JP2016168645A5

JP2016168645A5 -

Info

Publication number: JP2016168645A5
Application number: JP2015049911A
Authority: JP
Filing date: 2015-03-12
Publication date: 2018-12-20
Anticipated expiration: 2035-03-12

Description

上記の課題を解決するため、本発明にかかる多指ハンド装置は、
「複数の指部を備える手部、該手部を支持する腕部、及び、前記手部を前記腕部に連結している手首構造を備える多指ハンド装置であって、
前記手首構造は、
前記手部の両外側の端部から、それぞれ前記腕部に向かって突出している一対の手首突片と、
一対の前記手首突片の間に位置し、軸心が第一軸であるモータ回転軸が前記手首突片の少なくとも一方に固定されている第一モータと、
軸心が第二軸であるモータ回転軸が前記第一軸と直角をなすように、前記腕部に固定されている第二モータと、
前記第二軸に一端が固定されており、前記第二モータの正逆回転によって回動する回動バーと、
一端が前記腕部に固定されていると共に、他端が前記第一モータのケーシングに前記第二軸に平行な第三軸によって軸支されており、前記第一モータを前記第三軸周りに回動自在に支持している固定バーと、
一端が前記第三軸と平行な第四軸によって前記第一モータのケーシングに回動自在に軸支されていると共に、他端が第五軸によって前記回動バーの他端に回動自在に軸支されている伝達バーとを具備し、
前記第一モータの正逆回転によって、前記手首突片を前記第一軸周りに回動させることにより前記手部を掌屈及び背屈させ、
前記第二モータの正逆回転による前記回動バーの前記第二軸周りの回動が前記伝達バーを介して伝達され、前記第四軸が前記第三軸周りに回動することによって、前記第一モータを前記第一軸に直角な前記第三軸周りに回動させ、これに伴い前記手部を橈屈及び尺屈させる」ものである。 In order to solve the above problems, a multi-fingered hand device according to the present invention is:
"A multi-finger hand device comprising a hand part comprising a plurality of finger parts, an arm part supporting the hand part, and a wrist structure connecting the hand part to the arm part,
The wrist structure is
A pair of wrist projecting pieces projecting from both outer ends of the hand part toward the arm part,
A first motor located between the pair of wrist projecting pieces and having a motor rotation shaft whose axis is the first shaft fixed to at least one of the wrist projecting pieces;
A second motor fixed to the arm so that a motor rotating shaft whose axis is a second axis is perpendicular to the first axis;
One end is fixed to the second shaft, and a rotation bar that rotates by forward and reverse rotation of the second motor;
One end is fixed to the arm portion, and the other end is pivotally supported on the casing of the first motor by a third shaft parallel to the second shaft, and the first motor is moved around the third shaft. A fixed bar that is pivotally supported;
One end is pivotally supported on the casing of the first motor by a fourth axis parallel to the third axis, and the other end is pivotable by the fifth axis to the other end of the pivot bar. A transmission bar that is pivotally supported,
The forward and reverse rotation of the first motor causes buckled Tenohira屈and the back of the hand portion by rotating the wrist protrusion around said first axis,
The rotation around the second axis of the rotation bar due to the forward and reverse rotation of the second motor is transmitted through the transmission bar, and the fourth axis rotates around the third axis, thereby The first motor is rotated around the third axis perpendicular to the first axis, and the hand portion is bent and crooked accordingly.

Claims

A multi-finger hand device comprising a hand part comprising a plurality of finger parts, an arm part supporting the hand part, and a wrist structure connecting the hand part to the arm part,
The wrist structure is
A pair of wrist projecting pieces projecting from both outer ends of the hand part toward the arm part,
A first motor located between the pair of wrist projecting pieces and having a motor rotation shaft whose axis is the first shaft fixed to at least one of the wrist projecting pieces;
A second motor fixed to the arm so that a motor rotating shaft whose axis is a second axis is perpendicular to the first axis;
One end is fixed to the second shaft, and a rotation bar that rotates by forward and reverse rotation of the second motor;
One end is fixed to the arm portion, and the other end is pivotally supported on the casing of the first motor by a third shaft parallel to the second shaft, and the first motor is moved around the third shaft. A fixed bar that is pivotally supported;
One end is pivotally supported on the casing of the first motor by a fourth axis parallel to the third axis, and the other end is pivotable by the fifth axis to the other end of the pivot bar. A transmission bar that is pivotally supported,
The forward and reverse rotation of the first motor causes buckled Tenohira屈and the back of the hand portion by rotating the wrist protrusion around said first axis,
The rotation around the second axis of the rotation bar due to the forward and reverse rotation of the second motor is transmitted through the transmission bar, and the fourth axis rotates around the third axis, thereby A multi-fingered hand device characterized in that a first motor is rotated around the third axis perpendicular to the first axis, and the hand portion is bent and crooked accordingly.

The multi-finger hand device according to claim 1, wherein an extension line of the third axis passes through the first axis.

Each finger is
It consists of multiple phalanx parts that are pivotally connected by a hinge part,
With one wire guided from the vicinity of the fingertip along the finger pad,
It is urged in the extending direction by a torsion coil spring interposed in the hinge part,
The multi-finger hand device according to claim 1, wherein a finger bending / stretching motor that pulls or relaxes the wire by forward / reverse rotation is disposed on the arm portion.