The force from the first transmission link 140 is transmitted to the end of the first link 111, and rotation around the first drive shaft 131 is realized in the first link 111.
　すなわち、以上の構成により、第一指１の第１関節部１２１は、第二指６、第三指７及び第四指８の延在方向と平行又は略平行な軸周りに回動（旋回）することができるよう構成されている。 That is, with the above configuration, the first joint portion 121 of the first finger 1 rotates (turns) around an axis parallel to or substantially parallel to the extending direction of the second finger 6, the third finger 7, and the fourth finger 8. ) Is configured to be possible.
　（第二関節部）
  次に、図８～図１２を参照しつつ、第２関節部１２２に係る構成と動作について詳述する。 (Second joint)
Next, with reference to FIGS. 8 to 12, the configuration and operation of the second joint portion 122 will be described in detail.
　図８は、第二関節部１２２周辺の構成について説明するための斜視図である。 FIG. 8 is a perspective view for explaining the configuration around the second joint portion 122.
　同図から明らかな通り、第一リンク１１１には、さらに、第二回転軸１０２を中心として揺動可能な態様で第二リンク１１２が連結されている。 As is clear from the figure, the first link 111 is further connected to the second link 112 in a manner that allows it to swing around the second rotation shaft 102.
　ここで、第二回転軸１０２は第一回転軸１０１とは垂直ではなく、垂直よりやや他の指側へと傾いている、すなわち鋭角を為している点に留意されたい。 Here, it should be noted that the second rotation axis 102 is not perpendicular to the first rotation axis 101, but is slightly tilted toward the finger side other than the vertical, that is, has an acute angle.
　このような構成によれば、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することができる。 According to such a configuration, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
　第二リンク１１２の基端側の第二回転軸１０２の近傍内部には、図示しない第二サーボモータ１５２が配置され、その出力軸は同図下側から突出している。突出した出力軸の先端には小径の第三平歯車１５３が取り付けられている。 A second servomotor 152 (not shown) is arranged inside the vicinity of the second rotation shaft 102 on the proximal end side of the second link 112, and its output shaft protrudes from the lower side in the figure. A small-diameter third spur gear 153 is attached to the tip of the protruding output shaft.
　この第三平歯車１５３は、相対的に大径の第四平歯車１５４と噛合し、回転力を伝達する。第四平歯車１５４は、ボールねじを構成する第二ねじ軸１５１と連結されており、第二ねじ軸１５１を連動して回転させる。 The third spur gear 153 meshes with the fourth spur gear 154 having a relatively large diameter and transmits a rotational force. The fourth spur gear 154 is connected to the second screw shaft 151 constituting the ball screw, and rotates the second screw shaft 151 in conjunction with the second screw shaft 151.
　第二ねじ軸１５１が回転すると、第二ナット部材１５５が、第二ねじ軸１５１に沿って並進運動する。後述するように、この第二ナット部材１５５の移動により第二回転軸１０２を中心とした第二リンク１１２の揺動が実現される。 When the second screw shaft 151 rotates, the second nut member 155 translates along the second screw shaft 151. As will be described later, the movement of the second nut member 155 realizes the swing of the second link 112 about the second rotation shaft 102.
　第二リンク１１２の中央付近には、揺動角度を検出するためのアブソリュートエンコーダ１５５が設けられている。 An absolute encoder 155 for detecting the swing angle is provided near the center of the second link 112.
　なお、第二サーボモータ１５２から第２リンク１１２における揺動を生じさせる一連の部材を第二駆動ユニットと称することがある。 A series of members that cause the swing from the second servomotor 152 to the second link 112 may be referred to as a second drive unit.
　このように、第二関節部１２２を回動させる第二駆動ユニットは、第一リンク１１１に支持されているので、第二関節部の揺動機能を第一指１内に集約することができる。 As described above, since the second drive unit that rotates the second joint portion 122 is supported by the first link 111, the swing function of the second joint portion can be integrated in the first finger 1. ..
　図９は、第二回転軸１０２周りの回転の様子について表す説明図である。図９（ａ）は第一指１が第二指６に最も近い位置にある場合のロボットハンド５００の状態を示しており、図９（ｂ）は、第一指１が第二指６から最も遠い位置にある場合のロボットハンド５００の状態を示している。 FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis 102. FIG. 9A shows the state of the robot hand 500 when the first finger 1 is closest to the second finger 6, and FIG. 9B shows the state of the robot hand 500 when the first finger 1 is from the second finger 6. It shows the state of the robot hand 500 when it is in the farthest position.
　続いて、図１０及び図１１を参照しつつ、第二リンク１１２の揺動原理について説明する。図１０は、第二駆動ユニットの動作原理について示す説明図である。 Subsequently, the swing principle of the second link 112 will be described with reference to FIGS. 10 and 11. FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit.
　図１０から明らかな通り、図示しない第二サーボモータ１５２を駆動させると、小径の第三平歯車１５３が回転する。この第３平歯車１５３の回転は、相対的に大径の第四平歯車１５４が回転する。 As is clear from FIG. 10, when the second servomotor 152 (not shown) is driven, the small diameter third spur gear 153 rotates. As for the rotation of the third spur gear 153, the fourth spur gear 154 having a relatively large diameter rotates.
　この第四平歯車１５４が回転すると、その中心軸である第二ねじ軸１５１が回転する。 When the fourth spur gear 154 rotates, the second screw shaft 151, which is the central axis thereof, rotates.
　この第二ねじ軸１５１が回転すると、略コの字型又は略U字型の第二ナット部材１５５が第二ねじ軸１５１に沿って並進運動する。 When the second screw shaft 151 rotates, a substantially U-shaped or substantially U-shaped second nut member 155 translates along the second screw shaft 151.
　第二ナット部材１５５の開放端には、当該開放端に支持された軸部を備え他端を回転指示部材１５７により第二リンク１１２に対して軸支された、第二伝達リンク１５６が取り付けられている。第二伝達リンク１５６の軸部は、第二ナット部材１５５の並進運動に伴って、その軸方向に摺動する。 A second transmission link 156 having a shaft portion supported by the open end and having the other end pivotally supported by the rotation indicating member 157 with respect to the second link 112 is attached to the open end of the second nut member 155. ing. The shaft portion of the second transmission link 156 slides in the axial direction with the translational motion of the second nut member 155.
　このような構成によれば、第二伝達リンク１５６は第二リンク１１２へと支持されていることから、第二ナット部材１５５の並進運動に伴って、第二リンク１１２、第三リンク１１３及び第四リンク１１４は、第二回転軸１０２を中心として一体的に揺動することとなる。 According to such a configuration, since the second transmission link 156 is supported by the second link 112, the second link 112, the third link 113, and the second link 113 are accompanied by the translational motion of the second nut member 155. The four links 114 swing integrally around the second rotation shaft 102.
　また、ボールねじを用いて駆動力を発生させる構成によれば、高い精度と把持力を実現することができる。 Further, according to the configuration in which the driving force is generated by using the ball screw, high accuracy and gripping force can be realized.
　図１１は、第二駆動ユニットを簡略化して示した模式図である。なお、同図はあくまで原理の説明のための模式図であり、実際のロボットハンド５００を構成する部品の形状等とは必ずしも一致しない点に留意されたい。 FIG. 11 is a schematic diagram showing a simplified second drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
　同図から明らかな通り、第一リンク１１１には、第二回転軸１０２を中心として揺動するよう第二リンク１１２の一端が連結されている。また、ボールねじを構成する第二ねじ軸１５１は第１リンクに対して回転支持されている。 As is clear from the figure, one end of the second link 112 is connected to the first link 111 so as to swing around the second rotation shaft 102. Further, the second screw shaft 151 constituting the ball screw is rotationally supported with respect to the first link.
　この状態において、第二ねじ軸１５１が回転すると、第二ナット軸部材１５５がその軸に沿って並進移動する。 In this state, when the second screw shaft 151 rotates, the second nut shaft member 155 translates along the shaft.
　また、第二伝達リンク１５６の一端は、第二ナット軸部材１５５により並進拘束されており、一方のその他端は第二リンク１１２へと回動自在に支持されている。そのため、第二ナット軸部材１５５が移動すると、第二伝達リンク１５６は、第二ナット軸部材１５５日して図中の矢印の方向に並進移動し、これにより、第二リンクは第二回転軸１０２を中心として揺動する。 Further, one end of the second transmission link 156 is translated and restrained by the second nut shaft member 155, and the other end of the other end is rotatably supported by the second link 112. Therefore, when the second nut shaft member 155 moves, the second transmission link 156 translates in the direction of the arrow in the drawing on the second nut shaft member 155 days, whereby the second link moves to the second rotation shaft. It swings around 102.
　図１２は、開状態にあるロボットハンド５００を右側面から観察したときの、第一～第三の各回転軸１０１～１０３の配置についての説明図である。同図から明らかな通り、第一回転軸１０１と第二回転軸１０２とは直行せず、手掌部９の先端側に対してやや傾いてθ（＜９０°）を為して配置されている。このような構成は人間の手の構造と類似している。すなわち、人間の手においても、第一指（親指）の先端の腹を為す面は、手を開いた状態において、手掌部と平行ではなくやや先端側に傾いて配置されている。また、第二回転軸１０２と第三回転軸１０３とは直行して配置されている。 FIG. 12 is an explanatory diagram of the arrangement of the first to third rotation axes 101 to 103 when the robot hand 500 in the open state is observed from the right side surface. As is clear from the figure, the first rotation axis 101 and the second rotation axis 102 are not orthogonal to each other, and are arranged so as to be slightly tilted with respect to the tip end side of the palm portion 9 so as to form θ (<90 °). .. Such a structure is similar to the structure of the human hand. That is, even in a human hand, the surface forming the belly of the tip of the first finger (thumb) is arranged so as to be slightly inclined to the tip side rather than parallel to the palm portion in the open state. Further, the second rotation shaft 102 and the third rotation shaft 103 are arranged so as to be orthogonal to each other.
　このような構成によれば、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することができる。 According to such a configuration, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
　（第三関節部及び第四関節部）
  次に、図１３～図１６を参照しつつ、第三関節部１２２及び第四関節部に係る構成と動作について詳述する。 (Third joint and fourth joint)
Next, with reference to FIGS. 13 to 16, the configuration and operation of the third joint portion 122 and the fourth joint portion will be described in detail.
　図１３は、第三関節部１２３及び第四関節部１２４の構成について説明するための斜視図である。 FIG. 13 is a perspective view for explaining the configuration of the third joint portion 123 and the fourth joint portion 124.
　同図から明らかな通り、第二リンク１１２の甲部側には、第二リンク１１２の長手方向と略水平に略円筒状の第三サーボモータ１６１が配置されている。第三サーボモータ１６１の下端は所定の支持筐体に支持され、支持筐体からは第三サーボモータ１６１の出力軸に取り付けられた小径の第五平歯車１６２が突出している。この第五平歯車１６２は、相対的に大径の第六平歯車１６３と噛合している。 As is clear from the figure, on the instep side of the second link 112, a substantially cylindrical third servomotor 161 is arranged substantially horizontally with the longitudinal direction of the second link 112. The lower end of the third servomotor 161 is supported by a predetermined support housing, and a small-diameter fifth spur gear 162 attached to the output shaft of the third servomotor 161 projects from the support housing. The fifth spur gear 162 meshes with the sixth spur gear 163 having a relatively large diameter.
　第六平歯車１６３は、その中心でボールねじの一部を形成する図示しない第三ねじ軸１６４と結合されている（図１５参照）。第三ねじ軸１６４には、図示しない第三ナット部材１７５が連結されており（図１５参照）、第三ナット部材１７５は、ボルト１７６を介して、第三ねじ軸１６４の軸方向に摺動可能な第三伝達リンク１６５と連結されている。 The sixth spur gear 163 is coupled to a third screw shaft 164 (not shown) that forms a part of the ball screw at its center (see FIG. 15). A third nut member 175 (not shown) is connected to the third screw shaft 164 (see FIG. 15), and the third nut member 175 slides in the axial direction of the third screw shaft 164 via a bolt 176. It is linked to a possible third transmission link 165.
　第三伝達リンク１６５は、第一連結軸１６７を介して、U字型伝達リンク１７１の一端と連結されている。U字型伝達リンク１７１は、その中腹において第二連結軸１６９にて支持されると共に、第三リンク１１３、第四リンク１１４の内部を通じて第四連結軸１７７にて第四関節部１２４と連結されている。 The third transmission link 165 is connected to one end of the U-shaped transmission link 171 via the first connection shaft 167. The U-shaped transmission link 171 is supported by the second connecting shaft 169 in the middle thereof, and is connected to the fourth joint portion 124 by the fourth connecting shaft 177 through the inside of the third link 113 and the fourth link 114. ing.
　また、第三リンク１１３の付け根は、第三連結軸１７０を介して、第二リンク１１２へと揺動自在に連結されている。また、第三リンク１１３の先端は、第五連結軸１７８を介して第四リンク１１４へと連結されている。 Further, the base of the third link 113 is swingably connected to the second link 112 via the third connecting shaft 170. Further, the tip of the third link 113 is connected to the fourth link 114 via the fifth connecting shaft 178.
　なお、第三サーボモータ１６１から第四連結軸１７７に至る一連の駆動系を以下第三駆動ユニットと称することがある。 A series of drive systems from the third servomotor 161 to the fourth connecting shaft 177 may be hereinafter referred to as a third drive unit.
　以上の構成により、第三関節部１２３及び第四関節部１２４の折り曲げ動作が実現される。 With the above configuration, the bending operation of the third joint portion 123 and the fourth joint portion 124 is realized.
　図１４は、第三回転軸１０３及び第四回転軸１０４周りの回転の様子について表す説明図である。図１４（ａ）は、開状態にあるロボットハンド５００を示しており、図１４（ｂ）は、第三関節部１２３及び第四関節部１２４のみが閉状態のロボットハンド５００を示している。 FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis 103 and the fourth rotation axis 104. FIG. 14A shows the robot hand 500 in the open state, and FIG. 14B shows the robot hand 500 in the closed state only in the third joint portion 123 and the fourth joint portion 124.
　続いて、図１５及び図１６を参照しつつ、第三リンク１１３及び第四リンク１１４の揺動原理について説明する。図１５は、第三駆動ユニットの動作原理について示す説明図である。 Subsequently, the swing principle of the third link 113 and the fourth link 114 will be described with reference to FIGS. 15 and 16. FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit.
　図１５（ａ）から明らかな通り、第一指１が伸展している状態においては、第三ねじ軸１６４は、第二リンク１１２の長手方向と略平行に配置されている。なお、第三ねじ軸１６３には、ボールねじを形成するよう第三ナット部材１７５が取り付けられ、ナット部材１７５には、ボルト１７６を介して第三伝達リンク１６５が連結されている。また、第三ねじ軸１６４を支持する筐体は、第五回転軸１７４を介して回動自在に第二リンク１１２へと連結されている。 As is clear from FIG. 15A, in the state where the first finger 1 is extended, the third screw shaft 164 is arranged substantially parallel to the longitudinal direction of the second link 112. A third nut member 175 is attached to the third screw shaft 163 so as to form a ball screw, and a third transmission link 165 is connected to the nut member 175 via a bolt 176. Further, the housing supporting the third screw shaft 164 is rotatably connected to the second link 112 via the fifth rotation shaft 174.
　この状態において、第三サーボモータ１６１が駆動されると、第五平歯車１６２及び第六平歯車１６３が回転し、第三ねじ軸１６４を回転させる。これにより、第三ナット部材１７５が第三ねじ軸に沿って並進運動する。 In this state, when the third servomotor 161 is driven, the fifth spur gear 162 and the sixth spur gear 163 rotate, and the third screw shaft 164 is rotated. As a result, the third nut member 175 translates along the third screw shaft.
　図１５（ｂ）は、第三ねじ軸１６４の回転により、第三ナット部材１７５が所定量移動した状態を表している。同図から明らかな通り、第三ナット部材１７５が移動したことにより、第三伝達リンク１６５を下から押し上げるような動作となる。このとき、第三ねじ軸１６４等は、第六回転軸１７４を中心として回動する。 FIG. 15B shows a state in which the third nut member 175 is moved by a predetermined amount due to the rotation of the third screw shaft 164. As is clear from the figure, the movement of the third nut member 175 causes an operation of pushing up the third transmission link 165 from below. At this time, the third screw shaft 164 and the like rotate around the sixth rotation shaft 174.
　第三伝達リンク１６５は、第三ナット部材１７５によって下から押し上げられると、U字型伝達リンク１７１の一端を上方向に押し上げることとなる。このとき、U字型伝達リンク１７１はその途中において第二連結軸１６９により第二リンク１１２へと軸支されている。従って、U字型伝達リンク１７１の他端は、押し下げられることとなる。この押し下げられたU字型伝達リンク１７１の他端は、第四連結軸１７７により第四リンク１１４へと連結されているので、第四関節部１２４における折り曲げが生じる。 When the third transmission link 165 is pushed up from below by the third nut member 175, one end of the U-shaped transmission link 171 is pushed up upward. At this time, the U-shaped transmission link 171 is pivotally supported to the second link 112 by the second connecting shaft 169 on the way. Therefore, the other end of the U-shaped transmission link 171 will be pushed down. Since the other end of the pushed-down U-shaped transmission link 171 is connected to the fourth link 114 by the fourth connecting shaft 177, bending at the fourth joint portion 124 occurs.
　また、U字型伝達リンク１７１が第二連結軸１６９を中心として回転すると、第三リンク１１３は、第四リンク１１４に従動するようにして、第三連結軸１７０を中心として揺動する。すなわち、第三関節部１２３における折り曲げが生じる。 Further, when the U-shaped transmission link 171 rotates about the second connecting shaft 169, the third link 113 swings around the third connecting shaft 170 so as to be driven by the fourth link 114. That is, bending occurs at the third joint portion 123.
　図１５（ｃ）は、図１５（ｂ）の状態から、さらに第三ナット部材１７５が第三ねじ軸１６４に対して上昇した場合の状態について示している。同図の状態にあっては、第三ナット部材１７５は、第三ねじ軸１６４の上限の位置に配置されている。また、第三伝達リンク１６５はさらに上方に押し上げられると共に、第三ねじ軸１６４等は、第六回転軸１７４を中心として鉛直方向からさらに傾くよう回動している。 FIG. 15 (c) shows a state in which the third nut member 175 is further raised with respect to the third screw shaft 164 from the state of FIG. 15 (b). In the state of the figure, the third nut member 175 is arranged at the upper limit position of the third screw shaft 164. Further, the third transmission link 165 is further pushed upward, and the third screw shaft 164 and the like are rotated so as to be further tilted from the vertical direction about the sixth rotation shaft 174.
　この伝達リンク１６５の上昇により、U字型伝達リンク１７１の一端はさらに押し上げられ、U字型伝達リンク１７１の他端はさらに押し下げられる。これにより、第四関節部はさらに折り曲げられる。また、これに伴って、第三リンク１１３は、第三連結軸１７０を中心としてさらに揺動する。すなわち、第三関節部１２３における折り曲げが生じる。 By raising the transmission link 165, one end of the U-shaped transmission link 171 is further pushed up, and the other end of the U-shaped transmission link 171 is further pushed down. As a result, the fourth joint is further bent. Along with this, the third link 113 further swings around the third connecting shaft 170. That is, bending occurs at the third joint portion 123.
　このように、ボールねじを用いて駆動力を発生させる構成によれば、高い精度と把持力を実現することができる。 As described above, according to the configuration in which the driving force is generated by using the ball screw, high accuracy and gripping force can be realized.
　図１６は、第三駆動ユニットを簡略化して示した模式図である。なお、同図はあくまで原理の説明のための模式図であり、実際のロボットハンド５００を構成する部品の形状等とは必ずしも一致しない点に留意されたい。 FIG. 16 is a schematic diagram showing a simplified third drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
　同図から明らかな通り、第二リンク１１２には第三ねじ軸１６４が軸支されており、第三ナット部材１７５は、この第三ねじ軸１６４に沿って上下に並進運動する。第三ナット部材１７５は第三伝達リンク１６５の下端と連結されており、第三伝達リンク１６５は、第三ナット部材１７５と共に上下運動する。 As is clear from the figure, the third screw shaft 164 is pivotally supported by the second link 112, and the third nut member 175 translates up and down along the third screw shaft 164. The third nut member 175 is connected to the lower end of the third transmission link 165, and the third transmission link 165 moves up and down together with the third nut member 175.
　第三伝達リンク１６５の上端は、U字型伝達リンク１７１の一端と回動自在に連結されており、U字型伝達リンク１７１の中央付近は第二リンク１１２に対して揺動可能に軸支されているため、第三伝達リンク１６５の一端が押し上げられると、その他端が押し下げられる。 The upper end of the third transmission link 165 is rotatably connected to one end of the U-shaped transmission link 171, and the vicinity of the center of the U-shaped transmission link 171 is swingably supported with respect to the second link 112. Therefore, when one end of the third transmission link 165 is pushed up, the other end is pushed down.
　この押し下げに伴なって、第三連結軸１７７と回動可能に連結された第四リンク１１４は手掌側へと折り曲げられる。また、この折り曲げに伴い、第三リンク１１３も第三連結軸１７０を中心に手掌側へと揺動する。 Along with this pushing down, the fourth link 114 rotatably connected to the third connecting shaft 177 is bent toward the palm side. Further, with this bending, the third link 113 also swings toward the palm side around the third connecting shaft 170.
　このような構成によれば、第三駆動系は第二リンク１１２へと支持されており、また、１つの駆動系により第三関節部１１３及び第四関節部１１４の２つの関節部を駆動させるので、第三リンク１１３及び第四リンク１１４の内部構成を簡略化することができる。これにより、指先を小型化することが出来ると共に、指先にセンサを取り付ける空間等を設けることができる。 According to such a configuration, the third drive system is supported by the second link 112, and one drive system drives two joints of the third joint 113 and the fourth joint 114. Therefore, the internal configurations of the third link 113 and the fourth link 114 can be simplified. As a result, the fingertip can be miniaturized, and a space for attaching the sensor to the fingertip can be provided.
　また、人間の手においても第三関節部１１３及び第四関節部は連動するように折り曲げられることから、自然な折り曲げ動作を実現することができる。すなわち、人間類似の動作を直感的に実現すること等ができるハンド機構等を提供することができる。 Further, even in a human hand, the third joint portion 113 and the fourth joint portion are bent so as to be interlocked with each other, so that a natural bending motion can be realized. That is, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
　（１．３　第一指１以外の指の構成と動作）
  次に、図１７及び図１８を参照しつつ、第一指１以外の指、すなわち、第二指６、第三指７及び第四指８の構成と動作について説明する。第二指６、第三指７及び第四指８の構成は、リンク長等を除いて略同一の構成を備えている。そのため、以下では、特に第三指７の構成を例に説明する。 (1.3 Composition and operation of fingers other than the first finger 1)
Next, with reference to FIGS. 17 and 18, the configurations and operations of fingers other than the first finger 1, that is, the second finger 6, the third finger 7, and the fourth finger 8 will be described. The configurations of the second finger 6, the third finger 7, and the fourth finger 8 have substantially the same configuration except for the link length and the like. Therefore, in the following, the configuration of the third finger 7 will be described as an example.
　図１７は、ロボットハンド５００の第三指７の斜視図である。同図から明らかな通り、第三指は、手掌部９に対して固定される側面略Ｌ字型の支持部品７３７を備えている。 FIG. 17 is a perspective view of the third finger 7 of the robot hand 500. As is clear from the figure, the third finger is provided with a substantially L-shaped side support part 737 fixed to the palm portion 9.
　このように、支持部品７３７がＬ字型形状を備えていることにより、手掌部９において第一子１を含む他の機構のための空間を設けることができる。 As described above, since the support component 737 has an L-shape, it is possible to provide a space for another mechanism including the first child 1 in the palm portion 9.
　支持部品７３７の甲部側には、サーボモータ７３１が配置されている。また、支持部品７３７の上端からは、一リンク７１１、第二リンク７１２及び第三リンク７１３が、それぞれ、第二連結軸７４１、第三連結軸７４８及び第四連結軸７５０を介して連結されている。なお、第二連結軸７４７には、その回転角度を検出するアブソリュートエンコーダ７３８が備えられている。 Servo motor 731 is arranged on the instep side of the support component 737. Further, from the upper end of the support component 737, the one link 711, the second link 712, and the third link 713 are connected via the second connecting shaft 741, the third connecting shaft 748, and the fourth connecting shaft 750, respectively. There is. The second connecting shaft 747 is provided with an absolute encoder 738 that detects the rotation angle thereof.
　なお、同図にあっては、サーボモータ７３１からの駆動力を伝達するリンクは、手掌部９側をカバーする第一カバー７８１と、甲部側をカバーする第二カバー７８０により保護されている。 In the figure, the link that transmits the driving force from the servomotor 731 is protected by the first cover 781 that covers the palm portion 9 side and the second cover 780 that covers the instep portion side. ..
　次に、図１８を参照しつつ、第三指７の動作について説明する。 Next, the operation of the third finger 7 will be described with reference to FIG.
　図１８は、第三指７の動作原理について説明するための説明図である。同図から明らかな通り、サーボモータ７３１が駆動されると、その出力軸に取り付けられた小径の平歯車である第一平歯車７３２が回転する。この回転に伴い、第一平歯車７３２と噛合する大径の平歯車である第二平歯車７３３が従動的に回転する。 FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger 7. As is clear from the figure, when the servomotor 731 is driven, the first spur gear 732, which is a small diameter spur gear attached to the output shaft thereof, rotates. Along with this rotation, the second spur gear 733, which is a large-diameter spur gear that meshes with the first spur gear 732, is driven to rotate.
　第二平歯車７３３が回転するとその中心と連結されボールねじを構成するねじ軸７４１が回転する。この回転を受けて、略ひしゃく型のナット部材７４２は上下に並進運動する。 When the second spur gear 733 rotates, the screw shaft 741 connected to the center of the second spur gear 733 and constituting the ball screw rotates. In response to this rotation, the substantially hishaku-shaped nut member 742 translates up and down.
　このように、ボールねじを用いることにより駆動力を発生させる構成によれば、物体把持の際の把持力を確保することができる。 As described above, according to the configuration in which the driving force is generated by using the ball screw, the gripping force at the time of gripping the object can be secured.
　一方、支持部品７３７の上端には、その中央を第五連結軸７４６により回動可能に支持されたＶ字型伝達リンク７４５が設けられている。Ｖ字型伝達リンク７４５は、その一端において第七連結軸７４４を介してナット部材７４２へと回転自在に連結され、その他端において第二リンク７１２の付け根と連結されている。 On the other hand, at the upper end of the support component 737, a V-shaped transmission link 745 whose center is rotatably supported by the fifth connecting shaft 746 is provided. The V-shaped transmission link 745 is rotatably connected to the nut member 742 at one end thereof via the seventh connecting shaft 744, and is connected to the base of the second link 712 at the other end.
　この状態において、ナット部材７４２が上昇すると、Ｖ字型伝達リンク７４５のナット部材７４２との連結端が引き上げられることとなる。また、Ｖ字型伝達リンク７４５は第五連結軸７４６の辺りを中心として回転し、逆側の端部、すなわち、Ｖ字型伝達リンク７４５と第二リンク７１２の付け根との連結端が押し下げられることとなる。これにより、第一リンク７１１は前方へと折り曲がる。 In this state, when the nut member 742 is raised, the connecting end of the V-shaped transmission link 745 with the nut member 742 is pulled up. Further, the V-shaped transmission link 745 rotates around the fifth connecting shaft 746, and the opposite end, that is, the connecting end between the V-shaped transmission link 745 and the base of the second link 712 is pushed down. It will be. As a result, the first link 711 bends forward.
　また、上述の通り、第二リンク７１２は第三連結軸７４８により回動自在に第一リンク７１１に対して軸支されていることから、Ｖ字型伝達リンク７４５により第二連結リンクがその根元において押し下げられると、第二リンクは第三連結軸７４８を中心として揺動する。 Further, as described above, since the second link 712 is rotatably supported by the third connecting shaft 748 with respect to the first link 711, the second connecting link is rooted by the V-shaped transmission link 745. When pushed down, the second link swings about the third connecting shaft 748.
　なお、このとき、サーボモータの下端を支える支持板７３５は、回動自在に支持部品７３７の下端に連結されていることから、ナット部材７４２から受ける反力により回動するよう構成されている。 At this time, since the support plate 735 that supports the lower end of the servomotor is rotatably connected to the lower end of the support component 737, it is configured to rotate by the reaction force received from the nut member 742.
　すなわち、以上の構成によれば、一つのサーボモータからの駆動力を利用して、第一関節部７２１と第二関節部７２２を連動させて折り曲げることができる。 That is, according to the above configuration, the first joint portion 721 and the second joint portion 722 can be interlocked and bent by using the driving force from one servomotor.
　なお、同図の例にあっては、第二リンク７１２と第三リンク７１３との間は固定されている。しかしながら、本発明はこのような構成に限定されず、第三関節部７１３もさらに連動するような構成としてもよい。 In the example shown in the figure, the distance between the second link 712 and the third link 713 is fixed. However, the present invention is not limited to such a configuration, and the third joint portion 713 may also be configured to be further interlocked.
　（２．変形例）
  上述の実施形態においては、ロボットハンド１５の構成として、手掌部９から人間の手の第二指（示指）に相当する第二指６、人間の手の第三指（中指）に相当する第三指７、及び、人間の手の第四指（薬指）に相当する第四指８が延出するものとしたが、本発明はこのような構成に限定されない。従って、例えば、小指に相当する第五指をさらに備えてもよいし、それ以上の指を備えてもよい。また、それとは逆に、第三指と第四子など、より少ない本数であってもよい。 (2. Modification example)
In the above-described embodiment, the robot hand 15 is configured from the palm portion 9 to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) corresponding to the third finger (middle finger) of the human hand. It is assumed that the three fingers 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend, but the present invention is not limited to such a configuration. Therefore, for example, a fifth finger corresponding to the little finger may be further provided, or more fingers may be provided. On the contrary, the number may be smaller, such as the third finger and the fourth child.
　また、ロボットハンド１５の各指の関節数は上述の実施形態に限定されず、上述の関節数よりも多くても少なくてもよい。 Further, the number of joints of each finger of the robot hand 15 is not limited to the above-described embodiment, and may be larger or smaller than the above-mentioned number of joints.
　以上、本発明の実施形態について説明したが、上記実施形態は本発明の適用例の一部を示したに過ぎず、本発明の技術的範囲を上記実施形態の具体的構成に限定する趣旨ではない。また、上記の実施形態は、矛盾が生じない範囲で適宜組み合わせ可能である。 Although the embodiments of the present invention have been described above, the above-described embodiments show only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above-described embodiments. do not have. Further, the above embodiments can be appropriately combined as long as there is no contradiction.
　本発明は、少なくともロボットハンド、ロボット等を製造する産業において利用可能である。 The present invention can be used at least in an industry that manufactures robot hands, robots, and the like.
　１　第一指
　６　第二指
　７　第三指
　８　第四指
　９　手掌部
　５００　ロボットハンド 1 1st finger 6 2nd finger 7 3rd finger 8 4th finger 9 Palm part 500 Robot hand

Claims (17)

  1. 　手掌部と、
    　前記手掌部の側部から延出する第一指と、
    　前記手掌部の先端から延出する先端指と、を備えるハンド機構であって、
    　前記第一指は、
    　　前記手掌部に対して軸支され、前記先端指の延出方向と略平行な第一軸を中心として揺動する、第一リンクと、
    　　前記第一リンクに対して軸支され、前記第一軸に対して垂直な方向からやや傾けた第二軸を中心として揺動する、第二リンクと、を備える、ハンド機構。     With the palm
    The first finger extending from the side of the palm,
    A hand mechanism including a tip finger extending from the tip of the palm portion.
    The first finger is
    A first link that is pivotally supported by the palm and swings around a first axis that is substantially parallel to the extension direction of the tip finger.
    A hand mechanism comprising a second link that is pivotally supported by the first link and swings about a second axis that is slightly tilted from a direction perpendicular to the first axis.
  2. 　前記第一軸は、さらに、前記手掌部に対して平行に配置されている、請求項１に記載のハンド機構。 The hand mechanism according to claim 1, wherein the first axis is further arranged in parallel with the palm portion.
  3. 　前記第二リンクに軸支され、前記第二軸と垂直な第三軸を中心として揺動する第三リンクをさらに備える、請求項１又は２に記載のハンド機構。 The hand mechanism according to claim 1 or 2, further comprising a third link that is pivotally supported by the second link and swings around a third axis perpendicular to the second axis.
  4. 　前記第三リンクに軸支され、前記第三リンクと連動して揺動する第四リンクをさらに備える、請求項３に記載のハンド機構。 The hand mechanism according to claim 3, further comprising a fourth link that is pivotally supported by the third link and swings in conjunction with the third link.
  5. 　前記第一指は屈曲することで、屈曲した前記先端指の先端面と対向可能に構成されている、請求項１～３に記載のハンド機構。 The hand mechanism according to claim 1, wherein the first finger is configured to be able to face the tip surface of the bent tip finger by bending.
  6. 　前記第一リンクを駆動する第一駆動ユニットは、前記手掌部に支持されている、請求項１～５に記載のハンド機構。 The hand mechanism according to claim 1 to 5, wherein the first drive unit for driving the first link is supported by the palm portion.
  7. 　前記第二リンクを駆動する第二駆動ユニットは、第一リンクに支持されている、請求項１～６に記載のハンド機構。 The hand mechanism according to claim 1 to 6, wherein the second drive unit for driving the second link is supported by the first link.
  8. 　前記第三リンク及び第四リンクを駆動させる第三駆動ユニットは、第二リンクに支持されている、請求項４に記載のハンド機構。 The hand mechanism according to claim 4, wherein the third drive unit for driving the third link and the fourth link is supported by the second link.
  9. 　前記第一駆動ユニットは、ボールねじを用いて駆動される、請求項６に記載のハンド機構。 The hand mechanism according to claim 6, wherein the first drive unit is driven by using a ball screw.
  10. 　前記第二駆動ユニットは、ボールねじを用いて駆動される、請求項７に記載のハンド機構。 The hand mechanism according to claim 7, wherein the second drive unit is driven by using a ball screw.
  11. 　前記第三駆動ユニットは、ボールねじを用いて駆動される、請求項８に記載のハンド機構。 The hand mechanism according to claim 8, wherein the third drive unit is driven by using a ball screw.
  12. 　各前記先端指は、手掌部に配置される先端指用駆動ユニットにより、連動して屈曲又は伸展する四節リンク構造を備えている、請求項１に記載のハンド機構。 The hand mechanism according to claim 1, wherein each of the tip fingers has a four-knot link structure that is interlocked to bend or extend by a drive unit for tip fingers arranged in the palm portion.
  13. 　前記先端指用駆動ユニットは、ボールねじを用いて駆動される、請求項１２に記載のハンド機構。 The hand mechanism according to claim 12, wherein the tip finger drive unit is driven by using a ball screw.
  14. 　前記先端指は、第二指、第三指及び第四指から成る三本の指である、請求項１～１３に記載のハンド機構。 The hand mechanism according to claim 1, wherein the tip finger is three fingers including a second finger, a third finger, and a fourth finger.
  15. 　前記第三指の前記手掌部への付け根部分の回転軸は、前記第二指の前記手掌部への付け根部分の回転軸及び前記第四指の前記手掌部への付け根部分の回転軸と鋭角を為している、請求項１４に記載のハンド機構。 The rotation axis of the base portion of the third finger to the palm portion is sharp with the rotation axis of the base portion of the second finger to the palm portion and the rotation axis of the base portion of the fourth finger to the palm portion. The hand mechanism according to claim 14.
  16. 　請求項１～１５に記載のハンド機構を備えたロボットハンド。 A robot hand provided with the hand mechanism according to claims 1 to 15.
  17. 　請求項１～１５に記載のハンド機構を備えたロボット。 A robot provided with the hand mechanism according to claims 1 to 15.
PCT/JP2021/037871 2020-12-22 2021-10-13 Hand mechanism, robot hand, and robot WO2022137747A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010064684A1 (en) * 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 Robot hand
WO2012039479A1 (en) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 Humanoid electric hand

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010064684A1 (en) * 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 Robot hand
WO2012039479A1 (en) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 Humanoid electric hand

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