JP2009125845A - Robot hand device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand device which can easily and positively grip a workpiece of a heavy weight in a narrow environment. <P>SOLUTION: According to the structure of the robot hand device, a second link means 64 is formed so as to share two joints of a first link means 61 constituting a four-joint link, and the first link means 61 is driven by a first motor M11, followed by driving the second link means 64 by a second motor M12. Thus a robot hand which can operate a first grip portion 63 and a second grip portion 62 individually from each other is realized. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a robot hand device for gripping various workpieces in a narrow environment.

  FIG. 10 is a plan view schematically showing a hand device of a prior art robot, FIG. 10 (1) shows a toggle type hand device 1, FIG. 10 (2) shows a parallel link type hand device 2, and FIG. Reference numeral 10 (3) denotes the linear hand device 3.

  As shown in FIG. 10 (1), the toggle-type hand device 1 has a pair of arms 5a and 5b connected to a base 4 via link pins 6a and 6b so as to be angularly displaceable. In such a toggle-type hand device 1, since the force transmission portions from the arms 5a and 5b are in line contact with the workpiece W, it is difficult to stably grip the workpiece W.

  As shown in FIG. 10 (2), the parallel link type hand device 2 has a pair of left and right arms 10a to 10d connected to a base 9 via link pins 11a and 11d so as to be angularly displaceable. Fingertip members 12a and 12b are connected to the distal end portions by link pins 13a to 13d so as to be angularly displaceable, thereby forming a parallelogram link.

  In such a parallel link type hand device 2, it is possible to stably hold the fixed-shaped workpiece W, but to the irregular-shaped workpiece W, the fingertip members 12 a and 12 b are parallel to the direction in which they are close to each other. Since it moves and is gripped, the stability is low.

  Further, when the weight of the workpiece W is large, the fingertip members 12a and 12b are close to each other with respect to the rotational torque for angularly displacing the arms 10a to 10d around the axes of the link pins 11a to 11d. Therefore, the weight of the workpiece W that can be reliably gripped is limited.

  Furthermore, since each fingertip member 12a, 12b is configured to grip the workpiece W by a pair of arms 10a to 10d by a symmetrical parallel movement, the size of each fingertip member 12a, 12b is increased, which makes it possible to work in a narrow environment. It is unsuitable.

  Similarly to the parallel link type hand device 2, the toggle type hand device 1 also cannot obtain a large clamping force for deformed workpieces, and the contact position of each arm 5a, 5b with respect to the workpiece is a linear contact. This is not suitable for deformed workpieces and heavy workpieces.

  As shown in FIG. 10 (3), the linear hand device 3 is configured to be displaceable in a direction in which the pair of arms 18 a and 18 b are close to and away from the base portion 17. In such a linear hand device 3, since the arms 18 a and 18 b need to move in directions away from each other according to the size of the target workpiece W, the base portion 17 becomes large, and in a narrow environment. It is inappropriate for the work.

  As described above, as a typical robot hand device, when classified structurally, the toggle type hand device 1, the parallel link type hand device 2 and the linear type hand device 3 are well known. The toggle-type hand device 1 and the parallel link-type hand device 2 can be used publicly because they occupy less space than the linear-type hand device 3.

  FIG. 11 is a schematic plan view showing another conventional hand device 21, each of which has a distal end side drive motor M 1 and a proximal end side drive motor M 2. FIG. 11 (1) shows the hand device 21 in which the distal end side drive motor M1 is arranged in the same direction as the rotational axis of the distal end side link, and FIG. 10 (3) shows the hand device 23 in which the distal end side drive motor M1 is arranged opposite to the link surface at the same position as the proximal end side drive motor M2. Show.

  As shown in FIG. 11A, the first hand device 21 includes a first arm 26 whose one end is connected to a base 24 by a first link pin 25 so as to be angularly displaceable, and the other end of the first arm 26. A second arm 28 whose one end is connected to the part by a second link pin 27 so as to be angularly displaceable, a third arm 30 whose one end is connected to the base 24 by a third link pin 29 so as to be angularly displaceable, A fourth arm 32 whose one end is connected to the other end of the three arm 30 by a fourth link pin 31 so as to be angularly displaceable, and the other end of the fourth arm 32 is an intermediate portion between both ends of the first arm 26 A fifth link pin 33 that is angularly displaceable, a first motor M1 that angularly drives the third arm 28, and a second motor M2 that angularly drives the third arm 30.

  In such a first hand device 21, the third arm 30 is angularly driven by the second motor M 2, and the first arm 26 is driven by the fourth arm 32 connected to the third arm 30 via the fourth link pin 31. An angular displacement occurs around the axis of the first link pin 25. A first motor M1 is provided at the tip of the first arm 26, and the second motor 28 is angularly displaced about the axis of the second link pin 27 by the first motor M1. Such a configuration is provided symmetrically with respect to a virtual plane L perpendicular to the paper surface of FIG. 11, and the first hand device 21 is configured.

  A second hand device 22 shown in FIG. 11 (2) and a third hand device 23 shown in FIG. 11 (3) are also provided symmetrically with respect to the virtual plane L. Only one side (right side) configuration with respect to one plane L is shown.

  In such a first hand device 21, when the first motor M1 protrudes in the vicinity of the second arm 28 that grips the workpiece W, and the workpiece W is gripped in a narrow environment, the protruding first motor is There is a problem that the workpiece W cannot be gripped in a narrow environment.

  Further, as shown in FIG. 11B, when the second hand device 22 houses the first motor M1 in the first arm closer to the base end than the second link pin 27, the output of the first motor M1. In order to transmit the torque to the second arm 28, a mechanism for changing the force transmission direction such as a bevel gear and a worm gear is required, resulting in a problem that assembly accuracy is lowered and manufacturing cost is increased.

  Further, as shown in FIG. 11 (3), the third hand device 23 is provided with two motors M1 and M2 facing each other in the vicinity of the third link pin 29 on the proximal end side. The motors M1 and M2 project on both sides, interfere with surrounding facilities where the workpiece W is disposed, and it is difficult to grip the workpiece in a narrow environment (see, for example, Patent Documents 1 to 4).

Special table 2003-534930 gazette JP-A-62-2228385 JP-A-1-310879 JP-A-7-266265

  An object of the present invention is to provide a robot hand device that can easily and reliably grip a heavy workpiece in a narrow environment.

The present invention comprises a first link means that constitutes a four-bar link and causes the first gripping portion to perform an angular displacement operation;
A second link means that constitutes a four-bar link that shares two bars with the first link means, and that angularly moves the second gripping portion;
First driving means for applying a driving force for causing the first linking means to angularly move the first gripping portion;
A robot hand device comprising: at least one robot hand module including second link means for providing a driving force for causing the second link means to angularly move the second gripping portion.

  According to the present invention, the second link means is configured by sharing two clauses of the first link means constituting the four-link. The first link means has a first gripping part, the second link means has a second gripping part, the first gripping part is angularly displaced by the first driving means, and the second gripping part is driven by the second driving means. Angular displacement. The first and second link means and the first and second drive means constitute a robot hand module.

  Such a robot hand module includes at least one, and has another configuration provided on one side of the first and second gripping portions in the angular displacement direction on the movement plane of the first and second link means, for example, at least the first and second The workpiece can be gripped by the first and second gripping portions in cooperation with a robot hand module having a gripping portion fixedly provided in a region facing the second gripping portion on the motion plane. Thus, the first link means shares two nodes of the first link means, the first gripping portion is angularly displaced by the first driving means, and the second gripping portion is angularly displaced by the second driving means, respectively. The configuration of the first and second link means is simplified, and the first and second drive means are arranged on the base end side of the first and second link means so that the work in a narrow environment interferes with surrounding facilities. It can be securely gripped without any trouble.

  Further, the invention is characterized in that a plurality of the robot hand modules are provided in plane symmetry or axial symmetry.

  According to the present invention, since the plurality of robot hand modules are provided in plane symmetry or axial symmetry, each workpiece is held by each first holding portion of each first link means, and each second grip of each second link means. The workpiece can be gripped by the portion, and even in a narrow environment, the workpiece can be securely gripped without interfering with surrounding equipment.

  Furthermore, the present invention is characterized in that the first and second driving means are provided on the same side with respect to the movement plane of the first and second link means.

  According to the present invention, the first and second drive means are provided on the same side with respect to the movement plane of the first and second link means, so that the first and second drive means are not provided with respect to the movement plane. The amount of protrusion to the region can be reduced with respect to the region on the same side, so that the workpiece can be gripped in a narrower space by using the region on the opposite side where the amount of protrusion is small.

Furthermore, in the present invention, the second link means is provided on the inner or outer side on the movement plane of the first link means,
The bearings of the first link means are provided on both sides with respect to the movement plane of the second link means.

  According to the present invention, since the second link means is provided inside or outside the first link means, mutual interference between the first and second link means is prevented, and the out-of-plane movement on the movement plane is prevented. By reducing the amount of protrusion, the workpiece can be gripped in a narrower environment. Further, by providing bearings of the first link means on both sides of the motion plane of the second motion means, the amount of protrusion of the bearing in the direction perpendicular to the motion plane is minimized as much as possible. It is possible to improve the strength against the load acting on the two gripping portions.

  Furthermore, the present invention is characterized in that at least one of the first and second link means is a parallel link.

  According to the present invention, since at least one of the first and second link means is constituted by a parallel link, the opening and closing amounts of the first and second gripping portions are changed as compared to a four-bar link other than the parallel link. Even if it does, the attitude | position of a 1st holding part or a 2nd holding part does not change, but control with respect to a holding state can be facilitated.

  Furthermore, the present invention is characterized in that it includes an imaging means for imaging the gripping state of the workpiece by the first gripping part and the second gripping part.

  According to the present invention, the gripping state of the work gripped by the first gripping part and the second gripping part is imaged by the imaging unit, so that the image captured by the imaging unit is displayed on, for example, a monitor device, Whether or not the workpiece is securely gripped can be confirmed, such as the gripping position of the workpiece immediately before being gripped by the first and second gripping portions, and thereby the workpiece can be gripped more reliably and accurately. It becomes possible.

  FIG. 1 is a plan view showing a robot hand module 41 of a robot hand device 40 according to an embodiment of the present invention. The robot hand module 41 used in the hand device 40 of the present embodiment includes a first base 42, first and second drive shafts 43 and 44, and first and second drive shafts 43 and 44. And first and second motors M11 and M12 as second driving means, first to sixth link members 45 to 50, and first to fourth link pins 53 to 56.

  One end of the first link member 45 is connected to the first drive shaft 43, and the other end of the first link member 45 is connected to one end of the third link member 47 by the first link pin 53 so as to be angularly displaceable. Is done. One end portion of the second link member 46 is connected to the second drive shaft 44 so as to be angularly displaceable, and the other end portion of the second link member 46 is connected to the intermediate portion of the third link member 47 by the second link pin 54. They are connected so that they can be angularly displaced. The first drive shaft 43, the first link member 45, the first link pin 53, the third link member 47, the second drive shaft 44, and the second link member 46 form a four-node parallel link, and the first link The means 61 is configured.

  One end portion of the fourth link member 48 is also connected to the second drive shaft 44, and one end portion of the fifth link member 49 is angularly displaced by the third link pin 55 to the other end portion of the fourth link member 48. Connected freely. The other end of the fifth link member 49 is connected to one end of the sixth link member 50 by a fourth link pin 56 so as to be angularly displaceable, and an intermediate portion of the sixth link member 50 is connected by the second link pin 54. Together with the other end portion of the second link member 46, it is connected to the intermediate portion of the third link member 47 so as to be angularly displaceable.

  The other end portion of the sixth link member 50 is tapered from the intermediate portion to form a second grip portion 62, and the other end portion of the third link member 47 is connected to the sixth link from the intermediate portion. It is longer than the other end portion of the member 50 and is formed in a tapered shape to constitute the first grip portion 63. The sixth and third link members 50 and 47 are formed by bending the planar shape into a substantially L shape.

  Such second drive shaft 44, fourth link member 48, third link pin 55, fifth link member 49, sixth link member 50, fourth link pin 56, second link pin 54 and second link member 46. Constitutes a four-link including the second drive shaft 44 and the second link pin 54, which are the two nodes of the first link means 61, and constitutes the second link means 64.

  The robot hand module 41 configured in this manner is provided symmetrically with respect to a virtual plane 65 perpendicular to the paper surface of FIG. 1, and constitutes a robot hand device 40 as shown in FIG.

  2 is a plan view of the hand device 40, FIG. 3 is a cross-sectional view taken along the section line III-III in FIG. 2, and FIG. 4 is a cross-sectional view taken along the section line IV-IV in FIG. is there. The hand device 40 according to the present embodiment has a configuration in which the robot hand module 41 shown in FIG. 1 is provided symmetrically with respect to the virtual plane 65, and therefore, the portion corresponding to the robot hand module 41 shown in FIG. Subscripts “a” and “b” are attached to the same numerals, and duplicate descriptions are omitted. The first link member 45 includes a pair of link pieces 82 and 83, each end of each link piece 82 and 83 is fixed to the first drive shaft 43, and the rotational force of the first drive shaft 43 is transmitted. The The other end portions of the link pieces 82 and 83 are coupled to the first link pin 53b by bearings 84 and 85 so as to be angularly displaceable. The link pieces 82 and 83 are parallel and spaced apart, and the fifth link member 49b is interposed between the link pieces 82 and 83, and thus between the second gripping parts 62 of the second link means 64 in the thickness direction. By arranging the first gripping portion 63 of the first link means 61, space saving in the thickness direction is achieved.

  The second link member 46b includes a pair of link pieces 87 and 88, and one end portions of the link pieces 87 and 88 are connected to the second drive shaft 44b via bearings 89 and 90 so as to be angularly displaceable. . The tip of the second drive shaft 44b is pivotally supported on the upper flange 75b by a bearing 90. One end of a fourth link member 48b is interposed between the link pieces 87 and 88, and is fixed to the second drive shaft 44b. The other end portions of the link pieces 87 and 88 are coupled to the second link pin 54b via bearings 92 and 93 so as to be freely angularly displaceable. The second link pin 54b is connected to one end portions of a pair of link pieces 94 and 95 constituting the sixth link member 50b via bearings 96 and 97 so as to be angularly displaceable.

  With respect to one robot hand module 41b configured in this way, the other robot hand module 41a is configured to be plane-symmetric with respect to the virtual one plane 65, and therefore, the same numeral is added to the same number in the corresponding part. The description is omitted to avoid duplication.

  FIG. 5 is a plan view showing a state where the workpiece W is gripped by the hand device 40. The hand device 40 comprising the pair of robot hand modules 41 is individually controlled by a pair of left and right first and second motors M11a, M12a; M11b, M12b by a robot controller or an end effector control device connected to the robot controller. Operates in a controlled manner and reliably grips a workpiece W such as a bolt with a large clamping force by the second gripping portion 62a of one robot hand module 41a and the first gripping portion 63b of the other robot hand module 41b. can do.

  As described above, the hand device 40 is composed of a pair of robot hand modules 41a and 41b arranged symmetrically with respect to the virtual plane 65, and there are two nodes in the first link means 61a and 61b of each robot hand module 41a and 41b. The second drive shafts 44a, 44b and the second link pins 59a, 59b are shared, and the first and second link means 61a, 61b; 64a, 64b are on the same side, that is, each flange 76a of the base 42. 2, 76 b is provided on the lower side in FIG. 2, and there are few portions protruding from the upper flanges 75 a and 75 b, so that even in a narrow environment, the workpiece W can be securely gripped without interfering with other members. It can move smoothly.

  Further, since the first link means 61a, 61b are realized by parallel links, even if the opening / closing amount between the first and second gripping portions 62a, 62b; 63a, 63b is changed, the gripping portions 62a, 62b; 63b does not change, and the control of the gripping state of the workpiece W can be easily performed.

  FIG. 6 is a plan view showing a robot hand module 41a used in a hand device 40a according to another embodiment of the present invention. FIG. 7 shows a state in which the hand device 40a is attached to the tip of the wrist 71 of the robot arm 70. FIG. Note that portions corresponding to those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted to avoid duplication. The robot hand module 41a used in the hand device 40a of the present embodiment includes a first base 42, first and second drive shafts 43 and 44, and first and second drive shafts 43 and 44 that rotate. And first and second motors M11 and M12 as second driving means, first to eighth link members 45 to 52, and first to seventh link pins 53 to 59.

  One end of the first link member 45 is connected to the first drive shaft 43, and the other end of the first link member 45 is connected to one end of the third link member 47 by the first link pin 53 so as to be angularly displaceable. Is done. One end portion of the second link member 46 is connected to the second drive shaft 44 so as to be angularly displaceable, and the other end portion of the second link member 46 is connected to the intermediate portion of the third link member 47 by the second link pin 54. They are connected so that they can be angularly displaced. The first drive shaft 43, the first link member 45, the first link pin 53, the third link member 47, the second drive shaft 44, and the second link member 46 form a four-node parallel link, and the first link The means 61 is configured.

  One end of a fourth link member 48 is also connected to the second drive shaft 44, and the other end of the fourth link member 48 is disposed in parallel between the first and second link members 45, 46. One end of the fifth link member 49 is connected to the third link pin 55 so as to be angularly displaceable. The other end of the fifth link member 49 is connected to one end of the sixth link member 50 disposed on the third link member 47 by the fourth link pin 56 so as to be angularly displaceable. The end portion is connected to the other end portion of the third link member 47 together with the other end portion of the second link member 46 by the second link pin 54 so as to be angularly displaceable.

  The third end of the sixth link member 50 is connected to one end of the seventh link member 51 by a fifth link pin 57 so as to be angularly displaceable. The other end portion of the seventh link member 51 is connected to one end portion of the eighth link member 52 by a sixth link pin 58 so as to be angularly displaceable, and an intermediate portion of the eighth link member 52 is connected to the first link portion by a seventh link pin 59. The other end of the three link member 47 is connected to be freely angularly displaceable.

  The other end portion of the eighth link member 52 extends from the middle portion thereof to form a second grip portion 63, and the other end portion of the third link member 47 forms a first grip portion 62. . The eighth and third link members 52 and 47 are formed by bending the planar shape into a substantially L shape.

  Such second drive shaft 44, fourth link member 48, third link pin 55, fifth link member 49, sixth link member 50, fourth link pin 56, second link pin 54 and second link member 46. Forms a four-joint link including a second drive shaft 44 and a second link pin 54 which are the two joints of the first link means 61, and the second link means 64 is formed on the tip end side of the first link means 61. To do.

  The robot hand module 41a configured as described above is provided symmetrically with respect to a virtual plane 65 perpendicular to the paper surface of FIG. 6 and constitutes a robot hand device 40a as shown in FIG. The same effect as that of the embodiment is produced.

  1 to 7, the first and second link members 45a, 45b; 46a, 46b are respectively constituted by a pair of link pieces 82, 83; 87, 88. 83; 87, 88, the fourth link members 48a, 48b and the fifth link members 49a, 49b are respectively described. However, in another embodiment of the present invention, the perspective view of FIG. Like the robot hand device 140 shown, the first and second link members 45a, 45b, 46a, 46b may be configured by a single member. Note that portions corresponding to those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted to avoid duplication.

  FIG. 9 is a perspective view showing a robot hand module 141 according to still another embodiment of the present invention. The robot hand module 141 according to the present embodiment is similar to the robot hand module 40a according to the embodiment shown in FIGS. 6 and 7 described above, and therefore the corresponding parts are denoted by the same reference numerals. In the figure, only one configuration is shown cut away with respect to the virtual one plane 65 for easy illustration. The hand device 140 according to the present embodiment is constituted by a pair of left and right robot hand modules 141, and the robot hand module 141 is arranged on the first holding portion 62 a, 62 b or 62 on the virtual plane 65 that is the center of the base 42. An imaging means 97 for observing the state in which the workpiece W is gripped by the second gripping portions 63a and 63b is provided. The imaging means 97 is constituted by an imaging camera 98 realized by a CCD camera or the like and a reflection mirror 99, and a region where the workpiece W is gripped by the first and second gripping portions 62a and 62b; 63a and 63b is reflected by the reflection mirror. The image can be captured by the imaging camera 98 via 99 and monitored by a monitor device provided in the robot controller or the end effector control device.

  Since such an image pickup means 97 is provided on the inner surface of the base plate 74 of the base 42, there is no configuration projecting to the outside, and the hand device 40 can be moved without interfering with other members or equipment even in a narrow environment. The workpiece W can be moved and reliably gripped while being monitored by the monitor device.

  As still another embodiment of the present invention, a plurality of robot hand modules 41, 41a, 141, for example, three robot hand modules may be provided in axial symmetry to grip a workpiece W having a large weight or shape. You may make it implement | achieve a hand apparatus.

  As described above, according to the present invention, the second link means is configured by sharing two sections of the first link means constituting the four-section link. The first link means has a first gripping part, the second link means has a second gripping part, the first gripping part is angularly displaced by the first driving means, and the second gripping part is driven by the second driving means. Angular displacement. The first and second link means and the first and second drive means constitute a robot hand module, and at least one such robot hand module is provided, and the movement plane of the first and second link means. Other configurations provided on one side in the angular displacement direction of the first and second gripping portions, for example, having a gripping portion fixedly provided in a region facing at least the first and second gripping portions on the motion plane. In cooperation with the robot hand module, the workpiece can be gripped by the first and second gripping portions.

  Thus, the first link means shares two nodes of the first link means, the first gripping portion is angularly displaced by the first driving means, and the second gripping portion is angularly displaced by the second driving means, respectively. The configuration of the first and second link means is simplified, and the first and second drive means are arranged on the base end side of the first and second link means so that the work in a narrow environment interferes with surrounding facilities. It can be securely gripped without any trouble.

  Further, according to the present invention, since the plurality of robot hand modules are provided in plane symmetry or axial symmetry, the workpiece is gripped by each first gripping portion of each first link means, and each second link means each second link means. The workpiece can be gripped by the grip portion, and the workpiece can be securely gripped without interference with surrounding equipment even in a narrow environment.

  Furthermore, according to the present invention, since the first and second driving means are provided on the same side with respect to the movement plane of the first and second link means, the first and second driving means are not provided with respect to the movement plane. The amount of protrusion to the side region can be reduced with respect to the region on the same side, whereby the workpiece can be gripped in a narrower space using the region on the opposite side where the amount of protrusion is small. .

  Furthermore, according to the present invention, since the second link means is provided inside or outside the first link means, mutual interference between the first and second link means is prevented, and the plane of motion is out of plane. Therefore, the workpiece can be gripped in a narrower environment. Further, by providing bearings of the first link means on both sides of the motion plane of the second motion means, the amount of protrusion of the bearing in the direction perpendicular to the motion plane is minimized as much as possible. It is possible to improve the strength against the load acting on the two gripping portions.

  Furthermore, according to the present invention, since at least one of the first and second link means is constituted by a parallel link, the opening and closing amounts of the first and second gripping portions can be reduced as compared to a four-bar link other than the parallel link. Even if it changes, the attitude | position of a 1st holding part or a 2nd holding part does not change, and control with respect to a holding state can be facilitated.

  Further, according to the present invention, since the imaging state captures the gripping state of the workpiece gripped by the first gripping portion and the second gripping portion, the image captured by the imaging portion is displayed on, for example, a monitor device. Thus, it is possible to confirm whether or not the workpiece is securely gripped, the gripping position of the workpiece immediately before being gripped by the first and second gripping portions, and thereby grip the workpiece more reliably and accurately. It becomes possible.

It is a top view which shows the robot hand module 41 used for the robot hand apparatus 40 of one Embodiment of this invention. 4 is a plan view of the hand device 40. FIG. It is sectional drawing seen from the cut surface line III-III of FIG. It is sectional drawing seen from the cut surface line VI-VI of FIG. FIG. 4 is a plan view showing a state where a workpiece W is gripped by a hand device 40. It is a top view which shows the robot hand module 41a used for the hand apparatus 40a of the robot of the other form of implementation of this invention. 7 is a perspective view showing a state in which the hand device 40a shown in FIG. 6 is provided as an end effector on a wrist 71 of a robot arm 70. FIG. It is a perspective view which shows the hand apparatus 140 of the robot of the further another form of implementation of this invention. It is a perspective view which shows the robot hand module 141 of further another form of implementation of this invention. It is a top view which simplifies and shows the hand apparatus of the prior art robot. It is the schematic top view which shows the hand apparatus 21 of another prior art.

Explanation of symbols

40, 40a, 140 Robot hand device 41, 41a, 41b, 141 Robot hand module 42 Base 43, 43a, 43b First drive shaft 44, 44a, 44b Second drive shaft 45-52 Link member 53-59 Link pin M11, M11a, M11b 1st motor M12, M12a, M12b 2nd motor

Claims (7)

A first link means that constitutes a four-bar link and causes the first gripper to perform an angular displacement operation;
A second link means that constitutes a four-bar link that shares two bars with the first link means, and that angularly moves the second gripping portion;
First driving means for applying a driving force for causing the first linking means to angularly move the first gripping portion;
A robot hand device comprising: at least one robot hand module including a second driving unit for providing a driving force for causing the second linking unit to angularly move the second gripping unit.   The robot hand device according to claim 1, wherein a plurality of the robot hand modules are provided in plane symmetry or axial symmetry.   The robot hand device according to claim 1 or 2, wherein the first and second driving means are provided on the same side with respect to a motion plane of the first and second link means. The second link means is provided inside the movement plane of the first link means,
The robot hand device according to any one of claims 1 to 3, wherein bearings of the first link means are provided on both sides with respect to a motion plane of the second link means. The second link means is provided outside the movement plane of the first link means,
The robot hand device according to any one of claims 1 to 3, wherein bearings of the first link means are provided on both sides with respect to a motion plane of the second link means.   The robot hand apparatus according to any one of claims 1 to 4, wherein at least one of the first and second link means is a parallel link.   The robot hand apparatus according to claim 1, further comprising an imaging unit configured to image a gripping state of the workpiece by the first gripping unit and the second gripping unit.

Images