JP2009291853A5 - - Google Patents

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Publication number
JP2009291853A5
JP2009291853A5 JP2008145251A JP2008145251A JP2009291853A5 JP 2009291853 A5 JP2009291853 A5 JP 2009291853A5 JP 2008145251 A JP2008145251 A JP 2008145251A JP 2008145251 A JP2008145251 A JP 2008145251A JP 2009291853 A5 JP2009291853 A5 JP 2009291853A5
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Japan
Prior art keywords
finger
movable
hand
robot
moving
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JP2008145251A
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Japanese (ja)
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JP5286947B2 (en
JP2009291853A (en
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Priority to JP2008145251A priority Critical patent/JP5286947B2/en
Priority claimed from JP2008145251A external-priority patent/JP5286947B2/en
Publication of JP2009291853A publication Critical patent/JP2009291853A/en
Publication of JP2009291853A5 publication Critical patent/JP2009291853A5/ja
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Publication of JP5286947B2 publication Critical patent/JP5286947B2/en
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Claims (6)

各関節を掌側に屈曲自在に連結し、かつ屈曲復帰手段を供えた複数個の可動指内に、可動指の伸張を誘導するワイヤを挿通すると共に、手首方向および手指方向に移動する手段を備え、前記移動手段にワイヤの片端を固定した、多指可動ロボット用のハンドにおいて、
ハンドの掌部に前記移動手段の駆動源を設け、駆動源の動力が切断されている状態では、屈曲復帰手段により、ハンドが屈曲することを特徴とする、多指可動ロボット用ハンド。 A means for flexibly connecting each joint to the palm side and inserting a wire for guiding the extension of the movable finger into a plurality of movable fingers provided with a bending return means, and a means for moving in the wrist direction and the finger direction In a hand for a multi-finger movable robot having one end of a wire fixed to the moving means,
A hand for a multi-finger movable robot, wherein a driving source of the moving means is provided in the palm of the hand, and the hand is bent by the bending return means in a state where the power of the driving source is cut off. 前記屈曲復帰手段は所定の対象物をハンドが把持した状態で駆動源の動力を切断しても少なくとも前記対象物が落下しない把持力を有することを特徴とする、請求項１記載の多指可動ロボット用ハンド。   2. The multi-finger movable according to claim 1, wherein the bending return means has a gripping force at least so that the object does not fall even if the power of the driving source is cut off while the hand is gripping the predetermined object. Robot hand. 前記屈曲復帰手段として、前記可動指の各関節にねじりバネを設けたことを特徴とする、請求項１または２記載の多指可動ロボット用ハンド。 3. The multi-finger movable robot hand according to claim 1, wherein a torsion spring is provided at each joint of the movable finger as the bending return means. 各関節を掌側に屈曲自在に連結し、かつ屈曲復帰手段を供えた複数個の可動指内に、可動指の伸張を誘導するワイヤを挿通すると共に、手首方向および手指方向に移動する手段を備え、前記移動手段にワイヤの片端を固定した、多指可動ロボット用のハンドにおいて、
可動指の根元に指ベース部を設け、ハンド掌部に対する、指ベース部の取付け角度を変えることで、可動指の動作方向を任意に変更できるようにしたことを特徴とする、多指可動ロボット用ハンド。 A means for flexibly connecting each joint to the palm side and inserting a wire for guiding the extension of the movable finger into a plurality of movable fingers provided with a bending return means, and a means for moving in the wrist direction and the finger direction In a hand for a multi-finger movable robot having one end of a wire fixed to the moving means,
A multi-finger movable robot characterized in that a finger base part is provided at the base of the movable finger and the moving direction of the movable finger can be arbitrarily changed by changing the attachment angle of the finger base part to the hand palm part. For hands. 前記可動指が拇指、示指、中指、環指のうち、示指、中指、環指の３指、または拇指、中指、環指の３指としたことを特徴とする請求項４記載の多指可動ロボット用ハンド。 5. The multi-finger movable according to claim 4, wherein the movable fingers are three fingers of a thumb, a middle finger, and a ring finger, or three fingers of a thumb, a middle finger, and a ring finger among the thumb , index finger, middle finger, and ring finger. Robot hand. 前記可動指が前記掌側にねじにより取り付け可能にされたことを特徴とする請求項４または５記載の多指可動ロボット用ハンド。

The multi-finger movable robot hand according to claim 4 or 5, wherein the movable finger can be attached to the palm side by a screw .

JP2008145251A 2008-06-03 2008-06-03 Robot hand and robot equipped with the same Expired - Fee Related JP5286947B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008145251A JP5286947B2 (en) 2008-06-03 2008-06-03 Robot hand and robot equipped with the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008145251A JP5286947B2 (en) 2008-06-03 2008-06-03 Robot hand and robot equipped with the same

Publications (3)

Publication Number Publication Date
JP2009291853A JP2009291853A (en) 2009-12-17
JP2009291853A5 true JP2009291853A5 (en) 2011-09-01
JP5286947B2 JP5286947B2 (en) 2013-09-11

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Family Applications (1)

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JP2008145251A Expired - Fee Related JP5286947B2 (en) 2008-06-03 2008-06-03 Robot hand and robot equipped with the same

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KR101142765B1 (en) * 2010-01-15 2012-05-18 한양대학교 산학협력단 Movable robot with improved foldability
TW201134532A (en) * 2010-04-15 2011-10-16 Dmp Electronics Inc Multiple-finger robot that simulates human hand motion
CN102092049B (en) * 2011-01-04 2013-02-13 天津大学 Humanoid dexterous hand with variable-shape palm
CN103702804A (en) * 2011-07-12 2014-04-02 株式会社安川电机 Robotic hand and robot
KR101490217B1 (en) 2013-11-13 2015-02-05 한국생산기술연구원 Joint structure for articulated robot
CN103612264B (en) * 2013-11-28 2016-02-24 北京智能佳科技有限公司 A kind of mechanical finger and manipulator
KR101639723B1 (en) * 2014-10-21 2016-07-15 한국생산기술연구원 a robot hand
CN106826798B (en) * 2017-04-06 2019-03-08 江南大学 The double drive crank block parallel institution palm-type manipulator of finger displacement and indexing
CN106926265B (en) * 2017-04-26 2019-03-15 江南大学 The double drive crank rocker sliding block parallel institution palm-type manipulator of finger displacement and indexing
CN107225588A (en) * 2017-08-09 2017-10-03 北京进化者机器人科技有限公司 Robot delicate and robot
CN107433607B (en) * 2017-08-11 2020-09-25 清华大学 Robot finger device suitable for grabbing desktop objects
CN110406966B (en) * 2019-07-27 2020-11-06 南京昱晟机器人科技有限公司 Industrial transfer robot
KR102362098B1 (en) * 2020-07-27 2022-02-11 한국로봇융합연구원 Robot Gripper with Stopper Device using Low Melting Point Alloy and Control Method thereof
JPWO2022186033A1 (en) * 2021-03-04 2022-09-09
KR20230020291A (en) 2021-08-03 2023-02-10 현대자동차주식회사 Robot hand module
CN115846495B (en) * 2022-11-24 2023-11-21 吉林大学 Bionic flexible stretch forming machine

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JPS60123290A (en) * 1983-12-02 1985-07-01 オムロン株式会社 Robot hand
JPH0322893Y2 (en) * 1986-01-16 1991-05-20
JPH0482687A (en) * 1990-07-25 1992-03-16 Kawasaki Steel Corp Mechanical hand
JPH05220684A (en) * 1992-02-10 1993-08-31 Shimadzu Corp Chuck mechanism
JP3914045B2 (en) * 2001-12-17 2007-05-16 本田技研工業株式会社 Multi-finger hand device
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