JP3245095B2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mechanism configuration in a humanoid (multi-fingered, multi-jointed) robot hand that resembles the shape of a human hand.

[0002]

2. Description of the Related Art Overview and problems of the prior art As a conventional humanoid robot hand, a document "Roderic A. grupen, et.al., A su
rvey of general-purpose manipulation, Internationala
l Journal of Robotics Researches, Vol.8, No.1,198
The Utah / MIT hand described in Section 9 is well known.
This hand has four fingers and each finger has four joints. The motor that drives each finger joint is installed on the fixed side, and the power transmission between the motor and the finger joint has a complicated structure via a wire rope. I have. The shape of the hand is similar to a human hand,
Since the motor was installed on the fixed side, the movement of the robot was greatly restricted when the hand was attached to the end of the robot arm.

The literature "MERosheim, Robot evolution, John
Wiley & Sons, Inc., 1994 '' and the hand `` R. Tomovic rt.al., Astrategy for grasp synpape ''
r with multifingered robot hand, IEEE international
Conference on Robotics and Automation, pp.83-89,19
The 87 "Belgrade / USC hand has a motor that drives joints mounted on the hand and has a structure that does not go through a wire rope. The former has three finger joints and four fingers like human fingers.
There are no joints, and the latter has an index of 5 fingers and each finger has 4 joints.
There is only freedom. For this reason, each finger is 4
A mechanism with joints and each finger having more than three degrees of freedom was not devised, and it was difficult to perform a movement similar to a human hand.

[0004] Also, the literature "Li-Ren Lin and Han = pang Hu"
ng, Integrating Fuzzy Control of the Dexterous Natio
nal Taiwan University (NTU) Hand, IEEE / ASMW Tranzact
ionon Mechatronics, Vol.1, No.3, pp.216-229, 1996 ''
The NTU hand is equipped with a motor, has five fingers, the thumb and index finger have four joints, and the other finger has three joints. However, the first joint and the second joint at the base of the finger are in a twisted position. Not orthogonal. On the other hand, in the human finger, the first joint and the second joint are substantially orthogonal. Therefore, it is difficult to perform a movement similar to that of a human finger.

As described above, in the conventional robot hand having a built-in motor, the degree of freedom of fingers is small, and there are no two joints on the root side which are provided orthogonally at one point. He was doing something different from his movement.

[0006]

In the robot hand according to the first aspect, the axes of the first joint and the second joint on the base side of the finger are orthogonal at one point, and the two joints can be driven independently. As described above, two motors are provided on the palm for one finger, and two motors are provided on the finger so that the two joints of the third and fourth joints on the fingertip side can be independently driven. For fingers other than the finger, one motor is provided for each finger so that two joints, the third joint and the fourth joint on the fingertip side, can be driven in conjunction with each other.

In the robot hand according to the present invention, two motors for driving the first joint and the second joint on the root side of the finger are fixed in parallel in the thickness direction of the palm, and are driven by the two motors. The axes of the first joint and the second joint on the root side of the finger are orthogonal at one point on the extension of the axis of the motor arranged on the palm side of the two motors.

In the present invention, a motor for driving a finger joint can be built in the hand, and the base of the finger is orthogonal to the hand.
Because it can rotate around two axes, it can move like a human finger.

[0009]

1 is an embodiment of the present invention, FIG. 2 is a detailed view of a thumb, FIG. 3 is a detailed view of an asymmetric differential reducer, and FIG. 4 is a thumb. It is a detailed view of other fingers other than. In these figures, 1
Is the thumb, 2 is the index finger, 3 is the middle finger, 4 is the ring finger, 5 is the little finger, 6
Is the palm, 7 is the first joint with forward bending, 8 is the second joint with adduction and abduction, 9
Is the third joint bent forward, 10 is the fourth joint bent forward, and 11 is the first joint.
Motor, 12 a second motor, 13 a third motor, 14 a fourth motor, 15 an encoder for the first motor, 16 an encoder for the second motor, 17 an encoder for the third motor, 18 an encoder for the fourth motor An encoder, 19 is an asymmetric type differential reducer, 20 is a joint shaft integrated type reducer, 21 is a worm reducer, and 22 is a 6-axis force sensor. 23 to 27
Denotes a first to fifth bevel gears, and 28 denotes a four-link mechanism. (2) Operation This embodiment is a five-finger robot hand similar to a human hand, and its operation will be described below.

The rotation amounts of the motors 11 to 14 can be detected by motor encoders 15 to 18 directly connected to the motor shaft. The axes of the joints 7, 9, and 10 are parallel to each other, and the joint axis of 7 and the joint axis of 8 intersect at one point and are orthogonal to each other. The eleventh first motor and the twelve second motor are fixed so as to overlap with the palm of six.

The operation of one thumb is as follows. 1
The fourth motor can drive ten joint axes rotated by 90 degrees with respect to the motor axis via 21 worm reducers. The thirteenth third motor can drive nine joint shafts rotated by 90 degrees with respect to the motor shaft through twenty joint shaft-integrated reduction gears. In the 19 asymmetrical type differential reducer, 25 third
By making the shaft of the bevel gear hollow and penetrating the shaft of the fourth bevel gear 26, a mechanism capable of rotating about the axis of the second joint 8 and rotating about the axis of the first joint 7 becomes a mechanism. I have.
Here, when the first motor 11 and the second motor 12 rotate by the same angle in the opposite direction, the shaft of the second joint 8 via the bevel gear inside the asymmetrical differential reducer 19. The finger rotates around. Also, the first motor 11 is fixed,
When the second motor is rotated, the finger rotates around the first joint axis. In addition, the adoption of the 19 asymmetrical differential reducer allows the rotation angle around the joint axis of 7 to be large, and the joint axis can be provided at a position close to the surface of the palm of 6 so that the appearance is also reduced. A movement similar to that of a human hand can be made.

Index finger 2; middle finger 3; ring finger 4;
The little finger differs from the one thumb in that ten fourth joint axes are moved in conjunction with thirteen motors via 28 four-node link mechanisms. Therefore, the third of 13
The 9th joint and the 10th joint can be simultaneously rotated in the same direction by the motor.

In the embodiment of the present invention, five fingers are used. However, the present invention is not limited to five fingers, and a robot hand having three to five fingers can be similarly implemented. Furthermore, although the thumb has four joints and four degrees of freedom, a robot hand with four joints and three degrees of freedom can be implemented with the same configuration as the other fingers.

[0014]

According to the above configuration, the thumb has four joints and four degrees of freedom, and the fingers other than the thumb have four joints and three degrees of freedom. Furthermore, the respective axes of the first joint and the second joint at the root of each finger are orthogonal to each other, and according to the second aspect, the second joint of 7 is set on the palm side. The same movement as can be performed. Except for the thumb, the third and fourth joints of the human finger move in conjunction with each other, while the fingers other than the thumb move the third and tenth joints of the nine joints and tenth joint by the motor 13. Therefore, a movement similar to a human finger can be performed.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention.

FIG. 2 is a detailed view of a thumb.

FIG. 3 is a detailed view of an asymmetric differential speed reducer.

FIG. 4 is a detailed view of a finger other than the thumb.

[Description of Signs] 1 thumb 2 index finger 3 middle finger 4 ring finger 5 little finger 6 palm 7 palm 1 forward joint 8 adduction and adduction 2 joint 9 forward flexion 3rd joint 10 forward flexion 4th joint 11 1st Motor 12 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 Asymmetrical type differential reducer 20 Bevel gear reducer 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-node link mechanism

──────────────────────────────────────────────────続 き Continuing from the front page (73) Patent holder 597112438 Hiroshi Noda 130-30 Nakasugi-cho, Kakamigahara-shi, Gifu Marutomi Seiko Co., Ltd. (73) Patent holder 597112449 Toshinori Matsunami 2-2-2 Usaminami, Gifu City, Gifu Prefecture Address 2 Gifu Gear Co., Ltd. (73) Patent holder 597112450 Hideyo Iwata 923-1 Ikejiri, Seki-shi, Gifu Prefecture Iwata Manufacturing Co., Ltd. (73) Patent holder 597112461 Fujita, Tetsuo 1191-9 Shimomaga, Masamasa, Motosu-gun, Gifu Prefecture Kotobuki Denka Co., Ltd. (73) Patentee 597112472 Gifu Prefectural Research and Development Foundation 4-179, Sue-cho, Kakamigahara-shi, Gifu Prefecture (72) Inventor Haruhisa Kawasaki 1-1, Yanagito, Gifu-shi, Gifu Pref. 72) Inventor Tsuneo Komatsu 1-1, Yanagido, Gifu City, Gifu Prefecture Gifu University (56) References JP-A-3-92280 (JP, A) JP-A-61-182788 (JP, A) JP-A-4-46787 (JP, A) JP-A-62-282889 (JP, A) JP-A-4-8491 (JP, A) JP-A-60-84291 (JP, U) -502173 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/08

Claims (2)

(57) [Claims] 1. A robot hand in which a plurality of fingers of four joints are arranged and a motor for driving each joint is built-in, wherein each axis of a first joint and a second joint on the root side of each finger is one.
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
Two motors are attached to the fingers so that the joints can be driven independently.
Only for the non-thumb finger, third joint and fourth functions of the fingertip side
One finger so that the two joints of the joint can be driven in conjunction
A robot hand characterized in that one motor is provided for each finger . 2. The two motors for driving a first joint and a second joint on the base side of a finger are fixed by being overlapped in parallel in the palm thickness direction.
And the first joint on the root side of the finger driven by the two motors
And each axis of the second joint is one of the two motors
At one point on the extension of the axis of the motor placed on the palm
And claim 1 of the robot hand, characterized in that are.