JP2015054354A - Robot hand device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand device having different bend amounts of respective finger mechanisms even by a single power source.SOLUTION: The robot hand device of the invention comprises: a rotation shaft 40 for rotating by power of a power source; and plural finger actuation mechanisms for coupling the rotation shaft 40 and respective finger mechanisms and transmitting the power of the power source to the respective finger mechanisms. The finger actuation mechanisms each comprise: a rotation link arm 50 fixed to the rotation shaft 40 for rotation with the rotation shaft 40; and a transmission link arm 44 whose one end is coupled to the rotation link arm 50 and performing reciprocating movement according to rotation of the rotation link arm 50. Some of the plural finger actuation mechanisms have a link rate of the rotation link arm 50 and the transmission link arm 44, which is different from that of other finger actuation mechanisms.

Description

  The present invention relates to a robot hand device that can bend a finger.

  In recent years, various research and development have been conducted on robot hand devices that imitate human hands. Such a robot hand device includes a base imitating a human palm or instep, a plurality of finger mechanisms extending from the base and imitating human fingers, and a power source for operating the plurality of finger mechanisms. And.

Patent Document 1 discloses a robot hand device capable of operating a plurality of finger mechanisms with a single power source. This robot hand device includes a rotation shaft that is rotated by the power of a power source, and a plurality of finger actuation mechanisms that connect the rotation shaft and each finger mechanism.
The finger actuating mechanism includes a rotating roller fixed to the rotating shaft and a transmission link arm having one end connected to the rotating roller, and converts the rotating motion of the rotating shaft into a reciprocating motion. The finger mechanism is configured to be pulled or pushed.
Then, when the rotation shaft rotates with each finger mechanism extending straight, each finger mechanism pulled by each finger operation mechanism bends toward the palm side, and the robot hand device grips the tool. Is supposed to do.

JP 2006-167831 A

  However, since the finger operation mechanisms of the prior art have the same link ratio between the rotating roller and the transmission link arm, the amount of pulling or pushing the finger mechanism is also the same. Therefore, each finger mechanism bends uniformly, for example, only the finger mechanism corresponding to the index finger extends straight, and the other finger mechanism bends to the palm side to express a sign language such as an action pointing at a certain direction. I couldn't.

  In order to solve the above problems, it is conceivable to adjust the amount of bending of each finger mechanism by providing a power source to each finger mechanism. However, this proposal causes an increase in weight and the number of parts. Therefore, it is preferable to operate a plurality of finger mechanisms with one power source.

  Therefore, the present invention is an invention created in view of the above-described background, and an object thereof is to provide a robot hand device in which the bending amount of each finger mechanism is different even with a single power source.

  As means for solving the above problems, a robot hand apparatus according to the present invention includes a base, a plurality of finger mechanisms extending from the base, and one power source for operating each finger mechanism. A robot hand apparatus, wherein a plurality of finger operations are connected to each other by rotating the rotation shaft rotated by the power of the power source, connecting the rotation shaft and each finger mechanism, and transmitting the power of the power source to each finger mechanism. The finger actuating mechanism is fixed to the pivot shaft and pivots together with the pivot shaft, and one end side is connected to the pivot link arm, and the pivot link arm A transmission link arm that reciprocates in accordance with the rotation of the finger, and a part of the plurality of finger operation mechanisms has a link ratio between the rotation link arm and the transmission link arm of another finger operation mechanism. It is characterized by being different from the ratio.

According to the above-described invention, the link ratio of a part of the plurality of finger actuation mechanisms is different from the link ratio of the other finger actuation mechanisms, and the amount of pulling and pushing the finger mechanisms is also different.
Therefore, a difference occurs in the amount of bending between a finger mechanism to which some of the plurality of finger actuation mechanisms are coupled and a finger mechanism to which other finger actuation mechanisms are coupled.
Then, when the rotation shaft rotates, the finger mechanism with a large amount of bending bends to the palm side, while the finger mechanism with a small amount of bending is in a state approximating a straight extension state, for example, an operation expressing sign language Etc., each of the finger mechanisms can be actuated to different positions.

  Further, in the robot hand device according to the present invention, the plurality of finger operation mechanisms are configured by a first finger operation mechanism in which the link ratio is constant and a second finger operation mechanism in which the link ratio is variable. Preferably it is.

  In the robot hand device having such a configuration, when the link ratio of the second finger actuation mechanism is set to be the same as the link ratio of the first finger actuation mechanism, the bending amount of each finger mechanism is the same.

  In the robot hand apparatus according to the present invention, it is preferable that the plurality of finger operation mechanisms are constituted only by a second finger operation mechanism in which the link ratio is variable.

  In the robot hand device having such a configuration, when the link ratios of all the second finger operation mechanisms are set to be the same, the bending amount of each finger mechanism is the same.

  Further, in the robot hand device according to the present invention, the second link actuating mechanism has a pivot link arm provided on a radially outer side of the pivot shaft with respect to the first hole and the second connection portion. It is preferable that the transmission link arm of the second finger actuating mechanism is connected to the transmission link arm via a connection pin inserted through the first hole or the second hole.

  In the robot hand apparatus having such a configuration, the hole through which the connecting pin is inserted is changed to the first hole or the second hole, so that the position where the transmission link arm and the rotation link arm are connected is the radial direction of the rotation shaft. To change the link ratio.

  In the robot hand apparatus according to the present invention, it is preferable that the second hole is a long hole extending in a circumferential direction of the rotation shaft.

  In the robot hand device having such a configuration, when the connecting pin is inserted into the second hole, the connecting pin escapes along the long hole even if the rotary link arm rotates together with the rotary shaft. For this reason, the movement of the transmission link arm is delayed, and the bending start time of the finger mechanism is delayed.

  In the robot hand device according to the present invention, in the second finger operation mechanism, the connection pin includes a first connection pin inserted into the first hole and a second connection pin inserted into the second hole. Each of the first connecting pin and the second connecting pin connects the rotation link arm and the transmission link arm, and the shape of the second hole rotates together with the transmission link arm around the first pin. The transmission link arm of the second finger actuating mechanism supports the second connection pin so that it can freely move in and out of the second hole, and automatically switches the link ratio. Preferably, it has a switching function.

  The robot hand apparatus having such a configuration can avoid an operation in which an assistant operating or managing the robot hand apparatus changes the link ratio.

According to the present invention, since the amount of bending of each finger mechanism is different even with a single power source, an operation for expressing sign language can be executed.
Further, according to the present invention, when the link ratio of each finger actuation mechanism is set to be the same, an operation of gripping the tool can also be executed.
Further, according to the present invention, by changing the hole through which the assistant inserts the connecting pin, the operation of the robot hand device can be selected to express the sign language or to grasp the tool.
In addition, according to the present invention, since the folding start time of the finger mechanism can be delayed, various sign languages can be expressed.
Further, according to the present invention, it is possible to automatically switch the link ratio and select whether the operation of the robot hand device is an operation for expressing sign language or an operation for gripping a tool.

It is a perspective view which shows the robot hand apparatus which concerns on embodiment. It is a front view showing a robot hand device concerning an embodiment. It is a figure which shows a link mechanism, (a) is a side view when a finger mechanism is extended straight, (b) is a side view when a finger mechanism is bent to the palm side. It is sectional drawing which shows the 1st finger action mechanism and the 4th finger mechanism at the time of cutting the state where the 4th finger mechanism is extended straight at the approximate center of the horizontal direction of the 4th finger mechanism. It is sectional drawing which shows the 1st finger action mechanism and the 4th finger mechanism at the time of cutting the state in which the 4th finger mechanism is bent in the palm side at the approximate center of the 4th finger mechanism of the left-right direction. It is a perspective view which shows a 2nd finger action mechanism. The operation state of the 2nd finger operation mechanism at the time of inserting a connecting pin in the 1st hole is shown, (a) is a sectional view in the state before a rotation axis rotates, (b) is a rotation axis at a predetermined angle. FIG. 4C is a cross-sectional view showing a state in which the rotation angle is larger than the rotation angle in FIG. The operation state of the 2nd finger operation mechanism at the time of inserting a connecting pin in the 2nd hole is shown, (a) is a sectional view in the state before a rotation axis rotates, (b) is a rotation axis at a predetermined angle. FIG. 4C is a cross-sectional view showing a state in which the rotation angle is larger than the rotation angle in FIG. The operation of the robot hand device is shown, (a) is a perspective view of a state in which the first finger mechanism to the fourth finger mechanism extend straight, and (b) is a uniform bending of the first finger mechanism to the fourth finger mechanism. (C) is a perspective view of a state in which the first finger mechanism to the fourth finger mechanism have been bent, and (d) is a perspective view of a state in which the second finger mechanism to the fourth finger mechanism are bent. It is. It is a side view of a modification provided with a connecting pin locking mechanism, (a) shows a state before the rotating shaft is rotated, (b) shows a case where the shaft is rotated in a protruding state, (C) shows a state in which the shaft is retracted after rotation. It is sectional drawing which looked at the modification provided with the connection pin latching mechanism, (a) shows the state which the shaft protruded, (b) shows the state which retracted the shaft. The tool grasping mode of the 2nd finger action mechanism concerning a modification is shown, (a) is a side view showing the state before rotation of a rotating shaft, (b) is the side showing the state after rotation of a rotating shaft. FIG. The 2nd finger action mechanism concerning a modification is shown, (a) is a sectional view showing the state where the 1st connecting pin has penetrated the 1st hole, (b) is the 1st connecting pin removed from the 1st hole It is sectional drawing which shows a state. The sign language operation mode of the 2nd finger action mechanism concerning a modification is shown, (a) is a side view showing the state where the axis of rotation turned only a predetermined angle, and (b) is more than the rotation angle of (a). It is a side view which shows the state rotated largely.

  Embodiments of the present invention will be described with reference to the drawings. The robot hand apparatus according to the present embodiment includes five finger mechanisms like a human hand, and an example in which the present invention is applied to four finger mechanisms among them will be described. In addition, the size, positional relationship, and the like of the members shown in each drawing may be exaggerated for clarity of explanation. Furthermore, in the following description, the same name and symbol indicate the same or the same members, and the description will be omitted as appropriate.

As shown in FIG. 1, the robot hand device 1 includes a base 10 corresponding to a human palm or back of a human hand, four finger mechanisms 20 extending from one end edge of the base 10 in substantially the same direction, The finger mechanism 20 includes a thumb structure OY extending from a different location, and has a shape imitating a human hand (right hand in FIG. 1).
The four finger mechanisms 20 include a first finger mechanism 20A imitating a human index finger, a second finger mechanism 20B imitating a human middle finger, a third finger mechanism 20C imitating a human ring finger, and a human And a fourth finger mechanism 20D imitating the little finger.
Furthermore, since the robot hand apparatus 1 operates the four finger mechanisms 20, one motor (power source) 30, a rotating shaft 40 that rotates by driving the motor 30, the rotating shaft 40, and each finger It is mainly provided with four finger operation mechanisms 41 that operate the finger mechanism 20 by connecting the mechanism 20. The robot hand apparatus 1 can execute a gripping operation mode for gripping a tool or a sign language operation mode for expressing a sign language by operating four finger mechanisms 20.

In the description of the configuration of the robot hand apparatus 1, the base 10 side is referred to as the lower side and the finger mechanism 20 side is referred to as the upper side in the direction in which the base 10 and the finger mechanism 20 are arranged.
Further, when the robot hand apparatus 1 is viewed from the palm side, in the direction in which the four finger mechanisms 20 are arranged, the side on which the first finger mechanism 20A is arranged is referred to as the right side, and the finger mechanism on which the fourth finger mechanism 20D is arranged. The side is referred to as the left side.
Further, the palm side of the robot hand apparatus 1 is referred to as a front side, and the back side of the hand is referred to as a rear side.
In addition, the thumb structure OY can be driven by another motor M (see FIG. 2). In the present embodiment, the thumb structure OY does not transmit power from the motor 30 (that is, the thumb structure OY of the present embodiment does not correspond to a “finger mechanism” in the claims). However, the present invention is not limited to this, and the thumb structure OY may be driven together with the other finger mechanisms 20 by one power source.

The base portion 10 includes a back portion 10a that constitutes a portion of the back of a human hand, and a palm portion (not shown) that constitutes a portion of the palm of the human hand.
As shown in FIG. 2, the back part 10 a is a casing that is open at the top and front, and in its internal space, a motor 30, a speed reducer 31, a link mechanism 32, a rotating shaft 40, Four finger operation mechanisms 41 are accommodated.
The palm part (not shown) is a cover member that covers the front side of the back part 10a. According to this palm part, the member accommodated in the back part 10a cannot be visually recognized from the outside, and the aesthetic appearance of the robot hand apparatus 1 is improved (see FIG. 9).

As shown in FIG. 2, the motor 30 is connected to the rotating shaft 40 via the speed reducer 31 and the link mechanism 32.
As shown in FIG. 3A, the link mechanism 32 is fixed to the output shaft 31 a of the speed reducer 31 and rotates together with the output shaft 31 a and the first rotation arm 33 fixed to the rotation shaft 40. And a link arm 35 connected to the extending portion 33 a of the first rotating arm 33 and the extending portion 34 a of the second rotating arm 34.
As shown in FIG. 3B, when the output shaft 31a of the speed reducer 31 rotates, the first rotating arm 33 rotates (see arrow A1), and the first rotating arm 33 extends. The link arm 35 and the extended portion 34a of the second rotation arm 34 are pulled downward by the portion 33a (see arrows A2 and A3), and the rotation shaft 40 rotates together with the second rotation arm 34. (See arrow A4). Note that the directions of the arrows A1 to A4 in the above description are the directions when the finger mechanism 20 is bent. When the finger mechanism 20 is straightened, the directions of the arrows A1 to A4 are all reversed.

As shown in FIG. 2, the rotating shaft 40 is a columnar member extending in the left-right direction, and both left and right ends thereof are rotatably supported by support bases 30a and 30a.
The four finger operation mechanisms 41 include three first finger operation mechanisms 41A that connect the rotation shaft 40 and the second finger mechanism 20B to the fourth finger mechanism 20D, and the rotation shaft 40 and the first finger mechanism 20A. It is comprised with the 2nd finger action mechanism 41B to connect.

As shown in FIG. 4, the first finger operating mechanism 41A includes a first rotation link arm 42 that is fixed to the rotation shaft 40 and has a protruding portion 42a that protrudes radially outward of the rotation shaft 40, and a postscript. A substantially V-shaped V-shaped link arm 43 whose one end is rotatably connected to the shaft 11 c of the frame 11 to be connected, and a transmission link that connects the other end of the V-shaped link arm 43 and the first rotating link arm 42. The arm 44 and the finger side link arm 45 which connects the center part of the V-shaped link arm 43 and the pin P1 provided in the finger mechanism 20 are provided.
As shown in FIG. 5, when the rotation shaft 40 is rotated (see arrow A4), the protruding portion 42a of the first rotation link arm 42 is rotated downward, and the transmission link arm 44 is moved downward. (See arrow B1). Subsequently, the V-shaped link arm 43 is rotated downward (see arrow B2), the finger-side link arm 45 is moved downward, and the pin P1 is pulled downward (see arrow C1).
In addition, since the directions of the arrows A4, B1, B2, and C1 in the above description are the directions when the finger mechanism 20 is bent, the directions of the arrows are all reversed when the finger mechanism 20 is extended.

In the first finger operation mechanism 41A, the first rotation link arm 42 and the transmission link arm 44 are rotatably connected by a connecting pin 46, and the link between the first rotation link arm 42 and the transmission link arm 44 is established. The ratio is constant. Therefore, the pulling amount and the pushing amount of the pin P1 due to the rotation of the rotating shaft 40 are also constant.
The second finger operation mechanism 41B will be described later.

Each of the first finger mechanism 20A to the fourth finger mechanism 20D, which is the four finger mechanisms 20, is composed of a common member. Therefore, the fourth finger mechanism 20D coupled to the first finger operation mechanism 41A is taken as a representative example, and the description of the configuration of the first finger mechanism 20A to the third finger mechanism 20C is omitted.
As shown in FIG. 4, the finger mechanism 20 includes a frame 11 fixed to the base 10, a root member 21, an intermediate member 22, a fingertip member 23, a frame 11, and a root member, which are sequentially arranged on the upper side of the frame 11. 21, joint members 24, 25, and 26 that rotatably connect the intermediate member 22 and the fingertip member 23, and a first link arm 27 and a second link arm 28 are mainly provided.

  The frame 11 is a member having a substantially U-shaped cross section. The frame 11 extends forward from each of the fixed portion 11a fixed to the front surface of the back portion 10a and the left and right edges of the fixed portion 11a to sandwich the joint member 24. A pair of holding portions 11b and 11b (see FIG. 2 for the sake of illustration of only the left holding portion 11b in FIG. 4).

Each of the root member 21, the intermediate member 22, and the fingertip member 23 has a pair of internode plates 21a, 22a, and 23a that are opposed to each other in the left-right direction with a space therebetween (in FIG. 4, the left internode plates 21a, 22a, 23a only) and a connecting portion (not shown) that is connected and connected between the pair of internode plates 21a, 22a, and 23a.
Each of the pair of internode plates 21a, 22a, 23a is long in the vertical direction, and the upper and lower end portions are formed in a substantially semicircular shape.

The base member 21 is provided with a cylindrical portion 21b having both end surfaces fixed to the pair of internode plates 21a on the lower side between the pair of internode plates 21a.
The joint member 24 sandwiched by the frame 11 passes through the pair of internode plates 21a and the inner space of the cylindrical portion 21b, and the root member 21 is rotatably connected to the frame 11.
The intermediate member 22 sandwiches the joint member 25 on the lower side of the pair of internode plates 22a. The joint member 25 penetrates the upper side of the root member 21, and the intermediate member 22 is rotatably connected to the root member 21.
Further, the intermediate member 22 sandwiches the joint member 26 on the upper side of the pair of internode plates 22a. The joint member 26 penetrates the lower side of the fingertip member 23, and the fingertip member 23 is rotatably connected to the intermediate member 22.

Further, the frame 11 sandwiches a shaft 11c for rotatably supporting the V-shaped link arm 43 of the finger actuating mechanism 41 on the lower side of the pair of sandwiching portions 11b, and on the upper side of the pair of sandwiching portions 11b. The pin P2 that rotatably supports the lower side of the first link arm 27 is sandwiched.
A first clearance groove 21c for inserting the pin P2 held between the frames 11 is formed on the lower side of the internode plate 21a. The escape groove 21c extends in the circumferential direction around the joint member 24, and the pin P2 escapes in the escape groove 21c when the root member 21 rotates forward (see FIG. 5).

The root member 21 sandwiches a pin P1 for rotatably connecting the upper side of the finger side link arm 45 of the finger operating mechanism 41 on the lower side of the pair of internode plates 21a.
As shown in FIG. 5, when the pin P1 is pulled downward by the finger side link arm 45 (see arrow C1), the front side of the root member 21 is pulled downward, and the root member 21 is rotated forward. (See arrow C2).
The root member 21 sandwiches a pin P4 that rotatably supports the lower side of the second link arm 28 on the upper side of the pair of internode plates 21a.

As shown in FIG. 4, the intermediate member 22 sandwiches a pin P3 that rotatably supports the upper side of the first link arm 27 on the lower side of the pair of internode plates 22a. 27, the rear side of the frame 11 and the front side of the intermediate member 22 are connected.
As shown in FIG. 5, when the root member 21 rotates forward (see arrow C2), the upper side of the first link arm 27 tilts forward (see arrow C3), and the intermediate member 22 sandwiches the pin P3. Is pulled downward (see arrow C4), and the intermediate member 22 is rotated forward (see arrow C5).
In addition, as shown in FIG. 4, the 2nd escape groove 21d for inserting the pin P3 is formed in the upper part side of the internode board 22a, and when the intermediate member 22 rotates to the front side, it is 2nd The pin P3 escapes in the escape groove 21d.

The intermediate member 22 holds a pin P5 that rotatably supports the upper side of the second link arm 28 on the lower side of the pair of internode plates 22a, and the root member 21 is interposed via the second link arm 28. The rear side and the front side of the fingertip member 23 are connected.
As shown in FIG. 5, when the intermediate member 22 is rotated forward (see arrow C5), the upper side of the second link arm 28 is rotated forward, and the front side of the fingertip member 23 holding the pin P5 is downward. Pulled to the side (see arrow C6), the fingertip member 23 is rotated forward (see arrow C7).

As shown in FIG. 6, the second finger operation mechanism 41 </ b> B includes a second rotation link arm 50 fixed to the rotation shaft 40, a transmission link arm 44, a V-shaped link arm 43, and a finger side link arm 45. And an urging member 51 wound around the cylindrical portion 21 b of the root member 21.
The second finger operation mechanism 41B is provided with a second rotation link arm 50 instead of the first rotation link arm 42, and a point where an urging member 51 is added. It is different from the mechanism 41A. Hereinafter, the second finger operation mechanism 41B will be described focusing on differences from the first finger operation mechanism 41A.

The second rotation link arm 50 includes an annular ring part 50a fixed to the rotation shaft 40, and an extending part 50b extending radially outward from the ring part 50a.
As shown in FIGS. 6-8, the extension part 50b is formed with a first hole 50c and a second hole 50d. The first hole 50c and the second hole 50d are holes through which a connecting pin 47 that rotatably supports the transmission link arm 44 is inserted.
Moreover, the 1st hole 50c and the 2nd hole 50d are shifted | deviated to the radial direction of the rotating shaft 40, and change the hole which the connection pin 47 penetrates between the 1st hole 50c and the 2nd hole 50d. Thus, the portion where the transmission link arm 44 and the second rotation link arm 50 are connected is displaced in the radial direction of the rotation shaft 40, so that the link ratio is changed.

As shown in FIG. 6, the 1st hole 50c is a circular hole formed in the magnitude | size which can rotate the connecting pin 47 to penetrate.
As shown in FIGS. 7A to 7C, when the rotation shaft 40 rotates with the connection pin 47 inserted through the first hole 50c, the second rotation link arm 50 also rotates downward. The transmission link arm 44 is moved downward. Then, the finger side link arm 45 pulls the root member 21 to rotate forward, and the first finger mechanism 20A is bent.
Further, the first hole 50 c is located at the same position as the connecting pin 46 that connects the first rotation link arm 42 and the transmission link arm 44 of the first finger operation mechanism 41 A with respect to the central axis of the rotation shaft 40. It is formed as follows.
Therefore, when the connecting pin 47 is inserted through the first hole 50c, the link ratio between the second rotation link arm 50 and the transmission link arm 44 is the same as the link ratio of the first finger actuation mechanism 41A. Therefore, the pull amount and the push amount of the second finger operation mechanism 41B are the same as the pull amount and the push amount of the first finger operation mechanism 41A, and each of the first finger mechanism 20A to the fourth finger mechanism 20D is bent in the same manner. .

As shown in FIG. 8A, the second hole 50 d is a semicircular arc-shaped long hole extending in the circumferential direction of the rotation shaft 40.
The elongated hole in the second hole 50d is formed by the second rotary link arm 50 in order to bend the first finger mechanism with respect to the connecting pin 47 inserted through the second hole 50d with the first finger mechanism 20A extending straight. It extends in the direction opposite to the direction of rotation (counterclockwise in FIG. 8).
Therefore, as shown in FIGS. 8A and 8B, when the second rotation link arm 50 rotates clockwise, the connecting pin 47 escapes through the second hole 50d, and the power of the motor 30 is increased. The first finger mechanism 20A is kept straight without being transmitted to the transmission link arm 44.
Then, as shown in FIGS. 8B and 8C, the second rotation link arm 50 rotates clockwise by a predetermined angle, and the connecting pin 47 comes into contact with the end surface in the second hole 50d. When the second rotation link arm 50 further rotates clockwise (see arrow D1) from this state, the transmission link arm 44 moves downward (see arrow D2), and the finger side link arm 45 moves to the root member 21. Pull. For this reason, the first finger mechanism 20A starts to bend to the palm side later than the second finger mechanism 20B to the fourth finger mechanism 20D (see arrow D3).

The second hole 50d is provided on the outer side in the radial direction than the first hole 50c.
For this reason, when the connecting pin 47 is inserted into the second hole 50d and the transmission link arm 44 is connected, the rotating shaft 40 rotates more than when the connecting pin 47 is inserted into the first hole 50c. The amount of downward movement of the transmission link arm 44 with respect to the angle is large, and the amount of pulling the first finger mechanism 20A is also large.
As a result, as shown in FIG. 8 (c), the first finger mechanism 20A is bent more slowly than the second finger mechanism 20B to the fourth finger mechanism 20D, but the angle relative to the angle at which the rotation shaft 40 is rotated. Since the amount of bending is large, the amount of bending can be made the same.
As shown in FIG. 8C, when the second rotation link arm 50 rotates in the reverse direction with the transmission link arm 44 moving downward, the connecting pin 47 is connected to the second hole 50d. The transmission link arm 44 is prevented from being pushed upward by the second rotation link arm 50 because it escapes inside.

As shown in FIG. 6, the urging member 51 is a torsion coil spring wound around the cylindrical portion 21 b of the root member 21. Further, one end 51 a of the urging member 51 is locked to the front surface of the fixing portion 11 a of the frame 11, and the other end 51 b of the urging member 51 is locked to the locked portion 21 e formed on the root member 21. Yes.
As shown in FIG. 8C, when the root member 21 is rotated forward and the one end 51a and the other end 51b of the urging member 51 are close to each other, the root member 21 is caused to rotate rearward. An urging force (see arrow D4) is applied.
Therefore, when the second rotation link arm 50 rotates in the reverse direction with the transmission link arm 44 moving downward, the force pulling the root member 21 downward is released, and the biasing member The root member 21 is rotated rearward by the urging force 51. As a result, the root member 21 pulls the finger side link arm 45 upward, the transmission link arm 44 moves upward, and the V-shaped link arm 43, the transmission link arm 44, and the finger side link arm 45 rotate. The state before the 40 rotation is restored.

Next, the operation of the present embodiment will be described with reference to FIG.
First, a gripping operation mode in which the robot hand device 1 grips a tool will be described. As shown in FIG. 9A, the initial state before driving the motor 30 is a state in which each of the first finger mechanism 20A to the fourth finger mechanism 20D extends straight upward.
Further, when executing the gripping operation mode, the assistant inserts the connection pin 47 into the first hole 50c of the second rotation link arm 50 in advance and connects the second rotation link arm 50 and the transmission link arm 44. Prepare to make. Thereby, the link ratio of 41 A of 1st finger action mechanisms and the 2nd finger action mechanism 41B becomes the same.

In the gripping operation mode, when the motor 30 is driven, the rotation shaft 40 rotates and the first finger mechanism 20A to the fourth finger corresponding to the three first finger operation mechanisms 41A and the second finger operation mechanisms 41B respectively. Begin to pull mechanism 20D.
Further, the connecting pin 47 is inserted into the first hole 50c of the second rotation link arm 50, and the pulling amount of the first finger operation mechanism 41A corresponding to the rotation angle of the rotation shaft 40 and the second finger operation mechanism 41B. Since the pulling amount is the same, the first finger mechanism 20A to the fourth finger mechanism 20D start to bend uniformly as shown in FIG. 9B.
Further, when the rotation shaft 40 is further rotated, as shown in FIG. 9C, the robot hand apparatus 1 is bent to the extent that it faces the palm side of the first finger mechanism 20A to the fourth finger mechanism 20D. Can be gripped.
On the other hand, when the motor 30 is driven and the rotation shaft 40 is rotated in the reverse direction from the state shown in FIG. 9C, each of the first finger operation mechanism 41A and the second finger operation mechanism 41B. However, the power of the motor 30 is transmitted to the first finger mechanism 20A to the fourth finger mechanism 20D.
As a result, as shown in FIGS. 9B and 9A, each of the first finger mechanism 20A to the fourth finger mechanism 20D gradually starts to rise, and each of the first finger mechanism 20A to the fourth finger mechanism 20D. Is extended upward.

Next, the sign language operation mode for expressing sign language will be described.
When the sign language operation mode is executed, the assistant inserts the connection pin 47 into the second hole 50d of the second rotation link arm 50 in advance and connects the second rotation link arm 50 and the transmission link arm 44. Prepare to make. Thereby, the link ratio between the first finger actuation mechanism 41A and the second finger actuation mechanism 41B is different.

In the sign language operation mode, the rotation shaft 40 is rotated by driving the motor 30, and the first rotation link arm 42 of the three first finger operation mechanisms 41A and the second rotation link of the second finger operation mechanism 41B. The arm 50 rotates.
Here, with respect to the first finger operation mechanism 41A, the first link arm 42 rotates to move the transmission link arm 44 downward, and the second finger mechanism 20B to the fourth finger mechanism 20D are pulled. The two-finger mechanism 20B to the fourth finger mechanism 20D start to bend.
On the other hand, regarding the second finger operation mechanism 41B, even if the second rotation link arm 50 rotates, the connection pin 47 escapes along the second hole 50d, so that the transmission link arm 44 does not move downward, The first finger mechanism 20A is not pulled.
Therefore, as shown in FIG. 9D, only the first finger mechanism 20A extends straight upward, and the robot hand device 1 is pointed upward or the number of certain objects is one. Express the behavior shown.

When the motor 30 further rotates, the first rotation link arm 42 of the first finger operation mechanism 41A and the second rotation link arm 50 of the second finger operation mechanism 41B further rotate, The corresponding first finger mechanism 20A to fourth finger mechanism 20D are pulled.
Here, the amount by which the second finger operation mechanism 41B pulls the first finger mechanism 20A is large. Therefore, as shown in FIG. 9C, the first finger mechanism 20A begins to bend later than the second finger mechanism 20B to the fourth finger mechanism 20D, but the second finger mechanism 20B to the fourth finger mechanism 20D. The amount of bending is the same. As a result, as shown in FIG. 9D, all of the first finger mechanism 20A to the fourth finger mechanism 20D are greatly bent, and the robot hand device 1 performs an operation indicating that the number of objects is zero. Express.

As described above, according to the robot hand apparatus 1 of the embodiment, even if there is one motor 30, the amount of bending of each finger mechanism 20 is different, and sign language can be expressed.
Moreover, according to the robot hand apparatus 1 of the embodiment, the operation of gripping the tool can be executed by changing the hole through which the connecting pin 47 is inserted.
In addition, according to the robot hand device 1 of the embodiment, the folding start time of the finger mechanism 20 can be delayed, so that various sign language can be expressed.

The robot hand apparatus 1 according to the embodiment has been described above, but the present invention is not limited to the example described in the embodiment.
For example, the plurality of finger actuation mechanisms 41 of the embodiment are configured by the first finger actuation mechanism 41A having a constant link ratio and the second finger actuation mechanism 41B having a variable link ratio. It may consist only of. According to the said structure, the amount of bending of each finger mechanism 20 can be adjusted with respect to rotation of the rotating shaft 40, and the robot hand apparatus 1 can express more various sign language operations.
Moreover, although the 2nd hole 50d of the 2nd rotation link arm 50 of embodiment is a long hole, this invention is not limited to this, A simple circular hole may be sufficient. According to this configuration, the bending of the first finger mechanism 20A can be made larger than the amount of bending of the second finger mechanism 20B to the fourth finger mechanism 20D.

Further, in the second rotation link arm 50 of the embodiment, the two holes of the first hole 50c and the second hole 50d are formed. However, when the robot hand device 1 does not execute the gripping operation mode, the second hole You may use the 2nd rotation link arm 50 in which only the hole 50d was formed.
Further, when the second rotation link arm 50 in which only the second hole 50d is formed is used, as shown in FIG. 10A, a connection pin locking mechanism 80 that can be locked to the connection pin 47 is used. The bending timing of the first finger operation mechanism 41A may be changed.
As shown in FIGS. 10 (a) and 11 (a), the connecting pin locking mechanism 80 includes a main body portion 81 fixed to the second rotation link arm 50 and a shaft that can be projected and retracted from the main body portion 81. 82. As shown in FIG. 10A, the shaft 82 extends so as to overlap the second hole 50d in a side view, and when the second rotation link arm 50 rotates, the second hole 50d. It is configured to be engaged with the connecting pin 47 that escapes inside, and to pull the transmission link arm 44 together with the connecting pin 47 downward.

11B, when the rotation shaft 40 is rotated with the shaft 82 retracted into the main body 81 before the rotation shaft 40 is rotated, the connecting pin 47 is engaged with the shaft 82. The first finger mechanism 20 </ b> A is kept straight and escapes through the second hole 50 d without doing so.
On the other hand, when the rotation shaft 40 is rotated with the shaft 82 protruding, the connection pin 47 is locked to the shaft 82 and the transmission link arm 44 is moved downward as shown in FIG. By pulling, the first finger mechanism 20A begins to bend in the same manner as the other second finger mechanisms 20B to 20D.
As described above, by providing the connecting pin contact mechanism 80, the bending timing of the first finger operation mechanism 41A can be changed. Further, when the shaft 82 is rotated in a protruding state, the gripping operation mode is changed. It is possible to execute an operation similar to the operation at the time.
When the rotation shaft 40 is rotated with the shaft 82 protruding, the first finger mechanism 20A is connected via the second hole 50d having a large link ratio, and therefore, the other second finger. It is larger than the mechanism 20B to the fourth finger mechanism 20D.
Therefore, as shown in FIG. 10 (c), the shaft 82 is retracted into the main body 81 in a state where the rotation amount of the rotation shaft 40 becomes a predetermined amount, and the connection pin 47 escapes through the second hole 50d. The second rotating arm 50 is rotated. According to this, the amount of bending of the first finger mechanism 20A is the same as in the sign language operation mode, and as shown in FIG. 9C, the amount of bending of the first finger mechanism 20A to the fourth finger mechanism 20D. Can be unified.

  Moreover, although the case where it used for the above-mentioned connection pin latching mechanism 80 for the 2nd rotation link arm 50 in which only the 2nd hole 50d was formed was mentioned as an example, this invention is not limited to this. The connecting pin locking mechanism 80 may be used for the second rotating link arm 50 in which the first hole 50c and the second hole 50d are formed, and is a modified example having a link ratio automatic switching function to be described later. Even if it can be used. Moreover, although the case where only one connecting pin locking mechanism 80 is used has been described as an example, the present invention may include two or more.

In the robot hand device 1 according to the embodiment, the connection pin 47 is disassembled and the connection pin 47 is attached again to switch between the gripping operation mode and the sign language operation mode. You may comprise so that it may switch.
Hereinafter, a modified example of the second finger operation mechanism 41B capable of automatically switching between the gripping operation mode and the sign language operation mode will be described with reference to FIGS.

As shown in FIG. 12A, the second finger actuation mechanism 60 according to the modified example includes an automatic switching second rotating link arm 61 fixed to the rotating shaft 40, and one end side of the second switching mechanism 61 for automatic switching. A first connection pin 70 for connecting the automatic switching transmission link arm 62 connected to the dynamic link arm 61, the electromagnet 63, the automatic switching second rotation link arm 61 and the automatic switching transmission link arm 62; The second connecting pin 71, the V-shaped link arm 43, the finger side link arm 45, and an urging member (not shown) are provided.
The second finger actuation mechanism 60 according to the modified example includes an automatic switching second rotation link arm 61 instead of the second rotation link arm 50, and automatic switching instead of the transmission link arm 44. The point provided with the transmission link arm 62 for use and the point provided with the first connecting pin 70 and the second connecting pin 71 instead of the connecting pin 46 are different from the second finger actuating mechanism 41B according to the embodiment. . Furthermore, the second finger actuation mechanism 60 according to the modified example is different from the second finger actuation mechanism 41B in that an electromagnet 63 is added.
Hereinafter, the second finger operation mechanism 60 according to the modification will be described focusing on differences from the second finger operation mechanism 41B.

The second switching link arm 61 for automatic switching has a circular first hole 61c formed by shifting in the radial direction of the rotating shaft 40, and a long second hole 61d.
As shown in FIG. 13A, the first connection pin 70 is inserted into the first hole 61c, and the second connection pin 71 is inserted into the second hole 61d.

As shown in FIG. 13A, one end side of the automatic switching transmission link arm 62 is arranged on both the left and right sides of the automatic switching second rotation link arm 61, and the automatic switching second rotation link arm 61. Is provided with a pair of one end portions 62a and 62a.
The one end portions 62a and 61a have a slide portion 62c that supports the first connection pin 70 inserted through the first hole 61c so as to be slidable in the rotation axis direction, and a second connection pin 71 inserted through the second hole 61d. A through-hole 62d through which is penetrated.
For this reason, the automatic switching second turning link arm 61 and the automatic switching transmission link arm 62 are connected via the first connecting pin 70 and the second connecting pin 71.
Further, a permanent magnet 70 a is fixed to the right end surface of the first connecting pin 70.

The electromagnet 63 is a coil provided at the right end portion of the slide portion 62c, and this coil is configured to be an electromagnet by a current flowing from an external power source (not shown).
As shown in FIG. 13A, when the electromagnet 63 becomes the same magnetic pole as the permanent magnet 70a by energization, the first connecting pin 70 is inserted through the first hole 61c due to the repulsive force of the permanent magnet 70a. State is maintained.
On the other hand, when the electromagnet 63 has a magnetic pole different from that of the permanent magnet 70a, the permanent magnet 70a is attracted to the electromagnet 63 as shown in FIG. 13B, and the first connecting pin 70 is dropped from the first hole 61c. It is like that.

Next, an operation example of the modification will be described.
First, the gripping operation mode will be described. In the gripping operation mode, as shown in FIG. 12A, the automatic switching second rotation link arm 61 and the automatic switching transmission link arm 62 are connected via the first connection pin 70 and the second connection pin 71. Execute while connected.
When the automatic switching second rotation link arm 61 is rotated by driving the motor 30 (clockwise in FIG. 12A), the second connection pin 71 escapes through the second hole 61d. Therefore, the automatic switching transmission link arm 62 is pulled by the automatic switching second turning link arm 61 via the first connecting pin 70 and moves downward, and the first finger mechanism 20A starts to bend.
As a result, the first finger mechanism 20A is uniformly bent together with the other three finger mechanisms 20 from the time when the motor 30 is driven, and can perform an operation of gripping the tool (see FIG. 9B). (See FIG. 9 (c)).
The shape of the second hole 61d is such that when the automatic switching transmission link arm 62 rotates about the first connection pin 70, the second connecting pin 71 that rotates together with the automatic switching transmission link arm 62 is provided. It is the same as the trace drawn. Therefore, when the one end portion 62a of the automatic switching transmission link arm 62 moves downward while rotating about the first connection pin 70 as the rotation axis, the second connection pin 71 can be released without being locked.

Next, the sign language operation mode will be described.
Switching from the gripping operation mode to the sign language operation mode is performed by energizing the permanent magnet 70a toward the electromagnet 63 and removing the first connecting pin 70 from the first hole 61c, as shown in FIG. 13B. State. As a result, the automatic switching second turning link arm 61 and the automatic switching transmission link arm 62 are connected via the second connecting pin 71 only.

Next, as shown in FIG. 14A, when the motor 30 is driven to rotate the automatic switching second turning link arm 61 (see arrow F1), the second connecting pin 71 is moved to the second hole 61d. In order to escape inside (see arrow F2), the amount of bending of the first finger mechanism 20A becomes zero.
Therefore, while the other second finger mechanism 20B to the fourth finger mechanism 20D are bent, only the first finger mechanism 20A extends straight upward, and the robot hand device 1 moves upward, or An operation indicating that the number of a certain object is one is expressed (see FIG. 9D).
When the second turning link arm 61 for automatic switching is turned clockwise by a predetermined angle, the second connecting pin 71 comes into contact with the end face in the second hole 61d.

As shown in FIG. 14B, when the second switching link arm 61 for automatic switching further rotates clockwise from the state in which the second connecting pin 71 is in contact with the end face in the second hole 61d. The automatic switching transmission link arm 62 moves downward (see arrow F3). For this reason, the finger side link arm 45 pulls the root member 21, and the first finger mechanism 20A starts to bend to the palm side (see arrow D3).
For this reason, all of the first finger mechanism 20A to the fourth finger mechanism 20D are bent, and the robot hand apparatus 1 expresses an operation indicating that the number of objects is zero.
As shown in FIG. 14, during the sign language operation mode, the first hole 61 c of the second automatic switching link arm 61 and the first connection pin 70 supported by the automatic switching transmission link arm 62 are: It does not overlap in the axial direction of the rotating shaft 40.

Next, when the second switching link arm 61 for automatic switching is rotated in the reverse direction in order to extend the first finger mechanism 20A straight, the transmission link arm 62 for automatic switching is initially set by an urging member (not shown). Return to the state. Further, the finger side link arm 45 connected to the first finger mechanism 20A is pulled, the V-shaped link arm 43 is raised, and the upper end side of the transmission link arm 44 returns to the position before the rotation.
Further, when the angle of the second turning link arm 61 for automatic switching becomes the same angle as the initial state, the lower end side of the transmission link arm 44 also returns to the position before turning as shown in FIG. Then, the position of the transmission link arm 44 is the same as before the rotation of the rotation shaft 40.
Therefore, the first connecting pin 70 accommodated in the slide portion 62c of the automatic switching transmission link arm 62 and the first hole 61c of the automatic switching second rotating link arm 61 overlap each other when viewed from the axial direction.
Then, by energizing the permanent magnet 70a so as to repel the electromagnet 63, the first connection pin 70 is inserted through the first hole 61c, and the first connection pin 70 and the second connection pin 71 are interposed. The second switching link arm 61 for automatic switching and the transmission link arm 62 for automatic switching are connected.

According to the above-described modification, switching between the sign language operation mode and the tool gripping mode can be automatically switched, so that an operation of an assistant operating or managing the robot hand device to change the link ratio can be avoided.
As mentioned above, although the modification was demonstrated, this invention is not limited to this. For example, a hole connecting the first hole 50c and the second hole 50d may be formed so that the link ratio can be changed while the connecting pin 47 moves in the hole connecting the first hole 50c and the second hole 50d. Good. The means for moving the connecting pin 47 in the hole connecting the first hole 50c and the second hole 50d is not particularly limited.

DESCRIPTION OF SYMBOLS 1 Robot hand apparatus 10 Base 20 (20A, 20B, 20C, 20D) Finger mechanism 30 Motor 40 Rotating shaft 41 (41A, 41B) Finger action mechanism 42 1st rotation link arm 43 V-shaped link arm 44 Transmission link arm 45 Finger side link arm 46, 47 Connecting pin 50 Second rotation link arm 50c First hole 50d Second hole 51 Biasing member 60 Second finger operation mechanism 61 Second rotation link arm for automatic switching 62 Transmission link for automatic switching Arm 70 First connecting pin 71 Second connecting pin

Claims (6)

A robot hand device comprising a base, a plurality of finger mechanisms extending from the base, and a single power source for operating each finger mechanism,
A rotating shaft that is rotated by the power of the power source;
A plurality of finger actuation mechanisms that connect the pivot shaft and each finger mechanism and transmit the power of the power source to each finger mechanism;
The finger actuating mechanism is
A pivot link arm fixed to the pivot shaft and pivoting together with the pivot shaft;
One end side is connected to the rotation link arm, and includes a transmission link arm that reciprocates according to the rotation of the rotation link arm.
A part of the plurality of finger operation mechanisms has a link ratio between the rotation link arm and the transmission link arm different from a link ratio of another finger operation mechanism.   2. The plurality of finger actuation mechanisms are configured by a first finger actuation mechanism in which the link ratio is constant and a second finger actuation mechanism in which the link ratio is variable. Robot hand device.   2. The robot hand device according to claim 1, wherein the plurality of finger operation mechanisms are configured only by a second finger operation mechanism in which the link ratio is variable. The turning link arm of the second finger actuating mechanism has a first hole and a second hole provided on a radially outer side of the turning shaft than the first hole,
The transmission link arm of the second finger actuating mechanism is connected to the rotation link arm via a connection pin inserted into the first hole or the second hole. The robot hand device described   The robot hand device according to claim 4, wherein the second hole is a long hole extending in a circumferential direction of the rotation shaft. In the second finger actuation mechanism,
The connection pin includes a first connection pin inserted into the first hole and a second connection pin inserted into the second hole, and each of the first connection pin and the second connection pin is a rotation link. Connecting the arm and transmission link arm,
The shape of the second hole is a locus of a second connecting pin that rotates with the transmission link arm around the first pin,
The transmission link arm of the second finger actuating mechanism has an automatic switching function for supporting the second connecting pin so as to be able to appear and retract in the second hole and automatically switching the link ratio. The robot hand apparatus according to claim 5.

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