JP3245095B2 - Robot hand - Google Patents

Robot hand

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Publication number
JP3245095B2
JP3245095B2 JP21317397A JP21317397A JP3245095B2 JP 3245095 B2 JP3245095 B2 JP 3245095B2 JP 21317397 A JP21317397 A JP 21317397A JP 21317397 A JP21317397 A JP 21317397A JP 3245095 B2 JP3245095 B2 JP 3245095B2
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JP
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Grant
Patent type
Prior art keywords
joint
finger
motor
hand
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP21317397A
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Japanese (ja)
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JPH11156778A (en )
Inventor
恒雄 小松
晴久 川崎
Original Assignee
下村 尚之
岩田 英世
川▲崎▼ 晴久
松波 俊宣
清水 裕次
藤田 哲夫
財団法人岐阜県研究開発財団
野田 博
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は,人間の手の形状に類似した人間型(多指多関節)ロボットハンドにおける機構構成に関するものである。 BACKGROUND OF THE INVENTION The present invention is similar to the shape of the human hand humanoid (multiple fingers articulated) relates mechanism configuration in a robot hand.

【0002】 [0002]

【従来の技術の概要とその問題点】従来の人間型ロボットハンドとして,文献「Roderic A.grupen,et.al.,A su As [Outline and problems of the Conventional humanoid robot hand, the literature "Roderic A.grupen, et.al., A su
rvey of general-purpose manipulation, Internationa rvey of general-purpose manipulation, Internationa
l Journal of Robotics Researches, Vol.8,No.1,198 l Journal of Robotics Researches, Vol.8, No.1,198
9」に記載されたUtah/MITハンドがよく知られている。 Has been Utah / MIT hand described in 9 "is well known.
本ハンドは,4本指で各指は4関節あり,各指関節を駆動するモータを固定側に設置し,モータと指関節の間の動力伝達は,ワイヤーロープを介する複雑な構造となっている。 This hand, each finger is 4 joints with four fingers, established a motor for driving each finger joint to the fixed side, the power transmission between the motor and the finger joints, and a complex structure via the wire rope there. ハンドの形状は,人間の手に類似しているが, The shape of the hand, is similar to the human hand,
モータが固定側に設置されているため,ロボットのアームの先端にハンドを取り付けたとき,ロボットの運動が大きく制約されていた。 Since the motor is installed on the fixed side, when fitted with a hand to the tip of the arm of the robot, the movement of the robot has been greatly limited.

【0003】文献「MERosheim,Robot evolution,John [0003] literature "MERosheim, Robot evolution, John
Wiley & Sons,Inc.,1994」に記載されたOmniハンドと文献「R.Tomovic rt.al.,Astrategy for grasp synpape Wiley & Sons, Inc., has been Omni hand and literature "R.Tomovic rt.al. described in 1994", Astrategy for grasp synpape
r with multifingered robot hand,IEEE international r with multifingered robot hand, IEEE international
Conference on Robotics and Automation,pp.83-89,19 Conference on Robotics and Automation, pp.83-89,19
87」のBelgrade/USCハンドは,関節を駆動するモータをハンドに搭載しワイヤーロープを介さない構造となっているが,前者は各指の関節数は3と人間の指のごとく4 Belgrade / USC hand 87 "is a motor for driving the joint has a mounted structure without using a wire rope to the hand, the former joint counts of each finger as in 3 and human fingers 4
関節はなく,後者は指数は5指で各指は4関節であるがハンド全体をモータ4個で駆動する構成のため全体で4 Joints instead, the latter index across although each finger 5 finger is four joints hand throughout for the construction driven by four motors 4
自由度しかない。 There are only degrees of freedom. このため,人間の指のように各指が4 For this reason, each finger like a human finger 4
関節あり各指が3自由度以上の機構は考案されておらず,人間の手に類似した運動は困難であった。 Joint there each finger 3 or more degrees of freedom of the mechanism has not been devised, similar motion human hand has been difficult.

【0004】また,文献「Li-Ren Lin and Han=pang Hu [0004] In addition, the literature "Li-Ren Lin and Han = pang Hu
ng,Integrating Fuzzy Control ofthe Dexterous Natio ng, Integrating Fuzzy Control ofthe Dexterous Natio
nal Taiwan University(NTU)Hand, IEEE/ASMW Tranzact nal Taiwan University (NTU) Hand, IEEE / ASMW Tranzact
ionon Mechatronics, Vol.1,No.3, pp.216-229,1996」 ionon Mechatronics, Vol.1, No.3, pp.216-229,1996 "
のNTUハンドは,モータを搭載し,5本指で母指と示指は4関節で他の指は3関節あるが,指の根本部の第一関節と第二関節がねじれの位置にあって直交していない。 's NTU hand, equipped with a motor, thumb and index finger in the five fingers 4 but other fingers joints certain third joint, the first joint and the second joint of the base portion of the finger is in the twisted position not orthogonal. 一方,人間の指は第一関節と第二関節はほぼ直交している。 Meanwhile, the human finger and the first joint and the second joint is substantially perpendicular. このため,人間の指と類似した運動が困難である。 For this reason, the movement that is similar to the human finger is difficult.

【0005】以上のように従来のモータを内蔵するロボットハンドでは,指の自由度が少なかったり,根本側の2つの関節が1点で直交して設けたものはなく,このため人間の指の運動と異なる動きをしていた。 [0005] In the robot hand incorporating a conventional motor as described above, or fewer degrees of freedom of the finger, rather than those provided by orthogonal two joints 1 point base side, of the order human finger I had a motion with different motion.

【0006】 [0006]

【問題点を解決するための手段】請求項1にかかるロボットハンドは,指の根本側の第1関節と第2関節のそれぞれの軸が一点で直交し,その2つの関節を独立に駆動できるように1つの指について2つのモータを掌に設けるとともに,母指については,指先側の第3関節及び第4関節の2つの関節を独立に駆動できるように2つのモータを指に設け,母指以外の指については,指先側の第3関節及び第4関節の2つの関節を連動して駆動できるように1つの指について1つのモータを指に設けたものである。 Means for Solving the problems] robot hand according to claim 1, the first joint and the respective axes of the second joint of the base side of the finger are orthogonal at a point, can be driven independently the two joints It provided with two motors on the palm for one finger as, for thumb, provided two motors to allow driving the third joint and the two joints of the fourth joint of the fingertip side independently fingers, mother the fingers other than the finger, is provided with a single motor to the finger for one finger to be driven in conjunction with two joints of the third joint and the fourth joint of the fingertip side.

【0007】請求項2のロボットハンドでは,指の根本側の第1関節と第2関節を駆動する2つのモータは掌の厚さ方向に平行に重ねて固定され,該2つのモータにより駆動される指の根本側の第1関節と第2関節のそれぞれの軸は,前記2つのモータのうち掌側に配置されたモータの軸線の延長上の1点で直交している。 [0007] In the robot hand according to claim 2, two motors for driving the base side first joint and the second joint of the finger is fixed overlapping parallel to the palm in the thickness direction, is driven by the two motors that the respective axes of the base side first joint and the second joint of the finger is orthogonal with one point on the extension of the axis of the motor arranged on the palm side of the two motors.

【0008】この発明において,指の関節を駆動するモータをハンドに内蔵でき,かつ指の根本部が直交する2 [0008] 2 in the present invention, a motor for driving the finger joints can be incorporated in the hand, and the base portion of the finger perpendicular
つの軸まわりで回転できるため,人間の指と同様な動きが可能である。 Because it can rotate about One axis, it is possible to similar movement and a human finger.

【0009】 [0009]

【実施例】(1)構成 第1図は本発明の一実施例であり,第2図は母指の詳細図,第3図は非対称差動減速機の詳細図,第4図は母指以外の他の指の詳細図である。 EXAMPLES (1) Configuration FIG. 1 is an embodiment of the present invention, FIG. 2 is detailed view of a thumb, Figure 3 is detailed view of the asymmetric differential speed reducer, Fig. 4 thumb it is a detailed view of another finger of the other. これらの図において,1 In these figures, 1
は母指,2は示指,3は中指,4は環指,5は小指,6 Thumb, the 2 forefinger, 3 middle finger, the 4 ring finger, 5 little finger, 6
は掌,7は前屈の第1関節,8は内外転の第2関節,9 The palm, the first joint of bending before 7, 8 and the second joint of the inner and outer rolling, 9
は前屈の第3関節,10は前屈の第4関節,11は第1 Third joint of bending before, 10 the fourth joint bend forward, 11 first
モータ,12は第2モータ,13は第3モータ,14は第4モータ,15は第1モータ用エンコーダ,16は第2モータ用エンコーダ,17は第3モータ用エンコーダ,18は第4モータ用エンコーダ,19は非対称型差動減速機,20は関節軸一体型減速機,21はウオーム減速機,22は6軸力覚センサーである。 Motor, the second motor 12, third motor 13, the fourth motor 14, 15 the first motor encoder, the second motor encoder 16, the 17 third motor encoder, 18 a fourth motor encoder 19 is asymmetric differential speed reducer, 20 joint axis integral reduction gear 21 is a worm reduction gear, 22 is a 6-axis force sensor. 23から27 23 from 27
は第1傘歯車から第5傘歯車,28は4節リンク機構である。 The fifth bevel gear from the first bevel gear, 28 is a four bar linkage. (2)作用 この実施例は,人間の手に類似した5本指のロボットハンドであり,以下にその動作を示す。 (2) Operation This embodiment is a robot hand five fingers similar to the human hand, showing the operation below.

【0010】11から14の各モータの回転量はモータ軸に直結した15から18のモータ用エンコーダにて検出できる。 [0010] Rotation of the motor 11 from 14 can be detected by the motor encoder 15 directly connected to the motor shaft 18. 7,9,10の各関節の軸はそれぞれ平行であり,7の関節軸と8の関節軸は1点で交差し直交している。 The axis of each joint of the 7, 9, 10 are parallel to each joint axis of the joint axis 8 of 7 are orthogonal and intersect at one point. 11の第1モータと12の第2モータは,6の掌に重ねて固定している。 The second motor 11 first motor and 12 are fixed to overlap the palm of 6.

【0011】1の母指の動作はつぎのとおりである。 [0011] 1 of the thumb operation is as follows. 1
4の第4モータにより,21のウオーム減速機を介してモータ軸と90度軸回転した10の関節軸を駆動できる。 By 4 of the fourth motor, it can drive the 10 joint axis of which is rotated the motor shaft 90 degree axis through the worm speed reducer 21. 13の第3モータにより,20の関節軸一体型減速機を介してモータ軸と90度軸回転した9の関節軸を駆動できる。 The 13 third motor, can drive the 9 joint axis of the rotary motor shaft 90 degree axis through the joint axis integrated speed reducer 20. 19の非対称型差動減速機では,25の第3 19 The asymmetric differential speed reducer, 25 third
傘歯車の軸を中空とし,26の第4傘歯車の軸を貫通させることにより,8の第2関節の軸まわりの回転と7の第1関節の軸まわりの回転が可能な機構となっている。 The axis of the bevel gears is a hollow, by passing the axis of the fourth bevel gear 26, and a mechanism capable of rotation about the first joint rotation and 7 around the second joint 8 Axis Axis there.
ここで,11の第1モータと12の第2モータは,それらが逆の方向に同じ角度回転すると,19の非対称型差動減速機内部の傘歯車を介して,8の第2関節の軸まわりで指が回転する。 Here, the second motor of the first motor and 12 of 11, when they same angular rotation in the opposite direction, through the 19 asymmetric differential speed reducer internal bevel gear, the second joint 8 Axis finger is rotated around. また,11の第1モータを固定し, Further, to secure the first motor 11,
12の第2モータを回転させると7の第一関節軸のまわりで指が回転する。 Finger is rotated 12 second motor around the first joint axis is rotated 7. また,19の非対称型差動減速機の採用により7の関節軸まわりの回転角度が大きくとることができ,かつ,6の掌の表面側に近い位置に関節軸を設けられるため,外観上も人間の手の動きに似た動きができる。 Further, it is possible to increase the rotation angle around 7 joint axis of the adoption of asymmetric differential speed reducer 19, and, because it is provided with a joint axis at a position closer to the surface side of the palm of 6, appearance also it is a movement that is similar to the motion of the human hand.

【0012】2の示指,3の中指,4の環指,および5 [0012] 2 of the index finger, 3 of the middle finger, 4 of the ring finger, and 5
の小指が,1の母指と異なるところは,10の第4関節軸を28の4節リンク機構を介して13のモータと連動して動くようにした点である。 Pinky is a different place 1 thumb is that which is adapted to the fourth joint shaft 10 moves in conjunction with the 13 motor via a four-bar linkage 28. したがって,13の第3 Thus, 13 third
モータにより9の第3関節と10の第4関節を同時に同じ方向に回転できる。 Fourth joint of the third joint and 10 of 9 by the motor to be rotated simultaneously in the same direction.

【0013】なお,本発明の実施例では,5本指としたが必ずしも5本指に限定されるものでなく,3〜5本指のロボットハンドも同様に実施できる。 [0013] In the embodiment of the present invention, not intended but the five fingers to be necessarily limited to five fingers, can be carried out similarly robot hand 3-5 fingers. さらに,母指を4関節4自由度としたが他の指と同一の構成とし4関節3自由度のロボットハンドも実施できる。 Further, thumb and fourth joint 4 degrees of freedom and the can be implemented robot hand 4 joints 3 degrees of freedom and the same configuration as the other fingers.

【0014】 [0014]

【発明の効果】このような構成により,請求項1によれば,母指は4関節4自由度あり,母指以外の指は4関節3自由度となっている。 Effect of the Invention] With this arrangement, according to claim 1, thumb is fourth joint 4 degrees of freedom, fingers other than thumb is four joint three degrees of freedom. さらに,各指の根本部にある第1関節と第2関節のそれぞれの軸は直交し,かつ請求項2によれば,7の第2関節が掌側に設定されているので,人間の指と同様の動きを行えうる。 Further, the respective axes of the first joint and the second joint in the base portion of each finger is perpendicular to, and according to claim 2, since the second joint 7 is set on the palm side, a finger You can perform the same movement with. また,人間の指は母指を除き第3関節と第4関節は連動して動くが,母指以外の指は13のモータにより9の第3関節と10の第4関節が連動して動くので,人間の指と類似した運動ができる。 Further, the finger has a third joint and fourth joint except thumb moves in conjunction, fingers other than thumb moves in unison with the fourth joint of the third joint and 10 of 9 by 13 motor because, it is similar to the movement and the human finger.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の一実施例。 An embodiment of the present invention; FIG.

【図2】母指の詳細図。 FIG. 2 is a detailed view of the thumb.

【図3】非対称差動減速機の詳細図。 FIG. 3 is a detailed view of the asymmetric differential speed reducer.

【図4】母指以外の他の指の詳細図。 FIG. 4 is a detailed view of another of the fingers other than the thumb.

【符号の説明】 1 母指 2 示指 3 中指 4 環指 5 小指 6 手のひら 7 前屈の第1関節 8 内外転の第2関節 9 前屈の第3関節 10 前屈の第4関節 11 第1モータ 12 第2モータ 13 第3モータ 14 第4モータ 15 第1モータ用エンコーダ 16 第2モータ用エンコーダ 17 第3モータ用エンコーダ 18 第4モータ用エンコーダ 19 非対称型差動減速機 20 傘歯減速機 21 ウオーム減速機 22 6軸力覚センサー 23 第1傘歯車 24 第2傘歯車 25 第3傘歯車 26 第4傘歯車 27 第5傘歯車 28 4節リンク機構 [EXPLANATION OF SYMBOLS] 1 thumb 2 index finger 3 middle 4 ring finger 5 little finger 6 palm 7 fourth joint 11 first bending the third joint 10 prior to bending the second joint 9 before the first joint 8 out rolling of forward bending motor 12 the second motor 13 third motor 14 fourth motor 15 first motor encoder 16 second motor encoder 17 third motor encoder 18 fourth motor encoder 19 asymmetric differential speed reducer 20 bevel reduction gear 21 worm reducer 22 6-axis force sensor 23 first bevel gear 24 second bevel gear 25 third bevel gear 26 fourth bevel gear 27 fifth bevel gear 28 four bar linkage

───────────────────────────────────────────────────── フロントページの続き (73)特許権者 597112438 野田 博 岐阜県各務原市那加楠町130ー30(株) 丸富精工 内 (73)特許権者 597112449 松波 俊宣 岐阜県岐阜市宇佐南2丁目2番地2 岐 阜ギヤー(株)内 (73)特許権者 597112450 岩田 英世 岐阜県関市池尻923−1 株式会社岩田 製作所 内 (73)特許権者 597112461 藤田 哲夫 岐阜県本巣郡真正町下真桑1191の9 寿 電化株式会社内 (73)特許権者 597112472 財団法人岐阜県研究開発財団 岐阜県各務原市須衛町4丁目179番地の 1 (72)発明者 川崎 晴久 岐阜県岐阜市柳戸1番1 岐阜大学内 (72)発明者 小松 恒雄 岐阜県岐阜市柳戸1番1 岐阜大学内 (56)参考文献 特開 平3−92280(JP,A) 特開 昭61−182788(JP, ────────────────────────────────────────────────── ─── of the front page continued (73) patent owner 597,112,438 Noda, Hiroshi Gifu Prefecture Kakamigahara Nakakusunoki-cho, 130 over 30 (Ltd.) Marutomi in Seiko (73) patent owner 597,112,449 Matsunami Shunsen Gifu, Gifu Prefecture Usaminami 2-chome 2 address 2 Gifu gear (Ltd.) in (73) the patent owner 597,112,450 Hideyo Iwata Gifu Prefecture Seki Ikejiri 923-1 Co., Ltd. in the Iwata Works (73) of the patent owner 597,112,461 Tetsuo Fujita, Gifu Prefecture Motosu-gun authenticity cho Shimomakuwa 1191 9 Kotobuki electrification within Co., Ltd. (73) patent owner 597,112,472 1 of Gifu research and development Foundation, Gifu Prefecture Kakamigahara laid-cho 4-chome address 179 (72) inventor Haruhisa Kawasaki Gifu, Gifu Prefecture Yanagido 1 No. 1 in Gifu University ( 72) inventor Komatsu Gifu, Gifu Prefecture Tsuneo Yanagido 1 No. 1 in Gifu University (56) reference Patent flat 3-92280 (JP, a) JP Akira 61-182788 (JP, A) 特開 平4−46787(JP,A) 特開 昭62−282889(JP,A) 特開 平4−8491(JP,A) 実開 昭60−84291(JP,U) 特表 平2−502173(JP,A) (58)調査した分野(Int.Cl. 7 ,DB名) B25J 15/08 A) Patent Rights 4-46787 (JP, A) JP Akira 62-282889 (JP, A) Patent Rights 4-8491 (JP, A) JitsuHiraku Akira 60-84291 (JP, U) Tokuhyo Rights 2 -502173 (JP, a) (58 ) investigated the field (Int.Cl. 7, DB name) B25J 15/08

Claims (2)

    (57)【特許請求の範囲】 (57) [the claims]
  1. 【請求項1】 4関節の指を複数配置し,各関節を駆動するモータを内蔵したロボットハンドにおいて, 各指の根本側の第1関節と第2関節のそれぞれの軸が1 1. A 4 joint of the finger and a plurality arranged in a robot hand with a built-in motor for driving each joint, the respective axes of the first joint and the second joint of the base side of each finger 1
    点で直交し,その2つの関節を独立に駆動できるように1つの指について2つのモータを掌に設けるとともに, 母指については,指先側の第3関節及び第4関節の2つ Orthogonal at a point, Rutotomoni provided two motors for one finger to be driven independently the two joints the palm, for thumb, two of the third joint and the fourth joint of the fingertip side
    の関節を独立に駆動できるように2つのモータを指に設 Setting two motors on a finger so that the joint can be driven independently
    け, 母指以外の指については,指先側の第3関節及び第4関 Only for the non-thumb finger, third joint and fourth functions of the fingertip side
    節の2つの関節を連動して駆動できるように1つの指に In one of the finger so as to be able to drive in conjunction with the two joint sections
    ついて1つのモータを指に設けたことを特徴とするロボットハンド。 Robot hand of one motor with, characterized in that provided in the finger.
  2. 【請求項2】 指の根本側の第1関節と第2関節を駆動する2つのモータは掌の厚さ方向に平行に重ねて固定さ 2. A fixing of the first joint and the two motors for driving the second joint root side of the finger is overlaid in parallel with the palm of the thickness direction
    れ, 該2つのモータにより駆動される指の根本側の第1関節 Is, the first joint of the base side of the finger driven by the two motors
    と第2関節のそれぞれの軸は,前記2つのモータのうち When the axes of the second joint of the two motors
    掌側に配置されたモータの軸線の延長上の1点で直交し Orthogonal at one point on the extension of the axis of the motor arranged on the palm side
    ていることを特徴とする請求項1記載のロボットハンド。 And claim 1 of the robot hand, characterized in that are.
JP21317397A 1997-08-07 1997-08-07 Robot hand Expired - Fee Related JP3245095B2 (en)

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Cited By (3)

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US7654595B2 (en) 2002-06-24 2010-02-02 Panasonic Corporation Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism
US7258379B2 (en) 2003-06-27 2007-08-21 Matsushita Electric Industrial Co., Ltd. Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
WO2010064684A1 (en) 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 Robot hand

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