JP2006062019A - Robot hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand, preventing interference with another member such as a wire or a gear in the periphery of a joint and breakage due to metal fatigue caused by repeated rotation of the joint, preventing any increase in size, and forming a plurality of signal paths through the joint. <P>SOLUTION: A signal line 37 of a pressure sensitive sensor of a fingertip part 4 is trunk-connected by a potentiometer 23 of the joint 7, and the signal line 37 is led to the frame side of a palm. Therefore, in rotating the fingertip part 4 in the periphery of the joint 7, the signal line 37 is prevented from interfering with the wire or the pulley in the periphery of the joint 7, further the signal line 37 will not be bent, and there is no fear of causing breakage of the signal line 37 due to metal fatigue. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot hand such as a multi-joint manipulator, a multi-finger hand, and a gripper, and more particularly to a robot hand having a potentiometer that detects a rotation angle of a joint.

  In recent years, various studies have been conducted in the field of robotics. With respect to robot hands that have been developed as industrial manipulators, new technologies for mounting on humanoid robots are being developed.

  In this type of robot hand, it is necessary to pass a plurality of signal paths through the joint of a manipulator corresponding to a finger. The simplest method is to pass multiple wires through the joint, but the wires repeatedly bend as the wires interfere with other members such as wires and gears around the joint, and the joint rotates repeatedly. There is a problem of disconnection due to metal fatigue.

  For this reason, in Patent Document 1, for example, a link mechanism that follows the arm is provided between the robot body and the arm, the link mechanism is formed in a hollow shape, and a power line, a signal line, and the like are passed through the link mechanism. The power line, the signal line, and the like are prevented from interfering with surrounding parts and members.

In Patent Document 2, a slip ring is provided around the joint axis, and a signal path via the joint is formed by bringing a conductive brush into contact with the slip ring, or a rotary transformer is provided around the joint axis. A signal path through the joint is formed by a rotary transformer so that no lead wire is used.
Japanese Unexamined Patent Publication No. 7-328982 JP 2003-117877 A

  However, in Patent Document 1, although the power supply line, the signal line, and the like can be prevented from interfering with peripheral components and members, the power supply line, the signal line, and the like inside the link mechanism are repeated with the operation of the link mechanism. Since it is bent, the problem that the power line, the signal line, etc. are disconnected due to metal fatigue cannot be solved.

  Furthermore, when applied to a manipulator corresponding to a finger of a robot hand, it is necessary to provide a link mechanism that follows the manipulator, resulting in an increase in size and complexity of the robot hand.

  Further, in Patent Document 2, since a slip ring, a conductive brush, or a rotary transformer is provided around the joint axis, it is impossible to avoid an increase in size of the joint, and it cannot be applied to a manipulator corresponding to a finger of a robot hand. . Even if it can be applied, the robot hand itself increases in size, making it impossible to perform human manual work.

  Therefore, the present invention has been made in view of the above-described conventional problems, and does not interfere with other members such as wires and gears around the joint, and does not break due to metal fatigue caused by repeated joint rotation. Another object of the present invention is to provide a robot hand capable of forming a plurality of signal paths via joints without causing an increase in size.

  In order to solve the above problems, the present invention provides a potentiometer that detects a rotation angle of a joint in the joint, and controls the rotation of the joint based on the rotation angle detected by the potentiometer. A rotating part that rotates around the axis of the joint, and a fixed part that is fixed around the axis of the joint. A plurality of sets of electrodes that maintain mutual contact between the electrodes are provided, and at least one set of electrodes is interposed in another signal path different from the signal path of the potentiometer to form another signal path via the joint. Yes.

  Further, in the present invention, one of the rotating portion side electrode and the fixed portion side electrode that maintains mutual contact is an annular one centering on the joint axis, and the other is in sliding contact with the annular electrode. .

  Further, in the present invention, the signal path is formed via the joint by interposing the electrode on the rotating part side and the electrode on the fixed part side maintaining the mutual contact in the signal path of the potentiometer.

  Moreover, in this invention, each terminal which contacts each electrode by the side of a rotation part is provided in the axis | shaft of the joint which rotates with a rotation part.

  According to the present invention, a plurality of sets of electrodes that maintain mutual contact between the rotating portion side electrode and the fixing portion side electrode are provided on the rotating portion and the fixed portion regardless of the rotation and stop of the joint. The other signal path is formed through the joint by interposing at least one set of electrodes in another signal path different from the signal path of the potentiometer. Therefore, the signal path can be formed via the joint without passing the lead through the joint, and the lead may interfere with other members such as wires and gears around the joint, or the lead may be broken due to metal fatigue. Nothing will happen. Further, since the rotating part and the fixed part of the potentiometer are used, the joint part does not increase in size and the robot hand does not increase in size.

  Usually, in the control of a robot hand, it is essential to detect the rotation angle of the joint. Therefore, it is only necessary to use an existing potentiometer. An increase in the number of points and cost can also be suppressed.

  In order to maintain mutual contact between the electrode on the rotating part side and the electrode on the fixed part side, for example, one electrode is formed in an annular shape around the axis of the joint, and the other electrode is slidably contacted with the annular electrode. You can do it.

  Further, according to the present invention, the potentiometer signal path may be formed via a joint by interposing the rotating part side electrode and the fixed part side electrode maintaining mutual contact in the signal path of the potentiometer. As a result, the signal path of the potentiometer can be partially shared with other signal paths, and the signal path can be simplified and the maintainability can be improved. Common signal paths include a ground path and a voltage supply path.

  Further, according to the present invention, the respective terminals that contact the respective electrodes on the rotating unit side are provided on the shaft of the joint that rotates together with the rotating unit. In this case, when the joint shaft and the rotating portion are combined, each terminal of the shaft contacts each electrode on the rotating portion side, and each terminal is connected to each signal path through each electrode on the rotating portion side. For this reason, simplification of an assembly process, improvement of maintainability, etc. can be aimed at.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a perspective view showing one finger in Example 1 of the robot hand of the present invention.

The finger 1 has hollow finger barrel portions 2 and 3 and a hollow fingertip portion 4, and the finger barrel portion 2 is placed against a palm frame (not shown) by a shaft 5 a corresponding to the joint 5. And rotatably supported,
The finger barrel 3 is rotatably supported with respect to the finger barrel 2 by the shaft 6a corresponding to the joint 6, and the fingertip portion 4 is rotatably supported with respect to the finger barrel 3 by the shaft 7a corresponding to the joint 7. ing.

  In FIG. 1, idler pulleys, wires, and the like of the respective axes described later are omitted.

  FIG. 2 is a cross-sectional view showing the motors 11, 12, 13 on the palm frame, the finger barrels 2, 3, the fingertips 4 and the like partially cut away. As shown in FIG. 2, the palm frame is provided with a pair of support pieces 10 a for supporting the shaft 5 a corresponding to the joint 5. A driven pulley 14 that rotates together with the shaft 5 a is connected and fixed to the shaft 5 a, and the idler pulleys 15 and 16 are rotatably supported with respect to the shaft 5 a and the driven pulley 14. Further, the shaft 5 a is also a detection shaft of the potentiometer 17. Since the coupling piece 2 a of the finger barrel 2 is connected and fixed to the driven pulley 14, the finger barrel 2 rotates together with the driven pulley 14 around the joint 5.

  In addition, a shaft 6 a corresponding to the joint 6 is supported on the distal end side of the finger barrel 2. A driven pulley 18 that rotates together with the shaft 6a is connected and fixed to the shaft 6a, and an idler pulley 19 is rotatably supported with respect to the shaft 6a and the driven pulley 18. The axis 6a is also a detection axis of the potentiometer 21. Since the coupling piece 3 a of the finger barrel 3 is connected and fixed to the driven pulley 18, the finger barrel 3 rotates together with the driven pulley 18 around the joint 6.

  Further, a shaft 7 a corresponding to the joint 7 is supported on the distal end side of the finger barrel 3. A driven pulley 22 that rotates together with the shaft 7a is connected and fixed to the shaft 7a. The axis 6a is also a detection axis of the potentiometer 23. Since the coupling piece 4 a of the fingertip portion 4 is connected and fixed to the driven pulley 22, the fingertip portion 4 rotates together with the driven pulley 22 around the joint 7.

  FIG. 3 is a side view showing the motors 11, 12, 13 and the finger torso 2 on the palm frame. As shown in FIGS. 1 and 3, two wires 25 are stretched between the motor pulley 24 of the output shaft of the motor 11 and the driven pulley 14 of the shaft 5a.

  FIG. 4 is a perspective view showing the shape of each wire 25 in a stretched state. As shown in FIG. 4, the wires 25 are crossed and stretched between the pulleys 24, 14, and one end P <b> 1 is fixed to the motor pulley 24, and the other end P <b> 2 is fixed to the driven pulley 14. .

  When the output shaft of the motor 11 rotates, the motor pulley 24 rotates, and the rotation of the motor pulley 24 is transmitted to the driven pulley 14 via each wire 25, and the driven pulley 14 rotates together with the shaft 5a and the connecting piece 2a. The part 2 rotates around the joint 5. At this time, the potentiometer 17 detects the rotation angle of the shaft 5 a of the joint 5. The joint 5 is rotated by the motor 11 so that the rotation angle of the shaft 5a detected by the potentiometer 17 becomes a target value.

  FIG. 5 is a side view showing the motors 11, 12, 13 and the finger barrels 2, 3, etc. on the frame partially cut away. As shown in FIGS. 1 and 5, two wires 27 are stretched between the motor pulley 26 of the motor 12 output shaft, the idler pulley 15 of the shaft 5a, and the driven pulley 18 of the shaft 6a. 27 is passed through the hollow finger barrel 2.

  FIG. 6 is a perspective view showing the shape of each wire 27 in a stretched state. As shown in FIG. 6, the wires 27 intersect between the pulleys 26 and 15, and also intersect and stretch between the pulleys 15 and 18, and have one end P <b> 1 fixed to the motor pulley 26 and the other end thereof. P2 is fixed to the driven pulley 18.

  When the output shaft of the motor 12 rotates, the motor pulley 26 rotates, and the rotation of the motor pulley 26 is transmitted to the idler pulley 15 and the driven pulley 18 via each wire 27, the idler pulley 15 idles, and the driven pulley 18 rotates on the shaft. It rotates with 6a and the connection piece 3a, and the finger trunk | drum 3 rotates around the joint 6. FIG. At this time, the potentiometer 21 detects the rotation angle of the shaft 6 a of the joint 6. The joint 6 is rotated by the motor 12 so that the rotation angle of the shaft 6a detected by the potentiometer 21 becomes a target value.

  FIG. 7 is a side view showing the motors 11, 12, 13, the finger body parts 2, 3, the fingertip part 4, and the like on the frame partially cut away. As shown in FIGS. 1 and 7, two wires 29 are provided on the motor pulley 28 of the motor 13 output shaft, the idler pulley 16 of the shaft 5a, the idler pulley 19 of the shaft 6a, and the driven pulley 22 of the shaft 7a. Each wire 29 is passed through the hollow finger barrels 2 and 3.

  FIG. 8 is a perspective view showing the shape of each wire 29 in a stretched state. As shown in FIG. 8, the wires 29 are crossed between the pulleys 28 and 16, and are stretched so as to be crossed between the pulleys 16 and 19 and between the pulleys 19 and 22, respectively, and one end P1 thereof is connected to the motor pulley 28. The other end P <b> 2 of these is fixed to the driven pulley 22.

  When the output shaft of the motor 13 rotates, the motor pulley 28 rotates, and the rotation of the motor pulley 28 is transmitted to the idler pulley 16, the idler pulley 19, and the driven pulley 22 through the wires 29, and the idler pulleys 16 and 19 are transmitted. As a result, the driven pulley 22 rotates together with the shaft 7a and the connecting piece 4a, and the fingertip portion 4 rotates around the joint 7. At this time, the potentiometer 23 detects the rotation angle of the shaft 7 a of the joint 7. The joint 7 is rotated by the motor 13 so that the rotation angle of the shaft 7a detected by the potentiometer 23 becomes a target value.

  FIG. 9 is a block diagram schematically showing a control system for the finger 1. The arithmetic processing unit 31 sets rotation target angles of the joints 5, 6, and 7 of the finger 1 and instructs the drive control unit 32 to set these rotation target angles. The drive control unit 32 includes the rotation angles of the shafts 5a, 6a, and 7a of the joints 5, 6, and 7 detected by the potentiometers 17, 21, and 23, and the motors 11, 12, and 13 detected by the encoders 35. The motors 11, 12, 13 are driven so that the rotation angles of the shafts 5 a, 6 a, 7 a of the joints 5, 6, 7 a become the rotation target angles of the joints 5, 6, 7 Control. As a result, the finger 1 bends and stretches.

  In addition, the sensor information acquisition unit 33 collects the detection output of the pressure-sensitive sensor 36 provided around the fingertip unit 4 and notifies the calculation processing unit 31 of the collected output. The arithmetic processing unit 31 corrects the rotation target angle of each joint 5, 6, 7 based on the detection output of the pressure sensor 36 and instructs the drive control unit 32. For example, when the object is gripped by the finger 1, the rotation target angle of each joint 5, 6, 7 is corrected according to the detection output of the pressure sensor 36 corresponding to this gripping force, and the gripping force of the robot hand Adjust.

  Furthermore, the arithmetic processing unit 31 reads and writes various information necessary for this control with respect to the recording unit 34 when the finger 1 is controlled.

  In general, the robot hand has a plurality of fingers 1. These fingers 1 are controlled to bend and stretch, and hold or release the object.

  In the robot hand having such a configuration, for example, the arithmetic processing unit 31, the drive control unit 32, the sensor information acquisition unit 33, the recording unit 34, and the like are provided on the palm frame side. For this reason, the signal path of the potentiometer, the signal path of the pressure sensor, and the like must be guided to the palm frame, and for this purpose, each signal path and the like must be formed via the joint of the finger 1.

  Therefore, in this embodiment, the signal path of the pressure sensor is formed through a potentiometer. For example, as shown in FIG. 10, a signal line 37 of a pressure sensor (not shown) provided on the fingertip portion 4 is relay-connected by the potentiometer 23 of the joint 7, and the signal line 37 is led to the palm frame side. ing.

  Not only the signal line 37 of the pressure sensor but also the signal line 38 of the potentiometer 23 itself is led from the potentiometer 23 to the palm frame side.

  Next, the configuration of the potentiometer 23 will be described in detail. FIG. 11 is a perspective view showing the potentiometer 23. As shown in FIG. 11, the potentiometer 23 includes a fixed portion 41 that is fixed to the inner wall surface of the finger barrel portion 3, and a rotating portion 42 that fits and supports the shaft 7 a of the joint 7.

  The shaft 7 a of the joint 7 is passed through the fixed portion 41 and the rotating portion 42, the fixing portion 41 is fixed to the inner wall surface of the finger barrel portion 3, and the rotating portion 42 is fitted and supported on the shaft 7 a of the joint 7. Therefore, as described above, when the motor pulley 28 is rotated, the driven pulley 22 is rotated together with the shaft 7a and the connecting piece 4a, and the fingertip portion 4 is rotated around the joint 7, the rotating portion 42 is also rotated around the shaft 7a and the connecting piece 4a. Rotate with. Moreover, the fixing | fixed part 41 does not rotate. At this time, the rotation angle of the fingertip portion 4 around the joint 7 is equal to the rotation angle of the rotation portion 42 with respect to the fixed portion 41. The potentiometer 23 detects the rotation angle of the rotation unit 42 with respect to the fixed unit 41 as the rotation angle of the fingertip unit 4 around the joint 7.

  FIG. 12 is a perspective view showing the fixing portion 41. FIG. 13A is a plan view showing the surface of the fixing portion 41. As shown in FIG. 12 and FIG. 13 (a), the fixing portion 41 has a flat plate shape, substantially half of which is formed in a semicircular shape, and has a hole 41a in the approximate center thereof, and has a linear end. Eight terminals 43a to 43h are provided. The shaft 7a of the joint 7 is rotatably passed through the hole 41a of the fixed portion 41.

  Six concentric conductive patterns 44a to 44f centering on the hole 41a are formed on the surface of the fixed portion 41, and an arc-shaped resistance pattern 45 is formed on the outer side.

  The fixing portion 41 has a multilayer substrate structure, and three wiring patterns 46a to 46c as shown in FIG. 13B are formed in one layer thereof. The two wiring patterns 46a and 46c are connected to both ends of the arc-shaped resistance pattern 45 through the respective through holes 47a and 47c, and connect both ends of the arc-shaped resistance pattern 45 and the two terminals 43a and 43c. Further, one wiring pattern 46b is connected to the annular conductive pattern 44a through the through hole 47b, and connects between the annular conductive pattern 44a and the terminal 43b.

  Further, five wiring patterns 46d to 46h as shown in FIG. 13C are formed on the other layer of the multilayer substrate structure of the fixing portion 41. The five wiring patterns 46d to 46h are connected to the annular conductive patterns 44b to 44f through the through holes 47d to 47h, and connect the annular conductive patterns 44b to 44f and the terminals 43d to 43h, respectively.

  In FIGS. 13B and 13C, the annular conductive patterns 44a to 44f and the arc-shaped resistance pattern 45 are shown in a transparent manner so that the positional relationship with the wiring patterns 46a to 46h is easily understood. Further, the back surface of the fixing portion 41 is flat as shown in FIG. 13 (d), and is in contact with the inner wall surface of the finger barrel portion 3.

  14A and 14B are perspective views showing the front surface and the back surface of the rotating unit 42, respectively. FIG. 15A is a plan view showing the surface of the rotating unit 42. As shown in FIGS. 14A, 14B, and 15A, the rotating portion 42 has a disc shape and has a fitting portion 51 in the center thereof, and 5 in the vicinity of the fitting portion 51. Each terminal 52a-52e is provided. The hole 51 a of the fitting portion 51 is fitted and supported through the shaft 7 a of the joint 7. Specifically, the edge of the hole 51a of the fitting portion 51 is partially formed in a straight line, and the shaft 7a of the joint 7 is formed in substantially the same cross-sectional shape as the hole 51a, and the shaft 7a of the joint 7 is fitted. It fits in the hole 51a of the joint part 51, and fixes.

  Further, the rotating portion 42 has a multilayer substrate structure, and six wiring patterns 53a to 53f as shown in FIG. Furthermore, seven contact pins 54a to 54g as shown in FIG. The wiring pattern 53a has a substantially annular shape along the rotating portion 42, is connected to the two contact pins 54a and 54b through the through holes 55a and 55b, and connects the contact pins 54a and 54b. The other wiring patterns 53b to 53f are connected to the contact pins 54c to 54g through the through holes 55c to 55g, respectively, and connect the contact pins 54c to 54g and the terminals 52a to 52e.

  13B and 13C, the annular conductive patterns 44a to 44f and the arc-shaped resistance pattern 45 of the fixed portion 41 superimposed on the rotating portion 42 are shown in perspective, and the contact pins 54a to 54c are illustrated. The positional relationship with 54g is made easy to understand.

  As apparent from FIG. 15 (c), on the back surface of the rotating part 42, the distances from the center of the rotating part 42 to the contact pins 54a to 54g are respectively the annular conductive patterns 44a to 44f and the arc resistance on the surface of the fixed part 41. It is made equal to the radius of the pattern 45. Further, the shaft 7a of the joint 7 passes through the center of both the fixed portion 41 and the rotating portion 42, and the back surface of the rotating portion 42 is superimposed on the surface of the fixed portion 41. Therefore, regardless of the rotation angle of the rotating part 42 with respect to the fixed part 41, the contact pins 54a to 54g on the back surface of the rotating part 42 are in contact with the annular conductive patterns 44a to 44f and the arc-shaped resistance pattern 45 on the surface of the fixed part 41, respectively. To do.

  However, since there is a missing portion in the arc-shaped resistance pattern 45, the contact pin 54a does not contact the arc-shaped resistance pattern 45 at this missing portion.

  FIG. 16 shows a circuit formed by contact of the contact pins 54 a to 54 g on the back surface of the rotating portion 42 with the annular conductive patterns 44 a to 44 f and the arc-shaped resistance pattern 45 on the surface of the fixed portion 41.

  In FIG. 16, the two contact pins 54a and 54b on the back surface of the rotating portion 42 are in contact with the arc-shaped resistance pattern 45 and the annular conductive pattern 44a on the surface of the fixed portion 41, respectively, and are interconnected through the wiring pattern 53a. The contact pin 54a on the back surface of the rotating portion 42 is connected to the terminal 43b of the fixed portion 41 through the wiring pattern 53a, the contact pin 54b, the annular conductive pattern 44a on the surface of the fixed portion 41, and the wiring pattern 46b. Furthermore, each terminal 43a, 43c of the fixed portion 41 is connected to both ends of the annular conductive pattern 44a.

  Here, when the fingertip portion 4 rotates around the joint 7, the shaft 7a of the joint 7 rotates, and the rotating portion 42 also rotates. At this time, the contact pin 54a on the back surface of the rotating portion 42 rotates while being in sliding contact with the arc-shaped resistance pattern 45 on the surface of the fixed portion 41. Each resistance value changes. Therefore, these resistance values correspond to the rotation angle of the fingertip portion 4 around the joint 7.

  Further, as apparent from FIG. 16, both ends of the contact pin 54 a and the arc-shaped resistance pattern 45 on the back surface of the rotating portion 42 are connected to the terminals 43 a, 43 b, 43 c of the fixed portion 41. Accordingly, the resistance value between the terminals 43a and 43b of the fixing portion 41 and the resistance value between the terminals 43b and 43c are the resistance values between the contact pin 54a on the back surface of the rotating portion 42 and both ends of the arc-shaped resistance pattern 45, respectively. This corresponds to the rotation angle of the fingertip portion 4 around the joint 7.

  For this reason, if each terminal 43a, 43b, 43c of the fixing | fixed part 41 is connected to the signal wire | line 38 of the potentiometer 23, and this signal wire | line 38 is led and connected to the drive control part 32 by the side of the palm frame, the drive control part 32 will be provided. Can determine the rotation angle of the fingertip portion 4 around the joint 7 through the terminals 43 a, 43 b, 43 c and the signal line 38 of the fixing portion 41. For example, a constant voltage is applied to the terminal 43a through the signal line 38, the terminal 43c is grounded, and the rotation angle of the fingertip portion 4 around the joint 7 is determined based on the voltage change between the terminals 43b and 43c. To do.

  Further, in FIG. 16, the five contact pins 54 c to 54 g on the back surface of the rotating portion 42 are in contact with the annular conductive patterns 44 b to 44 f on the surface of the fixed portion 41, respectively. And each terminal 52a-52e of the rotation part 42 back surface passes through each wiring pattern 53b-53f, each contact pin 54c-54g, each cyclic | annular conductive pattern 44b-44f on the surface of the fixing | fixed part 41, and each wiring pattern 46d-46h. It is connected to each terminal 43d-43h of the fixing | fixed part 41, respectively.

  Here, as shown in FIG. 17, even when the fingertip portion 4 rotates around the joint 7 and the rotating portion 42 rotates, the contact pins 54 c to 54 g on the back surface of the rotating portion 42 are connected to the annular conductive patterns on the surface of the fixed portion 41. Since it rotates while slidingly contacting 44b-44f, the contact between each contact pin 54c-54g and each cyclic | annular conductive pattern 44b-44f is maintained.

  For this reason, the signal line 37 of the pressure sensor of the fingertip part 4 is connected to the terminals 52a to 52e on the back surface of the rotating part 42, and the signal line 37 led from the joint 7 of the fingertip part 4 to the palm frame side is fixed. If connected to the terminals 43d to 43h of 41, the signal line 37 can be relay-connected by the potentiometer 23 and led to the arithmetic processing unit 31 on the palm frame side. The arithmetic processing unit 31 corrects the rotation target angle of each joint 5, 6, 7 based on the detection output of the pressure sensor and instructs the drive control unit 32.

  As described above, in this embodiment, the signal line 37 of the pressure sensor of the fingertip portion 4 is relay-connected by the potentiometer 23 of the joint 7, and the signal line 37 is guided to the palm frame side. For this reason, when the fingertip portion 4 around the joint 7 is rotated, the signal line 37 does not interfere with the wires and pulleys around the joint 7, the signal line 37 is not bent, and the signal line 37 due to metal fatigue There is no risk of disconnection.

  Moreover, since each signal line is relay-connected by the joint 7 using the fixed portion 41 and the rotating portion 42 of the potentiometer 23, the joint 7 does not increase in size and the robot hand does not increase in size. .

  In each of the other joints 5 and 6, the same configuration as the potentiometer 23 is applied as the potentiometers 17 and 21, whereby the signal lines can be relay-connected by the potentiometers 17 and 21. However, in the potentiometer 21, it is necessary to relay-connect the signal line 37 of the pressure sensor and the signal line 38 of the potentiometer 23. In the potentiometer 17, the signal line 37 of the pressure sensor, the signal line 38 of the potentiometer 23, and the potentiometer. Therefore, the number of the annular conductive patterns and contact pins of the potentiometer 21 is larger than that of the potentiometer 23, and the number of the annular conductive patterns and contact pins of the potentiometer 17 is larger than that of the potentiometer 21. There is a need.

  Moreover, you may change the connection between each terminal 43a-43h of the fixing | fixed part 41, and each terminal 52a-52e of the rotation part 42. FIG. For example, as shown in FIG. 18, after the terminals 43a and 43c of the fixed portion 41 are commonly connected to the terminals 43g and 43h, the terminals 43a and 43c are connected to the back surface of the rotating portion 42 through the annular conductive patterns and the contact pins. The terminals 52d and 52e may be connected. In this case, as described above, when a constant voltage is applied to the terminal 43a and the terminal 43b is grounded, a constant voltage (for example, 3.3V or 5V) with respect to the ground potential is applied to each terminal 52d on the back surface of the rotating unit 42. , 52e can be supplied to other potentiometers, sensing sensors, microcomputers, and the like through signal lines connected to 52e. That is, a voltage supply line can be shared among a plurality of potentiometers, sensing sensors, and a microcomputer. For this reason, simplification of wiring, improvement in maintainability, and the like can be achieved.

  FIGS. 19A and 19B are a plan view and a cross-sectional view showing a potentiometer for detecting the rotation angle of the finger joint in the robot hand according to the second embodiment of the present invention. FIG. 20 is a perspective view showing the potentiometer of the present embodiment.

  In the potentiometer 61 of the present embodiment, a rotating unit 62 is applied instead of the rotating unit 42 of the potentiometer 23 shown in FIG. Further, a fixed portion 41 similar to that of the potentiometer 23 shown in FIG. 11 is applied, and the rotating portion 62 and the fixed portion 41 are combined.

  FIG. 21 is a perspective view showing the surface of the rotating unit 62. As shown in FIG. 21, the rotating part 62 has a disk shape, has a fitting part 63 at the center thereof, and has five terminals 64a to 64e provided on the inner peripheral wall of the hole 63a of the fitting part 63. It is. The hole 63a of the fitting portion 63 is fitted and supported through a shaft 7A of the joint 7 described later.

  The rotating part 62 has a multilayer substrate structure, and six wiring patterns 65a to 65f as shown in FIG. Furthermore, seven contact pins 66a to 66g as shown in FIG. The wiring pattern 65a has a substantially annular shape along the rotating portion 62, is connected to the two contact pins 66a and 66b through the through holes 67a and 67b, and connects the contact pins 66a and 66b. The other wiring patterns 65b to 65f are connected to the contact pins 66c to 66g through the through holes 67c to 67g, respectively, and connect the contact pins 66c to 66g and the terminals 64a to 64e.

  In FIG. 22B, the annular conductive patterns 44a to 44f and the arc-shaped resistance pattern 45 of the fixed portion 41 superimposed on the rotating portion 62 are shown in a transparent manner, and positions with the contact pins 66a to 66g are shown. The relationship is easy to understand.

  FIGS. 23A, 23 </ b> B, and 23 </ b> C are a plan view, a side view, and a perspective view showing the shaft 7 </ b> A of the joint 7. As shown in FIGS. 23A, 23 </ b> B, and 23 </ b> C, five L-shaped terminals 71 a to 71 e are arranged in parallel on the outer periphery of the shaft 7 </ b> A of the joint 7. Each L-shaped terminal 71a-71e has each contact part 72a-72e and each connection part 73a-73e. The shaft 7a has substantially the same cross-sectional shape as the hole 63a of the fitting portion 63. The contact portions 72a to 72e of the L-shaped terminals 71a to 71e are fixedly supported on the circumferential surface of the shaft 7a. The connecting portions 73a to 73e of the character terminals 71a to 71e are projected.

  When the shaft 7A of the joint 7 is fitted in the hole 63a of the fitting portion 63 of the rotating portion 62, the contact portions 72a to 72e of the L-shaped terminals 71a to 71e on the shaft 7A side Each L-shaped terminal 71a-71e and each terminal 64a-64e conduct | electrically_connect by contacting each terminal 64a-64e of the hole 63a inner peripheral wall.

  Therefore, if the signal line 37 of the pressure sensor of the fingertip part 4 is connected to the connection parts 73a to 73e of the L-shaped terminals 71a to 71e on the shaft 7A side of the joint 7 as shown in FIG. 7 is fitted in the hole 63a of the fitting part 63 of the rotating part 62, and at the same time, the signal line 37 of the pressure sensor of the fingertip part 4 is connected to each terminal of the rotating part 42 through the L-shaped terminals 71a to 71e. 52a to 52e can be connected, and assembling work can be simplified and maintenance can be improved.

  Also in the potentiometer 61 of the present embodiment, the contact pins 66a to 66g on the back surface of the rotating portion 62 are formed on the surface of the fixing portion 41 regardless of the rotation angle of the rotating portion 62 with respect to the fixing portion 41, similarly to the potentiometer 23 shown in FIG. The annular conductive patterns 44a to 44f and the arc-shaped resistance pattern 45 are slidably contacted to form a circuit similar to FIG.

  For this reason, as shown in FIG. 24, each terminal 43a, 43b, 43c of the fixed portion 41 is connected to the signal line 38 of the potentiometer 61, and this signal line 38 is led to the drive control unit 32 on the palm frame side. For example, the drive control unit 32 can determine the rotation angle of the fingertip unit 4 around the joint 7 through the terminals 43 a, 43 b, 43 c of the fixing unit 41 and the signal line 38.

  The signal line 37 of the pressure sensor of the fingertip part 4 is connected to the terminals 52a to 52e of the rotating part 62 through the L-shaped terminals 71a to 71e, and is guided from the joint 7 of the fingertip part 4 to the palm frame side. If the signal line 37 to be connected is connected to the terminals 43d to 43h of the fixed part 41, the signal line 37 can be relayed by the potentiometer 61 and guided to the arithmetic processing part 31 on the palm frame side. The arithmetic processing unit 31 corrects the rotation target angles of the joints 5 and 6 based on the detection output of the pressure sensor and instructs the drive control unit 32.

  As described above, in this embodiment, the signal line 37 of the pressure sensor of the fingertip portion 4 is connected to each terminal of the rotating portion 42 only by fitting the shaft 7A of the joint 7 into the hole 63a of the fitting portion 63 of the rotating portion 62. 52a to 52e can be connected, and assembling work can be simplified and maintenance can be improved.

  Instead of the shaft 7A of the joint 7, a shaft 7B as shown in FIG. 25 may be applied. The shaft 7B separates the contact portions 72a to 72e and the connection portions 73a to 73e of the L-shaped terminals 71a to 71e, and connects the contact portions 72a to 72e and the connection portions 73a to 73e with the respective short-circuit portions 74a to 74e. The short-circuit portions 74a to 74e are embedded in the shaft 7B. Thereby, the connection between each connection part 73a-73e and the signal wire | line 37 of the pressure sensor of the fingertip part 4 can be performed in the location spaced apart from the potentiometer 61 in the axial direction.

  Further, in each of the other joints 5 and 6, the signal lines can be relay-connected by the potentiometers 17 and 21 by applying the same configuration as the potentiometer 61 as the potentiometers 17 and 21. However, the number of the annular conductive patterns and contact pins of the potentiometer 21 needs to be larger than that of the potentiometer 61, and the number of the annular conductive patterns and contact pins of the potentiometer 17 needs to be larger than that of the potentiometer 21.

  Further, the circuit as shown in FIG. 17 may be formed by changing the connection between the terminals 43a to 43h of the fixed part 41 and the terminals 52a to 52e of the rotating part 42. Also in this case, as described above, the constant voltage of the terminal 43a and the ground potential of the terminal 43b are applied to other potentiometers, sensing sensors, and microcomputers through signal lines connected to the terminals 52f and 52g on the back surface of the rotating unit 42. Etc. can be supplied. For this reason, simplification of wiring, improvement in maintainability, and the like can be achieved.

  The present invention is not limited to the above embodiments, and can be variously modified. For example, the present invention can be applied not only to a finger joint of a robot hand but also to an arm joint or the like.

It is a perspective view which shows one finger | toe in Example 1 of the robot hand of this invention. FIG. 3 is a cross-sectional view illustrating a partially broken view of motors, finger torso portions, fingertip portions, and the like on the palm frame of the robot hand according to the first embodiment. It is a side view which shows each motor on a palm frame, one finger trunk | drum, etc. FIG. It is a perspective view which shows the shape of each wire of the state stretched by the pulley of the motor of FIG. 3, and the pulley of a finger trunk part. FIG. 2 is a side view showing a partially broken view of each motor, two finger barrels, and the like on a palm frame. It is a perspective view which shows the shape of each wire of the state stretched by the pulley of the motor of FIG. 5, and the pulley of each finger trunk | drum. FIG. 5 is a side view showing the motors on the palm frame, the finger body portions, the fingertip portions, and the like partially cut away. It is a perspective view which shows the shape of each wire of the state stretched by the pulley of the motor of FIG. 7, each pulley, and the pulley of a fingertip part. It is a block diagram which shows roughly the control system of the finger in the robot hand of Example 1. FIG. It is sectional drawing which expands and shows the potentiometer vicinity of the joint of a fingertip part. It is a perspective view which shows the potentiometer of FIG. It is a perspective view which shows the fixing | fixed part in the potentiometer of FIG. (A), (b), (c), and (d) are a plan view showing the surface of the fixed portion in FIG. 12, a plan view showing one layer of the multilayer substrate structure of the fixed portion, and another one layer. It is a top view which shows the top view which shows, and a fixing | fixed part back surface. (A) And (b) is a perspective view which respectively shows the surface of a rotation part, and a back surface in the potentiometer of FIG. (A), (b), and (c) are the top views which show the rotation part surface, the top view which shows one layer in the multilayer substrate structure of a rotation part, and the top view which shows a rotation part back surface. It is a block diagram which shows the circuit structure formed with the potentiometer of FIG. It is a side view which shows roughly the potentiometer periphery when a fingertip part rotates around the joint. It is a block diagram which shows the modification of the circuit structure formed with the potentiometer of FIG. (A), (b) is the top view and sectional drawing which show the potentiometer which detects the rotation angle of the finger joint in Example 2 of the robot hand of this invention. It is a perspective view which shows the potentiometer of FIG. It is a perspective view which shows the rotation part surface in the potentiometer of FIG. (A) And (b) is a top view which shows one layer of the multilayer substrate structure of a rotation part, and a top view which shows a rotation part back surface. (A), (b), (c) is the top view which shows the axis | shaft of the joint of the finger in the robot hand of Example 2, a side view, and a perspective view. It is sectional drawing which expands and shows the potentiometer vicinity of the joint of the fingertip part of FIG. (A), (b), (c) is the top view, side view, and perspective view which show the modification of the axis | shaft of a joint.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Finger 2, 3 Finger trunk | drum 4 Finger tip part 5, 6, 7 Joint 5a, 6a, 7a Shaft 17, 21, 23, 61 Potentiometer 41 Fixing part 42 Rotating part

Claims (4)

In a robot hand that provides a potentiometer for detecting a rotation angle of a joint in the joint and performs rotation control of the joint based on the rotation angle detected by the potentiometer.
The potentiometer includes a rotating part that rotates around the axis of the joint, and a fixed part that is fixed around the axis of the joint.
The rotating part and the fixed part have a plurality of sets of electrodes that maintain mutual contact between the electrode on the rotating part side and the electrode on the fixed part side regardless of rotation and stop of the joint,
A robot hand characterized in that at least one set of electrodes is interposed in another signal path different from the signal path of the potentiometer, and the other signal path is formed via a joint.   One of the electrode on the rotating part side and the electrode on the fixed part side that maintains mutual contact is an annular one centering on the axis of the joint, and the other is in sliding contact with the annular electrode. Item 2. The robot hand according to Item 1.   2. The robot hand according to claim 1, wherein the signal path is formed via a joint by interposing the electrode on the rotating part side and the electrode on the fixed part side maintaining the mutual contact in the signal path of the potentiometer. . 2. The robot hand according to claim 1, wherein each of the terminals that come into contact with each electrode on the rotating part side is provided on an axis of a joint that rotates together with the rotating part.

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