JP3848123B2 - Humanoid robot hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a humanoid robot hand having a function of bending and stretching each finger, a function of moving a thumb to face another finger, and a function of opening and closing the fingers (abduction).
[0002]
[Prior art]
In a humanoid robot hand that requires a fine and wide range of fingertip movements, such as holding a pen or sign language, it only needs to bend and stretch each finger and have a movement function that makes the thumb face other fingers. In addition, an opening / closing (abduction) function between fingers is required.
[0003]
[Problems to be solved by the invention]
In the conventional humanoid (number of fingers, range of motion, size, etc.), the former two have been realized, but there are very few examples of the latter. Became large and heavy, and only practical and unusable. In particular, it is difficult to incorporate a drive mechanism such as a motor or gears in a robot hand in a compact manner. For this reason, in conventional humanoid robot hands where the number of fingers, range of motion, size, etc. are similar to humans A method has been adopted in which a drive mechanism including a motor and a speed reducer is provided outside the hand and power is transmitted to the fingertip by a wire mechanism. This method has a problem that a large occupied space for the drive mechanism is required, the weight of the entire mechanism is increased, and the movement accuracy and efficiency are inevitably lowered due to wire elongation and friction.
[0004]
Accordingly, the inventors of the present invention compactly housed the abduction function motion mechanism and motor in the palm portion, and in order not to interfere with the mechanism, the motion mechanism and motor for each finger flexion and extension function. As a result of investigating a method of incorporating a finger into each finger extremely compactly, we succeeded in developing a new humanoid robot hand. The humanoid robot hand has a total of 8 degrees of freedom with 3 degrees of freedom for thumb movement, 1 degree of freedom for bending and stretching of the other 4 fingers, and 1 degree of freedom for the abduction between the 4 fingers. Can be realized. In addition, all mechanisms, motors, and wiring are built in a dimension that is small compared to humans, with a total length of 185 mm and a finger thickness of 19 mm, realizing a total weight of 500 g or less. In other words, the performance was significantly improved in terms of specifications compared to the conventional one.
[0005]
[Means for Solving the Problems]
The solution adopted by the present invention is:
A five-finger mechanism corresponding to five human fingers and a palm corresponding to a human palm that supports the five-finger mechanism, the first finger corresponding to the thumb is composed of four nodes, It has a motor function that allows one finger to face another finger, each of the second to fifth fingers is composed of four nodes, and can bend and stretch at each joint. The metacarpal part of the third finger is fixed to the palm part which is the base part of the entire hand , and the metacarpal part of the second, fourth and fifth fingers are configured to be rotatable in conjunction with each other. This is a humanoid robot hand that is capable of performing an abduction operation in a state where is opened .
The finger mechanism of the second finger to the fifth finger includes a total of four nodes of a distal phalanx, a middle phalanx, a proximal phalanx, and a metacarpal in order from the fingertip, the connection part 3 places, has one degree of freedom joints for performing bending and stretching of a finger, the proximal phalange portion incorporates a joint drive motor for performing bends the finger, proximal phalange portion and the middle section The joint between bone parts has a built-in speed reduction mechanism for making the rotational force of the motor a rotational movement of the joint, and further, the rotational movement of the joint is performed by the metacarpal bone part and the proximal phalanx part on the same finger mechanism. comprising an interlocking mechanism for transmitting the joint between the joint and the middle phalange portion and distal phalanx portion between, between more palm portion and the shaft and the metacarpal part of the joint axis between metacarpal portion and proximal phalange portion The joint drive motor is built in the finger mechanism by arranging the joint axes at right angles and providing a space at the intersection. A humanoid robot hand, characterized in that it has to pass through the connection cable for the sensors or the like.
In addition, among the four fingers of the second finger to the fifth finger, a connecting portion between the metacarpal bone portion and the palm portion of the second finger, the fourth finger, and the fifth finger is for realizing a finger opening operation. It has an abduction joint, the metacarpal part of the third finger is fixed to the palm part, and the metacarpal part of the second, fourth, and fifth fingers are for abduction with the palm part via the link mechanism. It is a humanoid robot hand characterized by rotating around a joint.
In addition, the arcuate gear centering on the abduction joint between the metacarpal bone part and the palm part is fixed to the metacarpal part of the fourth finger, and a driving motor that meshes with the arc gear is incorporated in the palm part, Further, the humanoid robot hand is characterized in that the abduction operation of the second, fourth and fifth fingers is performed via the link mechanism by swinging the metacarpal bone .
Further, the rotational motion of the bending joint between the proximal phalanx portion and the middle phalange portion, the joint and the middle phalange portion between the hand bones and proximal phalange portion within the same finger mechanism and between distal phalanx portion interlocking mechanism for transmitting the joint, and a wire-and-pulley mechanism to rotate in conjunction with the joint between the joint and the metacarpal portion between proximal phalange portion and the middle phalange portion and proximal phalange portion, proximal phalanx a humanoid robot hand, characterized in that the parts and between the middle phalange joints and the middle section wire pulley mechanism for rotating in conjunction with the joint between the bone and the distal phalanx portion.
The wire / pulley mechanism is arranged on both sides of the finger mechanism, the pulley is carved on the side surface of the corresponding phalanx, and the wire wound around the corresponding two pulleys is the both pulleys. It is a humanoid robot hand characterized in that it is wound in an 8-shaped space.
The first finger includes a distal phalanx part , a middle phalanx part, a proximal phalanx part, and a metacarpal part in order from the fingertip, and in order to realize two degrees of freedom at the base of the first finger, first, a second joint, further part of the palm side of the palm portion having an independent drive mechanism to the connecting portion between the connecting portion and the intermediate hand bone portion and the proximal phalanx of the metacarpal part with The first joint and its drive motor and reducer are built in, and the second joint drive motor and reducer are built in the metacarpal bone. The two joints are not orthogonal, but the twist angle of both was constructed as 90 degrees, the proximal phalange of the first finger placing the motor for performing a bending and stretching motion of the finger, the joint between the proximal phalanx portion and the middle phalange portion thereof a rotational force of the motor It incorporates a reduction mechanism for the rotational force of the joint, further joins between the middle phalange portion and proximal phalange portion The rotational movement, a human-type robot hand, characterized in that it comprises an interlocking wire mechanism for transmitting to the joint between the middle phalange portion and distal phalanx portion.
The first finger is a humanoid robot hand characterized in that the first finger is provided with a rotation part in the axial direction of the phalanx at the center of the base and can be fixed at an appropriate twist angle. .
The joint drive motor is arranged in parallel with the shaft of the proximal phalanx part in which the motor is incorporated, and the reduction gear built in the joint between the proximal phalanx part and the middle phalanx part is It is composed of a crown gear and a planetary gear speed reducer having the same center as the shaft, and further, a pinion attached to the rotating shaft of the motor is engaged with the crown gear, and the rotational force of the motor is transmitted to the speed reducer. It is a humanoid robot hand.
[0006]
Embodiment
Hereinafter, a configuration of a humanoid robot hand as an embodiment according to the present invention will be described with reference to the drawings. FIG. 1R> 1 is a view showing an entire image of a humanoid robot hand, (A) is a side view of the robot hand, (B) is a plan view, and FIG. FIG. 3 is a perspective view and an exploded view of the second finger. The humanoid robot hand shown in FIG. 1 has first to fifth fingers, and each finger of the robot hand has joints J1,0 to J1, with respect to the first finger as shown in FIG. 3. Joints J2,0 to J2,3 for the second finger, joints J3,1 to J3,3 for the third finger, joints J4,0 to J4,3 for the fourth finger, fifth finger On the other hand, joints J5,0 to J5,3 are arranged, and each finger can bend and extend (details will be described later) or abduction (details will be described later). Since the joint part of the metacarpal part of the third finger does not need to be rotated in the left-right direction, the abduction joint J3,0 is omitted as shown in FIG.
[0007]
[Second to fifth finger mechanism] Before describing the bending and stretching motions and abduction motions of the fingers, the second to fifth finger mechanisms for realizing them will be described. The first finger has a structure that is significantly different from the other four fingers and moves independently of the abduction mechanism of the robot hand, and the structure will be described later.
[0008]
[ Configuration of phalange portion of second to fifth fingers] Each of the second to fifth fingers is composed of four phalanx portions , and can be bent and stretched at each joint portion. FIG. 3 is a perspective view of the second finger and an exploded portion thereof. As shown in this figure, the fingers are in order from the fingertip, the distal phalanx part 1, the middle phalanx part 2, the proximal phalanx part 3, and the metacarpal part. 4 is provided. Although the shape of the metacarpal bone part 4 is slightly different between the second finger to the fifth finger, it is not a difference that has to be greatly changed in particular. Explanation will be made, and the description of the overlapping parts of the third to fifth finger phalange mechanisms will be omitted.
[0009]
In the second finger, the metacarpal bone portion 4 is a phalangeal portion that mediates between the distal phalange portion 1 side and the palm portion 5 that is the base of the entire hand. Therefore, inside the metacarpal bone part 4, the joint J2,0 (abduction joint) having one degree of freedom for realizing the finger abduction function and the joint J2, having one degree of freedom for realizing the finger bending / extension function are provided. 1 (flexion and extension joints) are orthogonal. By these two joints J2,0 and J2,1, the metacarpal bone part 4 can achieve the abduction function with respect to the palm part 5 with the joint J2,0 as the center, and the proximal phalange part 3 can be bent and flexed joints J2,0. 1 can swing in the vertical direction (grip operation) in FIG. It is extremely important to make this metacarpal part compact and to obtain a large range of rotation. Therefore, no motor or speed reducer other than the rotary bearing is placed in this portion, and the power for rotational motion of each joint is transmitted from a motor arranged at a distance (details will be described later). To do). Also, the joint J2,3 connecting the distal phalanx 1 and the middle phalanx 2 and the joint J2,2 connecting the middle phalange 2 and the proximal phalange 3 are the same as the joint J2,1. It is configured as a finger flexion / extension joint that permits a rotational motion (a vertical motion in FIG. 3, ie, a finger flexion / extension motion (grip motion)).
[0010]
[Joint Drive Mechanism] The finger joint drive mechanism will be described with reference to FIG. 4. FIG. 4 (a) is a side view of the second finger, (b) is a perspective view of the drive mechanism, and (c) is drive / deceleration. It is sectional drawing of a mechanism. An ultra-compact motor with a built-in encoder is built in the proximal phalanx 3 for the finger flexion / extension mechanism, and the reduction gears of the middle phalange 2, the proximal phalange 3 , as shown in FIG. Are built into the joints J2 and 2 that connect to each other in a compact manner. Further, a transmission mechanism (wire-pulley mechanism described later) is provided by an interlocking wire mechanism that transmits the rotational power of the joint J2,2 to the front and rear joints J2,1, J2,3.
[0011]
Since the proximal phalange portion 3 and the joints J2, 2 can each have a relatively large internal space, the structure is suitable for the incorporation of the micro motor 13 and the joint drive speed reducer 12. The joint drive speed reducer 12 is configured as a three-stage speed reducer composed of a planetary gear mechanism as will be described later. In addition, a storage space 11 for incorporating a sensor, electrical equipment, or the like is formed in the fingertip portion. Further, the wiring cable 14 coming out from the rear part of the ultra-small motor 13 is placed at substantially the center of rotation of the joints J2,0 and J2,1 so that the movement of the finger mechanism is not hindered as shown in FIG. It is configured to allow direct passage. In order to obtain a sufficient output, all the ultra-small motors 13 used in the robot hand adopt a DC coreless motor that is small, light and has high output. In addition, they incorporate an encoder, and position control, speed control, and torque control are possible without using an additional sensor.
[0012]
Since the motor rotation speed is relatively high, a sufficiently small reduction gear with a large reduction ratio is incorporated in the joint. As the reducer, a three-stage reducer composed of a planetary gear mechanism that can be expected to have a large reduction ratio and a large transmission power with a small number of gears is adopted. As shown in FIG. 9C, the three-stage reduction mechanism uses a crown reducer as the first-stage reduction mechanism and a planetary gear reducer as the third-stage reduction mechanism. The rotation shaft of the crown gear constituting the first stage reduction mechanism supports the second stage sun gear, the second stage planetary gear meshing with the sun gear, and the carrier axis provided on the second stage planetary gear. The reduction gear is constituted by the third stage sun gear provided in the third gear, the third stage planetary gear meshing with the sun gear, and the internal gear common to the second and third stage planetary gears, and is housed in the base joint. A pinion provided on the output shaft of the micro motor meshes with the crown gear. The internal gear is provided in the middle phalanx . The center of rotation of the crown gear is coaxial with the joint axis of the joint J2,2 connecting the middle phalanx and the proximal phalanx , and the second and third stages of the sun constituting the speed reduction mechanism on this axis A gear shaft is arranged. By making the shaft of the speed reducer and the joints of the joints J2 and J2 common, the three-stage speed reducer is compactly accommodated in the joint.
[0013]
The ultra-small motor is housed so that its axis is parallel to the longitudinal direction of the proximal phalange portion 3 and obtains rotational power in the joint axis direction via a crown gear. Further, in order to obtain a large reduction ratio even in this power transmission stage, the diameter of the crown gear is made as large as possible. Generally, in the planetary gear mechanism, the output element is either an internal gear or a planetary gear carrier. Here, in order to give an output to the center of the phalanx so that the load deviation generated at the bearings at both ends of the joint shaft is as small as possible, an internal gear positioned closer to the center of the joint shaft is used as an output element.
[0014]
Next, a mechanism for transmitting the rotational power of the joint J2,2 obtained by the above mechanism to the front and rear joints J2,1, J2,3 will be described. An interlocking wire mechanism is used as the transmission mechanism. 5A is a perspective view of the second finger, and FIG. 5B is an exploded view of the same finger. In this transmission mechanism composed of a wire and a pulley, a wire W1 for interlocking the joints J2,1, J2,2 and a wire W2 for interlocking the joints J2,2, J2,3 are arranged on both sides of the finger mechanism.
[0015]
The pulley for each wire is formed by engraving on the side of the phalanx. Two pulleys 21 and 22 and an intermediate pulley 23 are required for the wire W1. Pulley 22 is formed by engraved on metacarpal portion, the pulley 21 is formed by engraved on the middle phalange portion, the wire W1 is both via the intermediate pulley 23 to pulleys 21 8 Can be applied to the shape of As shown in FIG. 5 (b), the end of the wire W1 is fixed on the metacarpal bone by a clamping plate, and the wire W1 is fitted into a hole formed on the middle phalanx by a ball attached on the wire. Together, it is fixed to the middle phalanx . Also, two flops for wire W2 - Of Li 24, pulley 25 is formed by engraved proximal phalange portion, also a pulley 24 is formed by engraved distal phalanx portion, each of the pulley The wire W2 is hooked into an 8-shape. The wire W2 is inserted into a hole formed in the pulley 25 by a ball provided on the wire, and the end of the wire is passed through a hole formed in the distal phalanx as shown in FIG. It is fixed.
[0016]
The interlocking wire mechanism composed of the wire and pulley configured in this manner is extremely small and light, has a large range of rotational movement, and has no play as seen in the gear train, thus providing a highly accurate and highly efficient transmission mechanism. FIG. 6 shows a bending / extending motion by such a bending / extending mechanism. Specifically, when the ultra-small motor is driven, the base portion is bent, and further , the middle phalanx portion and the distal phalanx portion are bent through the interlocking wire mechanism in conjunction with this movement, and the state shown in FIG. 6 is obtained. 7 and 8 show the humanoid robot hand with the second finger bent.
[0017]
The bending and stretching movement of the second finger is the same as that of the fourth and fifth fingers, but the configuration of the metacarpal bone portion is slightly different for the third finger. Since it is not necessary to give the abduction function to be described later to the third finger, the metacarpal portion of the third finger is fixed to the palm as will be described later.
[0018]
Next, the abduction mechanism of the humanoid robot hand will be described. 9A and 9B are diagrams in which the hand is shifted from the closed state to the open state, FIG. 10R> 0 is a perspective view of the abduction mechanism, and FIG. 11 is a link mechanism that constitutes the abduction mechanism. It is explanatory drawing of. In the abduction operation, the finger is opened as shown in FIG. 9 (b) by rotating the metacarpal bones of the second, fourth and fifth fingers in conjunction with the second, fourth and fifth fingers. It is an operation to do. In order to realize this abduction mechanism, the metacarpal bone portion of the third finger is fixed to the palm portion that is the base portion of the entire hand. In order to efficiently obtain a strong rotational force, an arc gear 31 having a pitch circle radius as large as possible is fixed to the metacarpal portion of the fourth finger as shown in FIG. The arc gear 31 is configured to be swingable around a joint P5 provided at the base of the fourth finger, and the fourth finger opens by the swing motion of the arc gear 31. The arc gear 31 meshes with a pinion 32 provided on the axis of a crown gear 33 disposed at the end of the palm. The crown gear 33 meshes with a gear provided on the output shaft of the abduction motor 34 disposed in the [palm portion]. With this configuration, when the abduction motor 34 rotates, the crown gear 33 rotates, and the pinion 32 further rotates, so that the arc gear 31 swings around the joint J4,0 disposed at the base of the fourth finger and moves to the fourth finger. Performs the opening action.
[0019]
The rotational motion of the metacarpal portion of the fourth finger, the interlocking link mechanism, the description of the interlocking link mechanism for transmitting the second finger and metacarpal portion of the fifth finger of each side. Interlocking link mechanism is composed of four phalanx of L1~L4 as shown in FIG. 1111. One end of the link L1 is connected to the metacarpal bone of the second finger by the joint P1, and the other end is connected to the link L2 by the joint P2. One end of the link L2 is connected to the link L1 and the joint P2, the other end is connected to the link L3 and the joint P4, and the center of the link L2 is connected to the palm portion and the joint P3.
[0020]
One end of the link L3 is connected to the link L2 by the joint P4, and the other end is connected to the metacarpal bone portion of the fourth finger by the joint P5. One end of the link L4 is connected to the [ metacarpal bone ] of the fourth finger by the joint P6, and the other end is connected to the metacarpal bone of the fifth finger by the joint P7. When the circular gear 31 is driven by the abduction motor 34, the movement causes the metacarpal part of the fourth finger to open, and the movement direction is reversed via the links L1 to L3. is transmitted to the metacarpal portion of the second finger, it is transmitted to the metacarpal portion of the second finger and fifth finger so as to increase the rotation angle via the link L4. In this way, an abduction function can be achieved.
[0021]
Further, in the above configuration, in order to obtain a movement space of the metacarpal bone portion and a built-in space for wiring and electrical equipment inside the palm portion, the arc gear and the movement space are arranged close to the exterior plate on the back side of the hand, and It is important to keep the interlocking link thin in the space between the metacarpal bone portion and the palm-side exterior plate. FIG. 1212 shows the positional relationship among the abduction motor, crown gear, and arc gear 31. These arrangements can be freely changed at the time of design. FIG. 13 is a perspective view of the driving interlock link of the abduction mechanism.
[0022]
Finally, the finger mechanism of the first finger will be described. Figure 14 is a diagram illustrating the maximum adduction state of the first finger, Figure 15 is figure 16 illustrating the phalanx portion configuration of the first finger is a diagram illustrating a joint drive mechanism of the first finger. The first finger is constituted by four phalanx portion as shown in FIG. 15. The distal phalanx, middle phalanx, proximal phalanx, and metacarpal bone from the fingertip. Two joints J1,0, J1, at the base of the first finger, as well as having two degrees of freedom for the base of the human thumb to realize the motor function of making the first finger face another. Incorporate 1 independent drive mechanism. That is, the metacarpal portion of the first finger, two degrees of freedom to realize independently of the drive to the connecting portion between the connecting portion and the intermediate hand bone portion and the proximal phalanx of the metacarpal portion and the palm portion A first joint J1,0 having a mechanism and a second joint J1,1 are provided.
[0023]
A bulge (similar to the base of the human thumb) is provided on a part of the palm side of the palm, and the first joint J1,0 and its driving motor and speed reducer are built in as shown in FIG. The first finger has a structure in which the internal gear of the speed reducer is fixed to the motor side in order to shorten the metacarpal bone portion , and the planetary gear shaft is fixed to the side surface of the metacarpal bone portion on the output side. A drive motor and speed reducer for the second joint J1,1 are built in the metacarpal bone . For this reason, the two joints J1,0 and J1,1 are not orthogonal, but their twist angle is 90 degrees. The basic configuration of the reduction gear in this part is the same as that for the bending and stretching functions of the second to fourth fingers described above.
[0024]
The drive motor and speed reducer for joints J1 and 2 are built in the proximal phalanx . The rotational motion of joints J1,2 is transmitted to joints J1,3 by an interlocking wire mechanism. These interlocking wire mechanisms are the same as those for the bending and stretching mechanisms in the second to fourth fingers described above. Furthermore, provided the axial rotating part of the phalanx portion at the center of the proximal phalanx portion in order to adjust the first direction of the finger belly in a state that the first finger opposite the other four fingers, joint J1,2 and J1,3 can be fixed at an appropriate twist angle.
[0025]
As described above, in the embodiment according to the present invention, the motion mechanism for the abduction function and the motor are compactly housed in the palm portion, and each finger is bent and stretched so as not to interfere with the mechanism. Since the motion mechanism and motor of each finger were built in very compactly for each finger, a small and novel humanoid robot hand could be constructed. In particular, the humanoid robot hand has a total of 8 degrees of freedom, with 3 degrees of freedom for thumb movement, 1 degree of freedom for bending and stretching of the other 4 fingers, and 1 degree of freedom for abduction between the latter 4 fingers. By driving a motor arranged inside, most finger movements that can be realized by humans can be realized.
[0026]
Although the embodiment of the present invention has been described above, the motion mechanism for the abduction function and the motor are compactly stored in the palm portion, and the motion for the bending function of each finger is performed so as not to interfere with the mechanism. The method of incorporating the mechanism and the motor in a very compact manner for each finger is not limited to the mechanism described above. In addition, the present invention can be implemented in any other form without departing from the spirit or main features thereof. Therefore, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner.
[0027]
【The invention's effect】
The humanoid robot hand according to the present invention has a total of 8 degrees of freedom, with 3 degrees of freedom for thumb movement, 1 degree of freedom for bending and stretching of the other 4 fingers, and 1 degree of freedom for abduction between the 4 fingers. Can realize most exercises that can be realized. In addition, it is possible to obtain an excellent effect such that a small robot hand can be obtained compared to a human.
[0028]
[Brief description of the drawings]
FIG. 1 shows an overall image of a robot hand.
FIG. 2 shows the arrangement and names of all 19 rotary joints provided in the robot hand.
FIG. 3 shows a phalanx part configuration of the second finger.
FIG. 4 shows a second finger joint drive mechanism.
FIG. 5 shows a second finger interlocking wire mechanism.
FIG. 6 is an explanatory view showing a state in which a finger is bent by the interlocking wire mechanism of the second finger.
FIG. 7 shows that the second finger bends inward (inward) due to the bending and stretching function of the second finger.
FIG. 8 shows that the second finger rotates around the three joints J2,1, J2,2, J2,3. The other four fingers also have the same bending / stretching function.
FIG. 9 shows that the second, fourth and fifth fingers rotate as joints J2,0, J4,0 and J5,0 axes as an abduction function, respectively.
FIG. 10 shows an abduction drive mechanism.
FIG. 11 shows a perspective view of an abduction drive interlocking link mechanism.
FIG. 12 shows a cross section of the abduction drive mechanism.
FIG. 13 shows an abduction drive interlocking link.
FIG. 14 shows that the first finger largely inverts with the joint J1,0 as an axis as a movement function that makes the first finger face another finger.
FIG. 15 shows a phalanx part configuration of the first finger.
FIG. 16 shows a first finger relation drive mechanism.
[0029]
[Explanation of symbols]
1 End phalanx 2 Middle phalanx 3 Proximal phalanx 4 Metacarpal part 5 Palm part 11 Storage space for incorporating sensors, electrical components, etc. Reducer 13 Ultra-small motor 21, 22 Pulley 23 Intermediate pulley 24, 25 Pulley 31 Arc gear 32 Pinion 33 Crown gear 34 For abduction drive motor

Claims (9)

A five-finger mechanism corresponding to five human fingers and a palm corresponding to a human palm that supports the five-finger mechanism, the first finger corresponding to the thumb is composed of four nodes, It has a motor function that allows one finger to face another finger, each of the second to fifth fingers is composed of four nodes, and can bend and stretch at each joint. The metacarpal part of the third finger is fixed to the palm part which is the base part of the entire hand , and the metacarpal part of the second, fourth and fifth fingers are configured to be rotatable in conjunction with each other. A humanoid robot hand characterized by enabling the abduction operation to be opened. The finger mechanism of the second finger to the fifth finger includes a total of four nodes of a distal phalanx, a middle phalanx, a proximal phalanx, and a metacarpal in order from the fingertip, and a connecting portion between each phalange. Three places have joints with one degree of freedom for bending and stretching fingers, and the proximal phalanx has built-in joint drive motors for bending and extending fingers, and the proximal and middle phalanx The joint between them has a built-in speed reduction mechanism to make the rotational force of the motor the rotational motion of the joint, and further the rotational motion of the joint between the metacarpal bone portion and the proximal phalanx portion on the same finger mechanism It is equipped with an interlocking mechanism for transmitting to the joint and the joint between the middle phalanx and the distal phalanx , and for abduction between the shaft of the palm and the metacarpal and the metacarpal and proximal phalanx The joint drive is built in the finger mechanism by arranging the joint axes perpendicular to each other and providing a space at the intersection. Humanoid robot hand according to claim 1, characterized in that it has to pass through the connection cable for use motors and sensors. Among the four fingers of the second finger to the fifth finger, for the abduction for realizing the opening operation of the finger at the connection portion between the metacarpal bone portion and the palm portion of the second finger, the fourth finger, and the fifth finger There is a joint, and the metacarpal part of the third finger is fixed to the palm part. Further, the metacarpal part of the second, fourth, and fifth fingers are connected around the abduction joint with the palm part via the link mechanism. The humanoid robot hand according to claim 2, wherein the humanoid robot hand rotates in conjunction with the robot. The metacarpal portion of the fourth finger, the arc gear around the abduction joint between the metacarpal portion and the palm portion is fixed, built-in drive motor meshes with the arcuate gear on the palm portion, further Medium The humanoid robot hand according to claim 3, wherein the abduction operation of the second, fourth, and fifth fingers is performed via the link mechanism by swinging a hand bone portion . The rotational movement of the bending joint between the proximal phalanx portion and the middle phalange portion, the joint between the joint and the middle phalange portion and distal phalanx portion between metacarpal portion of the same finger mechanism and the proximal phalange portion interlocking mechanism for transmitting includes a wire pulley mechanism for rotating in conjunction with the joint between the joint and the metacarpal portion between proximal phalange portion and the middle phalange portion and proximal phalange portion, the proximal phalange portion human according to any one of claims 2 to 4, characterized in that the wire pulley mechanism for rotating in conjunction with the joint between the joint and the middle phalange portion and distal phalanx portion between the middle phalange portion Type robot hand. The wire pulley mechanism is arranged on both sides of the finger mechanism, the pulley is formed by carving on the side surface of the corresponding phalanx, and the wire wound around the two corresponding pulleys is between the two pulleys. The humanoid robot hand according to claim 5, wherein the humanoid robot hand is wound in a figure 8 shape. The first finger includes a distal phalanx , a middle phalanx, a proximal phalanx , and a metacarpal in order from the fingertip. In order to achieve two degrees of freedom at the base of the first finger , First and second joints each having an independent drive mechanism are provided at the connection portion with the hand bone portion and the connection portion between the metacarpal bone portion and the proximal phalanx portion , respectively, and further on the palm side part of the palm portion The first joint and its drive motor and speed reducer are built in, and the second joint drive motor and speed reducer are built in the metacarpal bone. The two joints are not orthogonal, but their twist angle is 90 °. configured as degrees, also the proximal phalange of the first fingers arranged motor to perform bending and stretching motion of the finger, the joint between the proximal phalanx portion and the middle phalange portion of the joint the torque of the motor a built-in speed reduction mechanism for a rotational force, further proximal phalange portion and the joint between the middle phalange portion times Humanoid robot hand according to any one of claims 1 to 6, characterized in that movement, with the interlocking wire mechanism for transmitting to the joint between the middle phalange portion and distal phalanx portion. The humanoid according to claim 7, wherein the first finger includes an axial rotation portion of a phalanx portion at a central portion of a base portion thereof and can be fixed at an appropriate twist angle. Robot hand. The joint driving motor is arranged so as to be parallel to the shaft of the proximal phalanx portion in which the motor is incorporated, and the reduction gear incorporated in the joint between the proximal phalanx portion and the middle phalanx portion is connected to the joint shaft. A crown gear and a planetary gear reducer having the same center, and a pinion attached to a rotating shaft of a motor and a crown gear are engaged with each other, and the rotational force of the motor is transmitted to the reducer. The humanoid robot hand according to claim 2.

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