CN107073720A - Manipulator Hand and manipulator - Google Patents
Manipulator Hand and manipulator Download PDFInfo
- Publication number
- CN107073720A CN107073720A CN201480082825.0A CN201480082825A CN107073720A CN 107073720 A CN107073720 A CN 107073720A CN 201480082825 A CN201480082825 A CN 201480082825A CN 107073720 A CN107073720 A CN 107073720A
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- CN
- China
- Prior art keywords
- section
- manipulator
- end portion
- input shaft
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Abstract
Manipulator Hand possesses：Pedestal；Grasping claw；Link pedestal and Chebyshev's linkage of grasping claw；It is fixed on the housing of pedestal；Can rotationally be supported in pedestal and housing at least one and to the input shaft of Chebyshev's linkage input power；With the output shaft parallel with input shaft and it is supported in the motor of housing；It is disposed in coaxial upper with input shaft and can be rotationally supported in the power transmission shaft of housing；The Poewr transmission mechanism of power is transmitted from output axial drive shaft；And the deceleration device being arranged between power transmission shaft and input shaft, motor, power transmission shaft and deceleration device are arranged at the same side from Poewr transmission mechanism.
Description
Technical field
The present invention relates to the Manipulator Hand of the end effector as the tip end portion for being installed on manipulator arm and tool
The manipulator of the standby Manipulator Hand.
Background technology
In the past, the industrial robot of the end effector suitable for operation is installed using the tip end portion in manipulator arm.
It is used as one kind of end effector, it is known that with two fingers and hold the Manipulator Hand of workpiece（So-called fixture
（gripper））.This Manipulator Hand is to utilize the Chebyshev's connecting rod for converting rotational motion to linear motion
（Chebyshev linkage）The Manipulator Hand of mechanism, by present applicant motion in patent document 1.
The finger of Manipulator Hand described in patent document 1 is made up of Chebyshev's linkage, Chebyshev's connecting rod
Mechanism possesses：The dynamic section of original being driven in rotation centered on the base end part for being supported in base station；Base end part can rotationally with base
The driven section that platform links；Base end part rotationally can link with the tip end portion of former dynamic section and pars intermedia can rotationally with driven section
Tip end portion link middle node.Moreover, finger tip portion is provided with the tip end portion of the middle node of Chebyshev's linkage, with
The motion track in the finger tip portion and the line part in the motion track of all shapes acquired by the middle node of Chebyshev's linkage
Corresponding form determines the rotating range of former dynamic section.
Prior art literature：
Patent document：
Patent document 1：International Publication WO2010/007795 publications.
The content of the invention
Problems to be solved by the invention：
The Manipulator Hand of Chebyshev's linkage of above-mentioned patent document 1 and the fixture shape with two fingers is make use of,
With the dynamic section of two originals, each former dynamic section possesses motor.The rotary shaft of the dynamic section of two originals is parallel to be arranged, two motor centralized configurations
The side of the base station of former dynamic section is supported in axle.Usually, deceleration device is used with motor combination, and motor is connected with deceleration device
（On i.e. coaxial）Configuration.It is dry in order to avoid the drive division including these motors and the finger of deceleration device and manipulator arm
Disturb, the movable range of limit mechanical hand hand.Therefore, it is desirable to which the drive division of finger is as far as possible small.
The Manipulator Hand of Chebyshev's linkage of above-mentioned patent document 1 is make use of, the stroke of the finger tip of finger is big
In the length of fixed knot, it is possible to finger is minimized relative to the stroke of required finger tip.It has been achieved in that finger
Miniaturization Manipulator Hand in, it is expected that caused by the miniaturization of the drive division of finger Manipulator Hand is overall and enter
One step is minimized.
The present invention is produced in view of the above circumstances, and the purpose is to realize to make use of the manipulator of Chebyshev's linkage
The further miniaturization of hand.
The means solved the problems, such as：
According to the Manipulator Hand of a form of the invention, it is characterised in that possess：Pedestal；Grasping claw；Link the pedestal and institute
State Chebyshev's linkage of grasping claw；It is fixed on the housing of the pedestal；Can rotationally be supported in the pedestal and
In the housing at least one and to the input shaft of Chebyshev's linkage input power；With with the input shaft
Parallel output shaft and the motor for being supported in the housing；It is disposed in coaxial upper with the input shaft and can be rotationally supported in
The power transmission shaft of the housing；The Poewr transmission mechanism of power is transmitted from the output axial direction power transmission shaft；It is described with being arranged at
Deceleration device between power transmission shaft and the input shaft.
Also, according to the manipulator of a form of the invention, it is characterised in that possess：Manipulator master with manipulator arm
Body；It is installed on the described Manipulator Hand of the tip end portion of the manipulator arm；With the control manipulator arm and institute
State the controller of the action of Manipulator Hand.
According to the Manipulator Hand of said structure and possess the manipulator of the Manipulator Hand, can be by motor with slowing down
Device is configured side by side.Therefore, compared with by motor and the Manipulator Hand of deceleration device arranged in series, housing can be reduced
Size（The size in parallel direction especially with the output shaft of motor）.And then the miniaturization of Manipulator Hand can be sought.
Invention effect：
In accordance with the invention it is possible to seek the further miniaturization of Manipulator Hand.
Brief description of the drawings
Fig. 1 is the substantially side view of the multi-joint manipulator for the Manipulator Hand for possessing the embodiment according to the present invention
Figure；
Fig. 2 is the figure for the general configuration for showing Manipulator Hand；
Fig. 3 is the figure of the finger for the Manipulator Hand for showing that finger tip is closed mode；
Fig. 4 is the figure of the finger for the Manipulator Hand for showing that finger tip is open mode；
Fig. 5 is Fig. 2 of the construction for the finger for showing Manipulator Hand V direction views；
Fig. 6 is Fig. 2 of the construction for the drive division for showing finger VI-VI to sectional view；
Fig. 7 is the figure of the structure for the control system for showing multi-joint manipulator；
Fig. 8 A in Fig. 8 are the figures of the Manipulator Hand according to this embodiment, Fig. 8 B be according to servo motor, deceleration device with
And brake apparatus is configured at the figure of the Manipulator Hand of the comparative example on coaxial；
Fig. 9 is to illustrate general Chebyshev's linkage and the figure of its trend.
Embodiment
Then, it is described with reference to the embodiment of the present invention.Fig. 1 is that possess the machinery according to an embodiment of the invention
The substantially side view of the multi-joint manipulator 10 of hand hand.As shown in figure 1, according to the multi-joint of an embodiment of the invention machinery
Hand 10 is substantially by the manipulator main body 2 with manipulator arm 20；It is installed on the manipulator hand of the tip end portion of manipulator arm 20
Portion 1；Constituted with the controller 3 of the action of control multi-joint manipulator 10.Each knot of multi-joint manipulator 10 described further below
Structure key element.
First, manipulator main body 2 is described in detail.Base station 30 and support are possessed according to the manipulator main body 2 of this embodiment
In the manipulator arm 20 of base station 30.Manipulator arm 20 has：Vertical arm rotary shaft 21, arm antero posterior axis 22, the water of level
The wrist rotary shaft 24 that flat arm upper and lower axle 23 and arm upper and lower axle 23 are substantially orthogonal and the hand that wrist rotary shaft 24 is substantially orthogonal
Wrist bending axis 25 and the wrist torsional axis 26 being substantially orthogonal with wrist flex axle 25.That is, manipulator main body 2 is that six axles are vertically more
Articulated robot.But, the manipulator main body 2 for being applicable the present invention is not limited to this or with manipulator arm 20
.Manipulator main body 2 for example can also be vertical the articulated robot hand or articulated type manipulator beyond six axles
Deng.
Manipulator arm 20 possesses：The first arm 31 that can rotationally link around arm rotary shaft 21 with base station 30；Can be around
The second arm 32 that arm antero posterior axis 22 rotationally links with the tip end portion of the first arm 31；Can be around arm upper and lower axle 23 rotationally with second
The 3rd arm 33 that the tip end portion of arm 32 links；The 4th arm 34 that can be rotationally connected around wrist rotary shaft 24 with the 3rd arm 33；
The wrist 35 that can be rotationally connected around wrist bending axis 25 with the tip end portion of the 4th arm 34；With around wrist torsional axis 26 and wrist
The 35 hand adapters 36 linked.Manipulator main body 2 is also equipped with watching around each each arm key element 31~35 of rotation driving of axle 21~26
Take motor 61~66（Fig. 7）Etc. drive mechanism.
Then, Manipulator Hand 1 is described in detail.Fig. 2 is the figure for the general configuration for showing Manipulator Hand 1, and Fig. 3 is to show
Finger tip is the figure of the finger 42 of the Manipulator Hand 1 of closed mode, and Fig. 4 is the Manipulator Hand 1 for showing finger tip for open mode
Finger 42 figure, Fig. 5 is Fig. 2 of the construction for the finger 42 for showing Manipulator Hand 1 V direction views, and Fig. 6 is to show finger 42
Drive division 43 construction Fig. 2 VI-VI to sectional view.
As figures 2-6, Manipulator Hand 1 possesses：It is fixed on the pedestal 41 of the hand adapter 36 of manipulator main body 2；
It is supported in a pair of finger 42 of pedestal 41；With the drive division 43 of driving a pair of finger 42.The finger tip of a pair of finger 42（Tip end portion）
On be separately installed with grasping claw 44.Being sticked in the contact portion with workpiece of grasping claw 44 has padded coaming 45.A pair of finger 42
In, a finger 42 is the finger 42A of the active system driven by the power transmitted from servo motor 81 described later, another finger
42 be by the power of the finger 42A transmission from active system（In more detail, that is transmitted from input shaft 46 to driven system's input shaft 47 is dynamic
Power）The finger 42B of the driven system driven.In the specification, finger 42A and the finger of driven system that intended distinction is not actively
During 42B, finger 42 is expressed as.
Pedestal 41 is formed as section U-shaped（Fig. 5）, with the bottom wall 411 for being fixed on hand adapter 36 and from bottom wall 411
The a pair of sidewalls 412,412 erected.The housing for the structural element for accommodating drive division 43 is fixed with one of a pair of sidewalls 412
40.For two parallel input shafts from drive division 43 to the input power of finger 42（Input shaft 46 and driven system's input shaft
47）Through this side wall 422, two input shafts 46,47 are prominent into pedestal 41.
Each finger 42 is formed as including the linkage of Chebyshev's linkage 5.In other words, grasping claw 44 is by bag
The linkage for including Chebyshev's linkage 5 is supported in pedestal 41.
Fig. 9 is to illustrate general Chebyshev's linkage 5 and its figure of trend.As shown in figure 9, Chebyshev's connecting rod machine
Structure 5 saves 51, fixed knot 50,53 4 sections of driven section 52 and middle node to possess former move（Connecting rod）Linkage.The dynamic section of original
51 base end part rotationally can link with the base end part of fixed knot 50, the base end part of driven section 52 can rotationally with fixed knot
50 tip end portion links, and the base end part that the tip end portion that original moves section 51 can be rotationally with middle node 53 links, the tip of driven section 52
End rotationally can link with the pars intermedia of middle node 53.If the length using former dynamic section 51 is " 1 ", ratio is：Fixed knot
50 length is that " 2 ", the length of driven section 52 are that " 2.5 ", the length of middle node 53 are " 5 ".The Chebyshev of said structure connects
In linkage 5, the motion track 500 of the tip end portion of during original one centered on base end part rotation of dynamic section 51, middle node 53
For：Curve part in some face between the line part 501 almost parallel with fixed knot 50 and the end for linking the line part 501
All shapes of the 502 substantially D fonts formed.The anglec of rotation using the dynamic section 51 of the original of raised state is 0 degree, with rotation counterclockwise
Direction is positive direction of rotation, then with former dynamic section 51 from 0 degree to the corresponding tip of middle node 53 of the rotary motion 180 degree
The motion track 500 of end is above-mentioned line part 501.
Fig. 2~6 are back to, a pair of finger 42 is formed as using the center of Manipulator Hand 1 as axial symmetry（Each paper of Fig. 2~4
It is symmetrical on face）.The structure of a finger 42 described further below, because representing corresponding structure with identical reference marks
Part, so omitting the explanation of the structure on another finger 42.
Finger 42 possesses：Original is moved and saves 51, driven section 52, middle node 53, saves 55, centre from dynamic auxiliary section 54, middle auxiliary
Section 57 is combined with reference to section 56 and tip end portion.Moreover, linking pedestal 41 with the linkage of grasping claw 44 by these sections 51~57
And constituted as the pedestal 41 of fixed knot function.Tip end portion is combined and is provided with junction surface 57a on section 57, and grasping claw 44 is borrowed
Fastener (not shown) etc. is helped to be removably secured to junction surface 57a.
The base end part of the dynamic section 51 of original is fixed on input shaft 46（Or driven system's input shaft 47）, and with input shaft 46（Or it is driven
It is input shaft 47）Unitary rotation.The tip end portion of the dynamic section 51 of original can rotationally with middle node 53 by the first joint shaft 71 base
End links.The base end part of driven section 52, which is fixed on, can rotationally be supported in the second joint axle of a pair of sidewalls 412 of pedestal 41
72.The tip end portion of driven section 52 rotationally can connect by the 3rd joint shaft 73 with the length direction centre position of middle node 53
Knot.The tip end portion of middle node 53 can rotationally be combined section 57 by the 4th joint shaft 74 with tip end portion and be linked.
Input shaft 46, the first joint shaft 71, second joint axle 72, the 3rd joint shaft 73 and each axle of the 4th joint shaft 74
The bearing of trend in axle center is parallel.Moreover, during using the distance of the joint shaft 71 of input shaft 46 and first as " 1 ", with input shaft 46 and
The distance of two joint shafts 72 is " 2 ", and the distance of the first joint shaft 71 and the 3rd joint shaft 73 is " 2.5 ", second joint axle 72 and
The distance of 3rd joint shaft 73 is " 2.5 ", and the distance of the 3rd joint shaft 73 and the 4th joint shaft 74 is determined respectively for the form of " 2.5 "
The ratio of the length of section.But, strictly speaking the distance of the specification axis and axle is the distance from axle center to axle center.
Chebyshev's linkage 5 moves section 51, driven section 52, middle node 53 by the original of said structure and is used as fixation
Save the part composition of the pedestal 41 of function.Moreover, with the shifting of the tip end portion of the middle node 53 of Chebyshev's linkage 5
Dynamic scope（Motion track）With the movement as all shapes acquired by Chebyshev's linkage 5, Chebyshev's linkage 5
Track 500（Fig. 9）In line part 501（Fig. 9）Corresponding form, determines former dynamic section 51（That is input shaft 46 or driven system is inputted
Axle 47）Slewing area.
Base end part from dynamic auxiliary section 54 is between input shaft 46 and second joint axle 72, and being fixed on rotationally to support
In the 5th joint shaft 75 of a pair of sidewalls 412 of pedestal 41.Input shaft 46, the joint shaft 75 of second joint axle 72 and the 5th are arranged
In on substantially same straight line.The straight line for linking the input shaft 46 and second joint axle 72 is referred to as " benchmark for convenience of description
Line L ".Rotationally section 56 can be combined from the tip end portion of dynamic auxiliary section 54 with centre by the 6th joint shaft 76 to link.Centre knot
Close section 56 rotationally can link by the 3rd joint shaft 73 with driven section 52.In addition, as shown in figure 5, in the 3rd joint shaft 73
Direction of principal axis on, the inner side of driven section 52 is equipped with middle node 53, in addition, the inner side of middle node 53 is equipped and middle combines section
56.Consequently, it is possible to which the densification of finger 42 can be sought.
In above-mentioned, the distance and the 3rd joint shaft 73 and the 6th joint shaft 76 of the joint shaft 75 of second joint axle 72 and the 5th
Distance it is equal.Also, the distance and the 5th joint shaft 75 and the 6th joint shaft 76 of the joint shaft 73 of second joint axle 72 and the 3rd
Apart from equal.That is, four section parallel linkages 48 of base portion side by driven section 52, from dynamic auxiliary section 54, it is middle combine section 56 with
And the part composition of pedestal 41.
The base end part of centre auxiliary section 55 rotationally can combine section 56 with centre by the 6th joint shaft 76 and link.Also,
The tip end portion of centre auxiliary section 55 can rotationally be combined section 57 by the 7th joint shaft 77 with tip end portion and be linked.In above-mentioned, the
Three joint shafts 73 are equal with the distance of the 7th joint shaft 77 with the distance and the 4th joint shaft 74 of the 6th joint shaft 76.Also, the 3rd
Joint shaft 73 is equal with the distance of the 7th joint shaft 77 with the distance and the 6th joint shaft 76 of the 4th joint shaft 74.That is, tip end portion
Four section parallel linkages 49 of side combine section 56 and top end by the tip end portion side of middle node 53, middle auxiliary section 55, centre
Portion combines section 57 and constituted.
As shown in fig. 6, the drive division 43 of finger 42 possesses：Servo motor 81；Transmit the power from servo motor 81
Output gear 82；The driven gear 83 engaged with output gear 82；It is dynamic from servo motor 81 to output gear 82 with being arranged at
Deceleration device 84 and brake apparatus 85 on power bang path.
Servo motor 81, its output shaft 811 is supported in being arranged with the almost parallel form of two input shafts 46,47
Housing 40.The rotation position for detecting servo motor 81 and the detector 86 of rotary speed are provided with servo motor 81.
Detector 86 is, for example, rotary encoder.Detector 86 amplifies by detector cable 86a and controller 3 described later and servo
Device 97 is electrically connected.
The power transmission shaft 90 of housing 40 can be rotationally supported in by being provided with the extended line of the input shaft 46 of housing 40.Input
Axle 46 is configured on coaxial with power transmission shaft 90, the output shaft 811 of servo motor 81 and the bearing of trend in each axle center of power transmission shaft 90
It is almost parallel.
Assembly has driving belt pulley 87 on the output shaft 811 of servo motor 81, corresponding driven with the driving belt pulley 87
The assembly of belt pulley 88 is in power transmission shaft 90.Driving belt pulley 87 and the transmission belt 89 that ring-type is equipped with driven pulley 88.By this
A little belt pulley 87,88 and transmission belt 89 formation belt Poewr transmission mechanisms 8, are passed from the Poewr transmission mechanism 8 to power transmission shaft 90
Pass the output of servo motor 81.
Brake apparatus 85 is provided with power transmission shaft 90.It is by coil electricity according to the brake apparatus 85 of this embodiment
And the electromagnetic brake that the electromagnetic force produced drives, braked when non-energized, braking maneuver is released during energization.By such
The action of brake apparatus 85, even in Manipulator Hand 1（Or multi-joint manipulator 10）Force stop when etc. cut off to manipulator
During the power supply of hand 1, Manipulator Hand 1 can also continue to hold workpiece.
On from servo motor 81 to the power transfer path of output gear 82, the back segment of brake apparatus 85 is provided with deceleration dress
Put 84.In more detail, between power transmission shaft 90 and input shaft 46, i.e. on from power transmission shaft 90 to the power transfer path of input shaft 46
It is provided with deceleration device 84.The input unit of deceleration device 84 links with power transmission shaft 90, and power is from power transmission shaft 90 to deceleration device 84
Input.The output section of deceleration device 84 links with output gear 82, and the rotary power slowed down by deceleration device 84 is from output gear
82 outputs.In addition, according to the deceleration device 84 of this embodiment, for by the wave producer and output gear that link with power transmission shaft 90
Take turns 82 flexible gears linked, be fixed on the harmonic gear drive that the rigid gear of housing 40 is formed.
Deceleration device 84 and brake apparatus 85 and servo motor 81 are configured in housing 40 side by side.In this embodiment,
Between the direction of principal axis length for making servo motor 81 and the servo motor 81 of the connection of detector 86, deceleration device 84 and system are equipped
Dynamic device 85.
Output gear 82 can rotationally be supported in housing 40 with driven gear 83.Output gear 82 and driven gear 83
For the wheel of same shape, input shaft 46 is integrally provided to output gear 82, driven system's input shaft 47 be integrally provided to from
Moving gear 83.Rotary power is transferred to output gear 82 so as to which output gear 82 rotates from servo motor 81, then is engaged with
Driven gear 83 also with the identical anglec of rotation of output gear 82 reversely rotate.That is, input shaft 46 and driven system's input shaft 47
Simultaneously and with the mutually opposing rotation of the identical anglec of rotation.Whereby, the finger tip and a pair of grasping claw of the finger 42 of Manipulator Hand 1
44 simultaneously and as such to being located remotely from each other or direction close to each other movement.
Then, controller 3 is illustrated.Fig. 7 is the figure of the structure for the control system for showing multi-joint manipulator 10.In the figure,
The structure for the control system that the control with Manipulator Hand 1 is associated is particularly illustrated, other structures are eliminated.As shown in fig. 7, to
The servo amplifier 91 of the supply driving current of each servo motor 61~66 of each axle 21~26 of rotation driving machinery hand main body 2~
96 are connected with controller 3.Also, detector 61a~66a such as encoder is provided with each servo motor 61~66, to control
Device 3（Or controller 3 and each servo motor 61~66）The servo motor 61 that input is detected by detector 61a~66a~
66 rotation position.Also, supplying the servo amplifier 97 and controller 3 of driving current to the servo motor 81 of Manipulator Hand 1
Connection.The servo amplifier 97 is by the rotation position of the servo motor 81 detected from detector 86 to controller 3（Or controller
3 and each servo motor 61~66）Input.In addition, detection output gear 82, driven gear 83, input shaft 46 and driven system
The rotational position detector 98 of any one rotation position is connected with controller 3 in input shaft 47.Examined by by the rotation position
The rotation position that device 98 is detected is surveyed, the finger tip and a pair of grasping claw 44 of a pair of finger 42 of Manipulator Hand 1 can be speculated
Position.
Controller 3 is computer, with the storage part such as the calculation processing units such as CPU, ROM, RAM（It is not shown）.Storage part
In the program, the various fixed datas that are stored with performed by calculation processing unit etc..Calculation processing unit carries out the data with external device (ED)
Transmitting-receiving.Also, calculation processing unit carries out the input of the detection signal from various sensors or control signal is controlled symmetrically to each
Output.Controller 3 is read and performed by calculation processing unit the softwares such as the program that is stored in storage part and be used for controlling many
The processing of the action of joint Manipulator 10.In addition, controller 3 can be performed everywhere by the centralized Control of single computer
Reason or the decentralised control cooperated by multiple computers perform each processing.And or controller 3 is by miniature control
Device processed, programmable logic controllers（PLC）Deng composition.
By 3 configuration processor of controller noted above when so that the form that Manipulator Hand 1 is moved according to program to target location,
Based on the rotation position detected by detector 61a~66a, believe from controller 3 to each output control of servo amplifier 91~96
Number.Each servo amplifier 91~96 supplies driving current corresponding with control signal to servo motor 61~66.Also, according to journey
Sequence for make a pair of grasping claw 44 close to and hold the finger tip that workpiece closes finger 42（Fig. 3）, to make a pair of grasping claw 44 remote
And unclamp workpiece and open the finger tip of finger 42（Fig. 4）Form, based on being examined by detector 86 and rotational position detector 98
The rotation position measured, from controller 3 to the output control signal of servo amplifier 97.Servo amplifier 97 will be with control signal pair
The driving current answered is supplied to servo motor 81.In this way, with manipulator arm 20 similarly, for a pair of finger 42, controller 3
Also with the position of a pair of finger 42, orientation, posture etc. is automatically controlled as controlled quentity controlled variable, progress as following desired value（Watch
Clothes control）.
As described above, the Manipulator Hand 1 of this embodiment possesses：Pedestal 41, grasping claw 44, link pedestal 41 and handle
Hold Chebyshev's linkage 5 of pawl 44；It is fixed on the housing 40 of pedestal 41；To the input power of Chebyshev's linkage 5
Input shaft 46；Servo motor 81 with the output shaft 811 parallel with input shaft 46；The biography on coaxial is disposed in input shaft 46
Moving axis 90；The Poewr transmission mechanism 8 of power is transmitted from output shaft 811 to power transmission shaft 90；Be arranged at power transmission shaft 90 and input shaft
Deceleration device 84 between 46.In above-mentioned, input shaft 46 is able to rotationally be supported in housing 40 with power transmission shaft 90, servo horse
Housing 40 is supported in up to 81.
In the Manipulator Hand 1 of said structure, the output shaft 811 of power transmission shaft 90 and input shaft 46 and servo motor 81 is flat
Row is set, and deceleration device 84 is configured on coaxial with the power transmission shaft 90 and input shaft 46, so servo horse can be configured side by side
Up to 81 and deceleration device 84.Fig. 8 A show to be shown according to servo motor according to the Manipulator Hand 1 of this embodiment, Fig. 8 B
81st, the Manipulator Hand 101 of the comparative example of deceleration device 84 and the arranged in series of brake apparatus 85 on coaxial.Compare Fig. 8 A with
Fig. 8 B can be clear and definite, according to servo motor 81 and the housing of the Manipulator Hand 101 of the comparative example of the arranged in series of deceleration device 84
40 ', longer than the housing 40 of the Manipulator Hand 1 according to this embodiment Δ corresponding with the direction of principal axis length of servo motor 81
H.In this way, compared with the Manipulator Hand 101 according to comparative example, the Manipulator Hand 1 according to this embodiment can be reduced
The size of the housing 40 of the middle drive division 43 that will accommodate finger 42（The parallel direction especially with the direction of principal axis of servo motor 81
Size）.Manipulator Hand 1 possesses the finger 42 for seeking to minimize and be made up of Chebyshev's linkage 5, energy as described above
Enough minimize drive division 43 and its housing 40, the further miniaturization overall thus, it is possible to realize Manipulator Hand 1.
Also, the Manipulator Hand 1 of this embodiment is also equipped with：The paired driven system with the grasping claw 44 of foregoing active system
Grasping claw 44；Link Chebyshev's linkage 5 of the grasping claw 44 of driven system and the driven system of pedestal 41；With to driven system
Driven system's input shaft 47 of the parallel driven system of the input shaft 46 of the input power of Chebyshev's linkage 5；With from input shaft 46
The gear mechanism of power is transmitted to driven system's input shaft 47 of driven system（Output gear 82 and driven gear 83）.
In the Manipulator Hand 1 of said structure, two Chebyshev's linkages 5 are driven by a servo motor 81（Hand
Refer to 42）.Even if in this way, Chebyshev's linkage 5（Finger 42）Quantity increase servo motor 81 quantity will not also change,
So can suppress to accommodate the maximization of the housing 40 of the drive division 43 of finger 42.
Also, the Manipulator Hand 1 of this embodiment is also equipped with the brake apparatus 85 being arranged on power transmission shaft 90.
In the Manipulator Hand 1 of said structure, the output shaft 811 of power transmission shaft 90 and servo motor 81 be arranged in parallel, slows down
Device 84 and brake apparatus 85 are configured on coaxial with the power transmission shaft 90, so servo motor 81 can be configured with subtracting side by side
Speed variator 84 and brake apparatus 85.Therefore, with the Manipulator Hand 101 according to comparative example（Fig. 8 B）Compare, appearance can be reduced
Receive finger 42 drive division 43 housing 40 size（The size in parallel direction especially with the direction of principal axis of servo motor 81）.
Also, Chebyshev's linkage 5 of the Manipulator Hand 1 of this embodiment possesses：Base end part is fixed on input shaft
46（Or driven system's input shaft 47）The dynamic section 51 of original；Base end part can rotationally be supported in the driven section 52 of pedestal 41；And cardinal extremity
The middle node 53 that the tip end portion of tip end portion link and pars intermedia and driven section 52 of the portion with former dynamic section 51 links.The Manipulator Hand
1 possesses：Pedestal 41 can be rotationally supported in by including the four section parallel linkages 48 of driven section 52, base end part for formation
From dynamic auxiliary section 54, and, link the tip end portion of driven section 52 with combining section 56 in the middle of tip end portion from dynamic auxiliary section 54.
The Manipulator Hand 1 is also equipped with：Include middle node 53 and the middle four section parallel linkages 49 for combining section 56 for being formed
, base end part with it is middle combine that section 56 links in the middle of auxiliary section 55, and, it is auxiliary to the tip end portion and centre that link middle node 53
The tip end portion of section 55 is helped to enter the tip end portion combination section 57 of joining line.Moreover, grasping claw 44, which is fixed on tip end portion, combines section 57.
In addition, in the Manipulator Hand 1 of this embodiment, the dynamic section 51 of original（That is input shaft 46 or driven system's input shaft 47）
Make all shape motion tracks 500 acquired by the tip end portion of middle node 53 of Chebyshev's linkage 5（Fig. 9）In line part 501
（Fig. 9）Rotated as moving range as the tip end portion of middle node 53 in the range of predetermined angular.
In the Manipulator Hand 1 of said structure, pass through the effect of Chebyshev's linkage 5, the tip end portion of middle node 53
（That is the finger tip of finger 42）Movement is maintained a certain distance with datum line L.Meanwhile, save parallel linkage by the four of base portion side
48 and tip end portion side four section parallel linkages 49 effect, positioned at finger 42 finger tip tip end portion combine section 57 and
This grasping claw 44 is fixed on to move in parallel with datum line L.As described above, grasping claw 44 can keep a spacing with datum line L
From while moved in parallel with datum line L.In this way, grasping claw 44 will not change from datum line L distance, so easily handle
The position of pawl 44 is held, also, the holding of the workpiece by a pair of grasping claw 44 can be carried out easily.
Be explained above suitable for the present invention embodiment, but above-mentioned Manipulator Hand 1 configuration example if doing as follows
Change.
According in the Manipulator Hand 1 of above-mentioned embodiment, input shaft 46 and driven system's input shaft 47 are supported in housing
40 but it is also possible to be at least one being supported in pedestal 41 and housing 40.
Also, according in the Manipulator Hand 1 of above-mentioned embodiment, the dynamic of power is transmitted from output shaft 811 to power transmission shaft 90
Force transfer mechanism 8 is belt Poewr transmission mechanism, but Poewr transmission mechanism 8 is not limited to this.For example, it is also possible to be as from defeated
Shaft 811 transmits the Poewr transmission mechanism 8 of power to power transmission shaft 90, is formed using the drive gear by engaging and driven gear
Geared power transmission mechanism, or by drive sprocket, the driven chain gear teeth and it is wound in the chain that the chain of these sprockets is formed
Bar formula Poewr transmission mechanism.
Also, according in the Manipulator Hand 1 of above-mentioned embodiment, being respectively arranged with servo motor 81 and brake apparatus 85.d
It however, it can be and be not provided with servo motor 81 and brake apparatus 85, and braked using having for these functions is provided simultaneously with
The servo motor of device function replaces servo motor 81.Now, the brake apparatus 85 on power transmission shaft 90 is omitted.
Also, according in the Manipulator Hand 1 of above-mentioned embodiment, in order that the finger 42B of driven system and the hand of actively system
Refer to 42A action synchronization action, and the gear mechanism formed by output gear 82 and the driven gear 83 being engaged with is set.Such as
This is preferably by output gear 82 on the basis of the finger 42A and the finger 42B synchronous errors of driven system that reduction is actively
Directly engaged with driven gear 83, it may also be there is at least more than one between output gear 82 and driven gear 83
Gear.Again or between output gear 82 and driven gear 83, or, between driven gear 83 and driven system's input shaft 47
It there are the interrupted switching mechanism of the power such as clutch.Whereby, a finger 42 can only be made（The finger 42A for being actively）Work.
Also, possessing the actively finger 42A of system and the finger 42B of driven system according to the Manipulator Hand 1 of above-mentioned embodiment
Each one, but the finger 42B of more than one driven system can also be increased.For example, it is also possible to be one driven system of increase
Finger 42B, is used as the Manipulator Hand 1 with three fingers 42.Now, so that the number of driven system's input shaft 47 also with finger 42
Amount accordingly increases, and the form for engaging the driven gear 83 and output gear 82 that are wholely set with driven system's input shaft 47,
Form drive division 43.
Symbol description：
1 Manipulator Hand；
2 manipulator main bodys；
3 controllers；
5 Chebyshev's linkages；
8 Poewr transmission mechanisms；
10 multi-joint manipulators；
20 manipulator arms；
40 housings；
41 pedestals；
42 fingers；
（The finger that 42A is actively）；
（The finger of the driven systems of 42B）；
43 drive divisions；
44 grasping claw；
46 （It is actively）Input shaft；
47 （Driven system）Input shaft；
48th, 49 4 section parallel linkage；
50 fixed knots；
51 former dynamic sections；
52 driven sections；
53 middle nodes；
54 from dynamic auxiliary section；
Auxiliary section in the middle of 55；
Section is combined in the middle of 56；
57 tip end portions combine section；
61~66 servo motors；
81 servo motors；
811 output shafts；
82 output gears；
83 output gears；
84 deceleration devices；
85 brake apparatus；
86 detectors；
90 power transmission shafts；
91~97 servo amplifiers；
98 rotational position detectors.
Claims (6)
1. a kind of Manipulator Hand, it is characterised in that possess：
Pedestal；
Grasping claw；
Link Chebyshev's linkage of the pedestal and the grasping claw；
It is fixed on the housing of the pedestal；
Can rotationally be supported in the pedestal and the housing at least one and to Chebyshev's linkage
The input shaft of input power；
With the output shaft parallel with the input shaft and it is supported in the motor of the housing；
It is disposed in coaxial upper with the input shaft and can be rotationally supported in the power transmission shaft of the housing；
The Poewr transmission mechanism of power is transmitted from the output axial direction power transmission shaft；With
It is arranged at the deceleration device between the power transmission shaft and the input shaft.
2. Manipulator Hand according to claim 1, it is characterised in that be also equipped with：
The grasping claw of paired driven system with the grasping claw；
Link Chebyshev's linkage of the grasping claw of the driven system and the driven system of the pedestal；
To the input of Chebyshev's linkage input power, parallel with the input shaft driven system of the driven system
Axle；With
The gear mechanism of power is transmitted from the input shaft of the input axial direction driven system.
3. Manipulator Hand according to claim 1 or 2, it is characterised in that
It is also equipped with the brake apparatus being arranged on the power transmission shaft.
4. the Manipulator Hand according to any one in claims 1 to 3, it is characterised in that
Chebyshev's linkage has：Base end part is fixed on the dynamic section of original of the input shaft；Base end part can be rotationally
It is supported in the driven section of the pedestal；Link and pars intermedia and the driven section with the tip end portion of base end part and the former dynamic section
The middle node that tip end portion links,
It is also equipped with：
The pedestal can be rotationally supported in by including the four section parallel linkages of the driven section, base end part for formation
From dynamic auxiliary section, and, the tip end portion for linking the driven section is saved with being combined in the middle of the tip end portion from dynamic auxiliary section；
With
For formed include the middle node and the centre with reference to section four section parallel linkages, base end part with it is described
Auxiliary is saved in the middle of centre combination section link, and, link the tip end portion of the middle node and the top end of the middle auxiliary section
The tip end portion in portion combines section,
The grasping claw is fixed on the tip end portion and combines section.
5. the Manipulator Hand according to any one in Claims 1 to 4, it is characterised in that
Chebyshev's linkage has：Base end part is fixed on the dynamic section of original of the input shaft；Base end part can be rotationally
It is supported in the driven section of the pedestal；Link and pars intermedia and the driven section with the tip end portion of base end part and the former dynamic section
The middle node that tip end portion links,
Line part in the motion track for making all shapes acquired by the tip end portion of the middle node turns into the tip of the middle node
In the range of the predetermined angular of the moving range of end, the input shaft rotation.
6. a kind of manipulator, it is characterised in that possess：
Manipulator main body with manipulator arm；
It is installed on tip end portion, according to any one in Claims 1 to 5 the manipulator hand of the manipulator arm
Portion；With
Control the controller of the action of the manipulator arm and the Manipulator Hand.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2014/005363 WO2016063314A1 (en) | 2014-10-22 | 2014-10-22 | Robot hand and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107073720A true CN107073720A (en) | 2017-08-18 |
| CN107073720B CN107073720B (en) | 2019-10-15 |
Family
ID=55760390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480082825.0A Active CN107073720B (en) | 2014-10-22 | 2014-10-22 | Manipulator Hand and manipulator |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6499669B2 (en) |
| KR (1) | KR101964253B1 (en) |
| CN (1) | CN107073720B (en) |
| WO (1) | WO2016063314A1 (en) |
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| CN112399906A (en) * | 2018-08-30 | 2021-02-23 | 川崎重工业株式会社 | Buffer device and robot with same |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
| CN112672861A (en) * | 2019-03-22 | 2021-04-16 | 欧姆龙株式会社 | Robot, robot control method, and program |
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| CN108972603B (en) * | 2018-08-15 | 2021-11-02 | 清华大学 | Sliding base compensation type linear parallel clamping self-adaptive robot finger device |
| IT201900005562A1 (en) * | 2019-04-10 | 2020-10-10 | Qbrobotics S R L | ROBOTIC HAND |
| WO2020208463A1 (en) * | 2019-04-10 | 2020-10-15 | Qbrobotics S.R.L. | A robotic hand |
| IT201900005564A1 (en) * | 2019-04-10 | 2020-10-10 | Qbrobotics S R L | ROBOTIC HAND |
| JP7303702B2 (en) * | 2019-08-21 | 2023-07-05 | 住友重機械工業株式会社 | robot |
| JP2022100878A (en) | 2020-12-24 | 2022-07-06 | 三星電子株式会社 | Robot hand |
| KR102458371B1 (en) * | 2021-07-29 | 2022-10-24 | 서승구 | Grip device for articulated robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2016063314A1 (en) | 2016-04-28 |
| CN107073720B (en) | 2019-10-15 |
| JP6499669B2 (en) | 2019-04-10 |
| KR20170044179A (en) | 2017-04-24 |
| KR101964253B1 (en) | 2019-04-01 |
| JPWO2016063314A1 (en) | 2017-09-07 |
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