JP5082037B2

JP5082037B2 - Robot hand

Info

Publication number: JP5082037B2
Application number: JP2006230195A
Authority: JP
Inventors: 直喜多村; 由光木原
Original assignee: Kyushu Institute of Technology NUC
Current assignee: Kyushu Institute of Technology NUC
Priority date: 2006-08-28
Filing date: 2006-08-28
Publication date: 2012-11-28
Anticipated expiration: 2026-08-28
Also published as: JP2008049456A

Description

この発明は，例えば，好ましくない作業環境，高温や低温作業環境，危険な作業環境，狭小な場所，宇宙等の種々の作業環境において，物品，部材，機器等の物体を移動させたり，物体を設備に設置したり，取り外したりする各種の作業を遠隔操作で行う作業用ロボット，義手等のハンドとして適用できるロボットハンドに関する。 The present invention, for example, moves objects such as articles, members, equipment, etc. in various working environments such as an unfavorable working environment, a high or low temperature working environment, a dangerous working environment, a confined space, and space. The present invention relates to a robot hand that can be applied as a hand for a work robot, a prosthetic hand, or the like that performs various operations to be installed or removed from equipment by remote control.

近年，宇宙での作業，危険な場所等の各種の場所での作業に用いられる作業ロボットのマニピュレーターとして，各種のロボットハンドが提案されている。ロボットハンドは，物体を移動，部材の組立て等の各種の作業をさせるために，正確で，充分な強度を持ち，確実に物体をしっかりと把持する機能を有していることが必要がある。ロボットハンドの動きは単純ではあるが，その動きに対して位置の正確さ，物体の把持の確実さ，物体に対する充分な握力等の機能を満足し，それに加えて装置そのものとしてシンプルで，低コストであり，ロボットハンドとしての精度の維持を含めた耐久性が充分であること等の要求に対して，充分に満足するものはないのが現状である。 In recent years, various robot hands have been proposed as manipulators for work robots used for work in space and various places such as dangerous places. The robot hand needs to have an accurate and sufficient strength and a function of securely grasping the object in order to perform various operations such as moving the object and assembling the members. Although the movement of the robot hand is simple, it satisfies functions such as accuracy of position, certainty of object grasping, sufficient gripping force for the object, and the device itself is simple and low cost. However, at present, there is nothing that fully satisfies the requirements such as sufficient durability including maintenance of accuracy as a robot hand.

また，人の手を擬似したロボットハンドは，数多く開発されいる。人の手は機構的にみると，２０自由度と言われている。ロボットハンドを全く同じ機構として作るためには，２０個という多数の駆動源が必要になり，ロボットハンドそのものが複雑化し，大型化し，重量が重くなったり，高コストになるので，実用的ではないものになっていた。ロボットハンドについて，このような技術の背景にあって，通常，自由度を１〜３程度にしたロボットハンドが開発されている。 Many robot hands that simulate human hands have been developed. The human hand is said to have 20 degrees of freedom in terms of its mechanism. To make the robot hand as the same mechanism, a large number of drive sources of 20 are required, and the robot hand itself becomes complicated, large, heavy, and expensive, so it is not practical. It was a thing. Regarding robot hands, in the background of such technology, robot hands having a degree of freedom of about 1 to 3 are usually developed.

従来，ロボットハンドとして，複数の駆動源を持つものが知られている。該ロボットハンドは，ワイヤとシャフトとを組み合わせ，多関節アームのアーム間の回転力の伝達を行うものであり，１個の多関節のハンドにモータをそれぞれ装備した構造に構成されており，本体には関節で回転可能にアームを連結した多関節アームが２本取り付けられている。モータの回転は，巻取り装置を介して関節からワイヤプーリ系，シャフト，ワイヤプーリ系，関節，ワイヤプーリ系，シャフト，ワイヤプーリ系，関節へ伝達され，アームをそれぞれ関節において内側に回動して把持対象物を挟み込んで把持することができるものである（例えば，特許文献１参照）。 Conventionally, robot hands having a plurality of drive sources are known. The robot hand combines a wire and a shaft to transmit the rotational force between the arms of the articulated arm, and is constructed in a structure in which each articulated hand is equipped with a motor. Two articulated arms are connected to each other so that they can be rotated by joints. The rotation of the motor is transmitted from the joint to the wire pulley system, the shaft, the wire pulley system, the joint, the wire pulley system, the shaft, the wire pulley system, and the joint via the winding device. Can be sandwiched and gripped (see, for example, Patent Document 1).

また，ロボットハンドとして対象物を左右より把持し，把持後に対象物を水平に持ち上げ，移動させるものが知られている。該ロボットハンドは，ハンドの指部に設けられたガイドと固定部及び巻取り部とがロープ状部材により閉ループを構成するように配置され，連動されており，固定部から指部にそれぞれ設けられたガイドを介して巻取り部によりロープ状部材を巻き取ることにより，ハンドに把持力を付与し，指部を解放させる方向に作用するスプリングを設け，スプリングの作用によって巻き取られたロープ状部材の張力を解放することによりハンドの指部を定められた位置まで開放し，スプリングの力のバランスにより把持後に対象物を持ち上げると定められた位置に戻るものである（例えば，特許文献２参照）。 Also known is a robot hand that grips an object from the left and right and lifts and moves the object horizontally after gripping. In the robot hand, the guide provided on the finger part of the hand, the fixing part and the winding part are arranged and interlocked so as to form a closed loop by a rope-like member, and are respectively provided from the fixing part to the finger part. The rope-like member wound up by the action of the spring is provided with a spring acting in a direction to give a gripping force to the hand and release the finger part by winding the rope-like member by the winding part through the guide. By releasing the tension of the hand, the finger part of the hand is released to a predetermined position, and when the object is lifted after gripping by the balance of the spring force, it returns to the predetermined position (for example, see Patent Document 2). .

また，多指可動ロボットハンドとして，異径物を含む把持対象物に対して，１個の駆動源により複数の指を動かし，生体の把持動作に近い挙動をするように制御したものが知られている。該多指可動ロボットハンドは，歯車，ワイヤ，プーリで指を動かす構造であり，関節を持ちほぼ平行に配置された２本以上の指と，それらの指と対向するように配置された別の１本に指と，２本以上に指の関節を曲げるために牽引されるワイヤの可撓部材で構成され，２本以上の指と１本に指を異径物を含む把持対象物に接触させて把持動作可能とするため，１個の駆動源から発生する動力を１個以上の差動歯車を介して２本以上の可撓部材に伝達し，各々の可撓部材を牽引することにより，２本以上の指に把持力を発生させるものである（例えば，特許文献３参照）。 In addition, a multi-finger movable robot hand is known which is controlled so that a plurality of fingers are moved by a single drive source to a grasping object including objects of different diameters and behaves like a living body grasping action. ing. The multi-finger movable robot hand has a structure in which fingers are moved by gears, wires, and pulleys, and has two or more fingers that have joints and are arranged substantially in parallel, and another finger that is arranged to face the fingers. Consists of a flexible member of wire that is pulled to bend one finger and two or more finger joints, and contacts two or more fingers and one finger to the object to be grasped, including objects of different diameters In order to enable the gripping operation, power generated from one driving source is transmitted to two or more flexible members via one or more differential gears, and each flexible member is pulled. , A gripping force is generated on two or more fingers (see, for example, Patent Document 3).

また，ロボットハンドとして，指ユニットの数と配置を選択することで種々の把持機能を有するものが知られている。該ロボットハンドは，指ユニットを指の基端部をユニット本体に回動自在に結合し，ユニット本体に回転自在に設けた入力軸に連動連結して構成し，前記指ユニットをハンド本体に複数配置し，各々のユニット本体をハンド本体に結合すると共に，各々の入力軸に駆動手段を連動連結したものである（例えば，特許文献４参照）。
特開２００３−３０５６８１号公報特開平４−１１１７９１号公報特開２００１−２７７１７５号公報特開平１−３０６１９０号公報 Also, robot hands having various gripping functions by selecting the number and arrangement of finger units are known. The robot hand includes a finger unit that has a base end of a finger rotatably coupled to the unit body, and is linked to an input shaft that is rotatably provided on the unit body. Each unit body is coupled to the hand body, and driving means is linked to each input shaft (see, for example, Patent Document 4).
JP 2003-305681 A Japanese Patent Laid-Open No. 4-111791 JP 2001-277175 A JP-A-1-306190

従来のロボットハンドは，動きの精度，力の伝達の有効性が期待できないという問題があった。また，従来のロボットハンドは，多関節の連結部を屈曲させた複雑な構造であり，しかも複雑な動きを必要とし，そのため，小型モータやアクチュエータ等の部品を多く必要とする上に，製作がし難く，故障の原因となり，特に，ハンドそのものを小型に構成する場合には，ワイヤ，プーリ等の動力の伝達が的確に機能せず，指即ちフインガの正確な動きができず，問題があった。また，ワイヤ・プーリ系で構成した多関節のアームを屈曲させるタイプのハンドは，ワイヤのゆるみ，すべり等が発生し，正確な把持を行うために対策が望まれているし，該ハンドは，ワイヤとプーリで多関節の単一アームを駆動する方式に回転するシャフトを組み合わせるものであって複雑な構造であった。 The conventional robot hand has a problem that it cannot expect the accuracy of movement and the effectiveness of force transmission. In addition, the conventional robot hand has a complicated structure in which the articulated joint is bent, and requires complicated movement. Therefore, it requires many parts such as a small motor and actuator, and is manufactured. In particular, when the hand itself is made small, the power transmission of the wires, pulleys, etc. does not function properly, and the fingers or fingers cannot move accurately. It was. Also, the type of hand that bends an articulated arm composed of a wire / pulley system will cause loosening and slipping of the wire, and measures are required to ensure accurate gripping. It is a complex structure that combines a rotating shaft to drive a multi-joint single arm with a wire and a pulley.

この発明の目的は，上記の問題を解決することであり，駆動源として１個のモータを使用し，指即ちフインガの関節の数に所望に応じて容易に選択して構成でき，各関節の枢動即ち揺動を歯車列の動力伝達で達成し，装置そのものを小形化し易く構成でき，小形化しても高精度に作動させることができ，部品，部材，機器等の物体を確実にしっかりと把持することができ，歯車列による動力伝達であって動きが正確になり，力の伝達が確実になって時間遅れが発生せず，しかも製造コストが安価であることを特徴とするロボットハンドを提供することである。 An object of the present invention is to solve the above-mentioned problem, and it can be configured by using one motor as a drive source and easily selecting the number of fingers, i.e., finger joints as desired. Pivoting or swinging can be achieved by the power transmission of the gear train, and the device itself can be configured easily to be miniaturized, and can be operated with high precision even if it is miniaturized, and objects such as parts, members, and equipment can be securely and securely attached. A robot hand characterized in that it can be gripped, power is transmitted through a gear train, movement is accurate, force transmission is ensured, no time delay occurs, and manufacturing costs are low. Is to provide.

この発明は，フレームに取り付けられた検出器で得た情報に基づいて駆動制御される駆動源として１個のモータ，前記１個のモータからの回転を減速機を介して伝達され且つ前記フレームに回転自在に取り付けられた互いに逆回転する一対の駆動軸，前記一対の駆動軸に一端がそれぞれ固着されて枢動する少なくとも一対の第１フインガ，前記駆動軸の回転が歯車列を介してそれぞれ伝達され且つ物体把持部を形成する互いに逆方向に枢動する少なくとも一対の第２フインガ，及び前記第１フインガと前記第２フインガとの間に介在された中間フインガから構成されており，
前記中間フインガは前記第１フインガに配置された歯車列を介してそれぞれ伝達され，前記第２フインガは前記中間フインガに配置された歯車列を介してそれぞれ伝達され，
前記第１フインガと前記中間フインガは，互いに対向する一対の板状部材からそれぞれ構成され，前記第１フインガの前記板状部材間に前記中間フインガの一方の前記板状部材の端部が枢着され，前記中間フインガの前記板状部材間に前記第２フインガの一方の前記板状部材の端部が枢着されており，
前記第１フインガと前記第２フインガとの間に１個の前記中間フインガが介在して３関節に構成され，前記第１フインガに組み込まれた前記歯車列は，前記フレームに固定された固定軸に設けたガイド歯車と噛み合う回転歯車，該回転歯車に隣接して噛み合う中間回転歯車，該中間回転歯車に噛み合って前記中間フインガの端部に設けたフインガ歯車，及び前記第１フインガの一方の前記板状部材の端部に設けたフインガ歯車から構成され，前記中間フインガに組み込まれた前記歯車列は，前記第１フインガの前記フインガ歯車と噛み合う回転歯車，該回転歯車に隣接して噛み合う中間回転歯車，及び該中間回転歯車と噛み合って前記第２フインガの端部に設けたフインガ歯車から構成されており，
一方の前記板状部材には雌ねじ付きボス部が設けられ，他方の前記板状部材にはビス挿通孔が形成され，前記ビス挿通孔に挿通したビスを前記雌ねじ付きボス部に螺入して前記板状部材が互いに固定され，前記ボス部には前記回転歯車と前記中間歯車とが回転自在に嵌着されていることから成るロボットハンドに関する。 The present invention provides one motor as a drive source that is driven and controlled on the basis of information obtained by a detector attached to a frame, and the rotation from the one motor is transmitted via a speed reducer to the frame. A pair of drive shafts, which are rotatably attached to each other, rotate at least a pair of first fingers pivoted with one end fixed to each of the pair of drive shafts, and the rotation of the drive shaft is transmitted via a gear train. at least one pair of second fingers to pivot in opposite directions and forming the object grasping portion is, and is configured from between fingers among which is interposed between the first fingers and the second fingers,
The intermediate fingers are each transmitted via a gear train disposed on the first finger, and the second fingers are respectively transmitted via a gear train disposed on the intermediate finger ,
The first finger and the intermediate finger are each composed of a pair of plate-like members facing each other, and an end portion of one plate-like member of the intermediate finger is pivotally attached between the plate-like members of the first finger. And the end of one of the plate members of the second finger is pivoted between the plate members of the intermediate fingers,
One intermediate finger is interposed between the first finger and the second finger to form three joints, and the gear train incorporated in the first finger is a fixed shaft fixed to the frame. A rotating gear that meshes with the guide gear provided on the intermediate gear, an intermediate rotating gear that meshes adjacent to the rotating gear, a finger gear that meshes with the intermediate rotating gear and is provided at an end of the intermediate finger, and one of the first fingers. The gear train is composed of a finger gear provided at the end of the plate-like member, and the gear train incorporated in the intermediate finger includes a rotating gear meshing with the finger gear of the first finger, and an intermediate rotating meshing adjacent to the rotating gear. A gear gear and a finger gear meshed with the intermediate rotation gear and provided at the end of the second finger,
One plate-like member is provided with a female-threaded boss portion, and the other plate-like member is provided with a screw insertion hole. A screw inserted through the screw insertion hole is screwed into the female-threaded boss portion. The present invention relates to a robot hand in which the plate-like members are fixed to each other, and the rotating gear and the intermediate gear are rotatably fitted to the boss portion .

また，この発明は，フレームに取り付けられた検出器で得た情報に基づいて駆動制御される駆動源として１個のモータ，前記１個のモータからの回転を減速機を介して伝達され且つ前記フレームに回転自在に取り付けられた互いに逆回転する一対の駆動軸，前記一対の駆動軸に一端がそれぞれ固着されて枢動する少なくとも一対の第１フインガ，前記駆動軸の回転が歯車列を介してそれぞれ伝達され且つ物体把持部を形成する互いに逆方向に枢動する少なくとも一対の第２フインガ，及び前記第１フインガと前記第２フインガとの間に介在された中間フインガから構成されており，
前記中間フインガは前記第１フインガに配置された歯車列を介してそれぞれ伝達され，前記第２フインガは前記中間フインガに配置された歯車列を介してそれぞれ伝達され，
前記第１フインガと前記中間フインガは，互いに対向する一対の板状部材からそれぞれ構成され，前記第１フインガの前記板状部材間に前記中間フインガの一方の前記板状部材の端部が枢着され，前記中間フインガの前記板状部材間に前記第２フインガの一方の前記板状部材の端部が枢着されており，
前記第１フインガと前記中間フインガとの間に１個以上で且つ歯車列を介してそれぞれ伝達される別の前記中間フインガが介在して４関節以上に構成され，別の前記中間フインガに組み込まれた前記歯車列は，前記中間フインガの一方の前記板状部材の端部に設けたフインガ歯車，前記第１フインガ又は隣接する前記中間フインガの前記フインガ歯車と噛み合う回転歯車，該回転歯車に隣接して噛み合う中間回転歯車，及び該中間回転歯車と噛み合う別の隣接する前記中間フインガの他方の前記板状部材の端部に設けたフインガ歯車から構成されており，
一方の前記板状部材には雌ねじ付きボス部が設けられ，他方の前記板状部材にはビス挿通孔が形成され，前記ビス挿通孔に挿通したビスを前記雌ねじ付きボス部に螺入して前記板状部材が互いに固定され，前記ボス部には前記回転歯車と前記中間歯車とが回転自在に嵌着されていることから成るロボットハンドに関する。 Further, the present invention provides one motor as a drive source that is driven and controlled based on information obtained by a detector attached to a frame, the rotation from the one motor is transmitted via a speed reducer, and A pair of drive shafts, which are rotatably attached to the frame, rotate reversely to each other, at least a pair of first fingers pivoted with one end fixed to each of the pair of drive shafts, and rotation of the drive shaft via a gear train Each of which is composed of at least a pair of second fingers which are respectively transmitted and pivot in opposite directions to form an object gripping portion, and an intermediate finger interposed between the first finger and the second finger,
The intermediate fingers are each transmitted via a gear train disposed on the first finger, and the second fingers are respectively transmitted via a gear train disposed on the intermediate finger,
The first finger and the intermediate finger are each composed of a pair of plate-like members facing each other, and an end portion of one plate-like member of the intermediate finger is pivotally attached between the plate-like members of the first finger. And the end of one of the plate members of the second finger is pivoted between the plate members of the intermediate fingers ,
At least one intermediate finger transmitted through a gear train is interposed between the first finger and the intermediate finger, so that it has four or more joints and is incorporated into another intermediate finger. The gear train includes a finger gear provided at an end portion of one of the plate-like members of the intermediate finger, a rotary gear meshing with the finger gear of the first finger or the adjacent intermediate finger, and adjacent to the rotary gear. An intermediate rotating gear meshing with the intermediate rotating gear, and a finger gear provided at the end of the other plate-like member of another adjacent intermediate finger meshing with the intermediate rotating gear,
One plate-like member is provided with a female-threaded boss portion, and the other plate-like member is provided with a screw insertion hole. A screw inserted through the screw insertion hole is screwed into the female-threaded boss portion. The present invention relates to a robot hand in which the plate-like members are fixed to each other, and the rotating gear and the intermediate gear are rotatably fitted to the boss portion .

また，このロボットハンドでは，前記第１フインガ及び前記中間フインガの一方の前記板状部材の端部に設けた前記フインガ歯車は，前記中間回転歯車の回転に干渉しないように切欠きが形成されてる。 In this robot hand, the finger gear provided at the end of the plate member of one of the first finger and the intermediate finger is notched so as not to interfere with the rotation of the intermediate rotation gear. .

また，このロボットハンドにおいて，前記検出器はカメラであり，前記カメラによって得た前記情報がコントローラに入力され，前記コントローラの指令で前記モータが駆動制御されるものである。 In this robot hand, the detector is a camera, and the information obtained by the camera is input to a controller, and the motor is driven and controlled by a command from the controller.

このロボットハンドは，上記のように，１個のモータからの駆動力を減速機で減速して互いに逆転する一対の駆動軸にそれぞれ伝達し，駆動軸からの回転を歯車列を介してフインガの枢動運動に変換するので，歯車列によって動力が伝達され，構造そのものが極めてシンプルであり，装置そのものの小形化を容易に達成でき，フインガ部材から成る各々の関節を時間遅れなく，確実に高精度に作動させることができ，製造コストも安価にすることができる。 In this robot hand, as described above, the driving force from one motor is transmitted to a pair of driving shafts which are decelerated by a speed reducer and reversed to each other, and rotation from the driving shaft is transmitted through a gear train. Because it is converted to pivoting motion, power is transmitted by the gear train, the structure itself is very simple, the device itself can be easily miniaturized, and each joint consisting of the finger members can be reliably increased without time delay. It can be operated with high accuracy and the manufacturing cost can be reduced.

この発明によるロボットハンドは，図１〜図９及び図１９を参照して説明した基本的な構成である３本指即ち３本のフインガで２箇所の関節を持つ最小単位のものとして構成することができるが，フインガは人の指に疑似させた５本のフインガに構成することもでき，５本以上の多数のフインガに構成することもできる。また，フインガの関節としては，図１０〜図１６を参照して説明した第１実施例である３個の関節に構成することができるし，また，図１７と図１８を参照して説明した第２実施例である３個以上の関節に構成することもできることは勿論である。また，このロボットハンドは，駆動源としての１個のモータ１によってフインガ関節の動きを制御するように構成されている。また，モータ１は，フレーム２に支持されており，第１フインガ１０，１１，２０の付け根のフレーム部分には検出器としてのカメラ３が設けられており，カメラ３によって部品，部材，機器等の物体の位置，サイズ等の情報を確認し，その情報を遠隔装置等に設けたコントローラに入力し，コントローラがそれらの情報に基づいてモータ１を駆動制御し，第２フインガ１２，１３，２１により物体の把持動作が制御されるものである。また，このロボットハンドを構成する各種の部品や部材は，金属，セラミックス，合成樹脂等の各種の材料で作製することができ，特に材料限定されるものではなく，このロボットハンドの使用目的に応じて材料を適正に選択することができる。このロボットハンドは，主として，フインガ部材，歯車伝動装置等の部品や部材で構成されているので，例えば，これらの部品や部材をオール金属で作製した場合には，特に，高温環境でも各部品や部材に熱変形が発生せず，耐熱性に富み，強固で高精度なものに構成することができる。 The robot hand according to the present invention is configured as a minimum unit having two joints with three fingers, that is, three fingers, which is the basic configuration described with reference to FIGS. However, the finger can be composed of five fingers simulated by a human finger, or can be composed of many fingers of five or more. Further, as the joint of the finger, it can be constituted by three joints which are the first embodiment described with reference to FIG. 10 to FIG. 16, and has been described with reference to FIG. 17 and FIG. Of course, it is also possible to constitute the joint of three or more which is the second embodiment. The robot hand is configured to control the movement of the finger joint by one motor 1 as a drive source. The motor 1 is supported by a frame 2, and a camera 3 as a detector is provided at the base frame portion of the first fingers 10, 11, 20. The information of the position, size, etc. of the object is confirmed, and the information is input to a controller provided in the remote device or the like. The controller controls the drive of the motor 1 based on the information, and the second fingers 12, 13, 21 Thus, the object gripping operation is controlled. In addition, the various parts and members that make up this robot hand can be made of various materials such as metal, ceramics, and synthetic resin. The material is not particularly limited and depends on the intended use of the robot hand. The material can be selected appropriately. Since this robot hand is mainly composed of parts and members such as a finger member and a gear transmission, for example, when these parts and members are made of all metal, each part or member is used even in a high temperature environment. The member does not undergo thermal deformation, has high heat resistance, and can be configured to be strong and highly accurate.

図１〜図９及び図１９を参照して，このロボットハンドの基本的な構成として，３本指を持ち，２関節のロボットハンドの構造とその動作について説明する。このロボットハンドは，フレーム２に取り付けられた検出器のカメラ３で得た情報に基づいて駆動制御されるモータ１，及びフレーム２に回転自在に取り付けられ且つモータ１からの回転を減速機４を介して伝達される互いに逆転する駆動軸５，６を有している。具体的には，モータ１は，その出力軸１９からの駆動力が減速機４を介して駆動軸５，６を回転駆動する。減速機４は，大径歯車１４と小径歯車１５とが一体構造に構成されている。モータ１の出力軸１９は，その回転が出力歯車１６に伝達される。出力歯車１６は，減速機４の大径歯車１４に噛み合っているので，その回転は大径歯車１４に伝達される。大径歯車１４と一体に回転する小径歯車１５は，中間歯車７に噛み合うと共に駆動歯車９に噛み合っている。また，中間歯車７は，駆動歯車８に噛み合っているので，その回転は駆動歯車８に伝達される。従って，モータ１の回転は，減速機４を介して駆動歯車９，及び減速機４と中間歯車７を介して駆動歯車８に伝達されるので，駆動歯車８と駆動歯車９とは互いに逆回転することになる。このロボットハンドでは，出力歯車１６と減速機４の大径歯車１４とは互いに噛み合うので同一平面に位置し，また，小径歯車１５，中間歯車７，及び駆動歯車８，９は互いに噛み合うので同一平面に位置している。 With reference to FIG. 1 to FIG. 9 and FIG. 19, the structure and operation of a two-joint robot hand having three fingers will be described as the basic configuration of this robot hand. This robot hand is attached to a motor 1 that is driven and controlled on the basis of information obtained by a camera 3 of a detector attached to the frame 2 and a frame 2 to be freely rotatable. Drive shafts 5 and 6 which are transmitted in reverse to each other. Specifically, the driving force from the output shaft 19 of the motor 1 rotates the drive shafts 5 and 6 via the speed reducer 4. In the reduction gear 4, a large-diameter gear 14 and a small-diameter gear 15 are configured in an integral structure. The rotation of the output shaft 19 of the motor 1 is transmitted to the output gear 16. Since the output gear 16 meshes with the large-diameter gear 14 of the speed reducer 4, the rotation is transmitted to the large-diameter gear 14. A small-diameter gear 15 that rotates integrally with the large-diameter gear 14 meshes with the intermediate gear 7 and with the drive gear 9. Further, since the intermediate gear 7 is meshed with the drive gear 8, the rotation is transmitted to the drive gear 8. Therefore, since the rotation of the motor 1 is transmitted to the drive gear 9 via the speed reducer 4 and to the drive gear 8 via the speed reducer 4 and the intermediate gear 7, the drive gear 8 and the drive gear 9 rotate in reverse with each other. Will do. In this robot hand, the output gear 16 and the large-diameter gear 14 of the speed reducer 4 are meshed with each other so that they are located on the same plane, and the small-diameter gear 15, the intermediate gear 7, and the drive gears 8 and 9 are meshed with each other. Is located.

このロボットハンドでは，駆動歯車８は駆動軸５にビスによって固定され，駆動軸５はフレーム２に軸受４７を介して回転自在に支持されている。また，駆動歯車９は駆動軸６に一体構造又はビスによって固定され，駆動軸６はフレーム２に軸受４７を介して回転自在に支持されている。従って，駆動歯車８は，中間歯車７を介して小径歯車１５に連結されて駆動歯車９とは逆方向に回転するので，駆動歯車８が固定された駆動軸５と駆動歯車９が固定された駆動軸６とは，互いに逆回転することになる。即ち，中間歯車７は，減速機４からの回転を互いに逆転させて駆動歯車８，９に伝達するのに設けられている。また，駆動軸５と駆動軸６とは，掌等の本体を構成するフレーム２を中心に左右に対向した位置に設けられている。また，フレーム２の中央先端部には，物体を検出するための検出器のカメラ３が設置されている。従って，このロボットハンドでは，減速機付きモータ１の出力は，出力歯車１６から大径歯車１４と小径歯車１５に伝達され，図１の右側は中間歯車７を介して駆動歯車８と右側の駆動軸５に伝達され，また，左側は小径歯車１５から駆動歯車９と左側の駆動軸６に伝達されることになる。 In this robot hand, the drive gear 8 is fixed to the drive shaft 5 with screws, and the drive shaft 5 is rotatably supported on the frame 2 via bearings 47. The drive gear 9 is fixed to the drive shaft 6 by an integral structure or a screw, and the drive shaft 6 is rotatably supported by the frame 2 via a bearing 47. Accordingly, the drive gear 8 is connected to the small-diameter gear 15 via the intermediate gear 7 and rotates in the opposite direction to the drive gear 9, so that the drive shaft 5 to which the drive gear 8 is fixed and the drive gear 9 are fixed. The drive shaft 6 rotates in the opposite direction. That is, the intermediate gear 7 is provided to reverse the rotation from the speed reducer 4 and transmit it to the drive gears 8 and 9. The drive shaft 5 and the drive shaft 6 are provided at positions facing left and right with the frame 2 constituting the main body such as a palm as a center. A detector camera 3 for detecting an object is installed at the center front end of the frame 2. Therefore, in this robot hand, the output of the motor 1 with a reduction gear is transmitted from the output gear 16 to the large-diameter gear 14 and the small-diameter gear 15, and the right side in FIG. The left side is transmitted from the small diameter gear 15 to the drive gear 9 and the left side drive shaft 6.

このロボットハンドは，駆動軸５，６に一端がそれぞれ固着され且つ駆動軸５，６を中心に枢動する第１フインガ１０，１１，２０，及び駆動軸５，６の回転を歯車列２５から成る歯車伝動装置を介してそれぞれ伝達され且つ物体を把持解放可能に互いに逆方向に枢動即ち揺動する第２フインガ１２，１３，２１から構成されている。具体的には，駆動軸５と駆動軸６とは，ロボットハンドの関節に相当する部分を構成している。右側の駆動軸５と左側の駆動軸６は，右側の第一指即ち第１フインガ１０，左側の第一指即ち第１フインガ１１，及び左側の第一指即ち第１フインガ２０の３本の指即ちフインガの第１関節を形成している。 In this robot hand, the first fingers 10, 11, 20 that are fixed at one end to the drive shafts 5, 6 and pivot about the drive shafts 5, 6 and the rotation of the drive shafts 5, 6 are rotated from the gear train 25. The second fingers 12, 13, and 21 are respectively transmitted through the gear transmission and configured to pivot or swing in opposite directions so as to be able to grasp and release the object. Specifically, the drive shaft 5 and the drive shaft 6 constitute a portion corresponding to the joint of the robot hand. The right drive shaft 5 and the left drive shaft 6 are composed of three fingers: a right first finger or first finger 10, a left first finger or first finger 11, and a left first finger or first finger 20. Forms the first joint of the finger or finger.

第１フインガ１０，１１，２０について，図３〜図５を参照して説明する。第１フインガ１０，１１，２０は，互いに対向する一対の板状部材１０Ａ，１０Ｂ，板状部材１１Ａ，１１Ｂ，及び板状部材２０Ａ，２０Ｂからそれぞれ構成され，板状部材１０Ａ，１０Ｂ間，板状部材１１Ａ，１１Ｂ間，及び板状部材２０Ａ，２０Ｂ間の端部には，第二指即ち第２フインガ１２，１３，２１の端部がそれぞれ挟持されて枢動可能に構成されている。図６に示すように，板状部材１０Ａ，板状部材１１Ａ，及び板状部材２０Ａには，雌ねじ４１，４２，４３を形成したボス部３８，３９．４０が設けられている。板状部材１０Ａと板状部材１０Ｂ，板状部材１１Ａと板状部材１１Ｂ，及び板状部材２０Ａと板状部材２０Ｂをボス部３８，３９．４０を間にして両者間に歯車列２５を配設する空間が形成されるように互いに対向させ，次いで，ねじ付きビス３５，３６，３７を雌ねじ４１，４２，４３に螺入して，板状部材１０Ａと板状部材１０Ｂ，板状部材１１Ａと板状部材１１Ｂ，及び板状部材２０Ａと板状部材２０Ｂがそれぞれ互いに固定される。また，板状部材１０Ａ，１１Ａ，２０Ａのボス部３８，３９．４０には，軸受４４，４５，４６を介して回転歯車２９，３０，３１，又は中間回転歯車２９，３０，３１が各板状部材に挟持した状態で回転自在に配置される。 The first fingers 10, 11, and 20 will be described with reference to FIGS. The first fingers 10, 11, 20 are each composed of a pair of plate-like members 10A, 10B, plate-like members 11A, 11B, and plate-like members 20A, 20B, which are opposed to each other, between the plate-like members 10A, 10B, and the plate. The ends of the second fingers, i.e., the second fingers 12, 13, and 21, are sandwiched between the end portions between the tab-like members 11A and 11B and between the plate-like members 20A and 20B, respectively, so as to be pivotable. As shown in FIG. 6, the plate-like member 10A, the plate-like member 11A, and the plate-like member 20A are provided with boss portions 38, 39.40 in which female screws 41, 42, 43 are formed. The plate-like member 10A and the plate-like member 10B, the plate-like member 11A and the plate-like member 11B, and the plate-like member 20A and the plate-like member 20B are interposed between the boss portions 38 and 39.40, and the gear train 25 is arranged therebetween. Then, the screwed screws 35, 36, and 37 are screwed into the female screws 41, 42, and 43 so as to form a space to be installed, and the plate-like member 10A, the plate-like member 10B, and the plate-like member 11A are inserted. The plate member 11B, and the plate member 20A and the plate member 20B are fixed to each other. Further, the rotating gears 29, 30, 31 or the intermediate rotating gears 29, 30, 31 are respectively attached to the boss portions 38, 39. 40 of the plate-like members 10 A, 11 A, 20 A via bearings 44, 45, 46. It is rotatably arranged in a state of being sandwiched between the shaped members.

板状部材１０Ａ，１０Ｂ，１１Ａ，１１Ｂ，２０Ａ，２０Ｂのそれぞれの間には，歯車列２５がそれぞれ配置されている。また，歯車列２５は，フレーム２に固定された固定軸１７，１８に設けたガイド歯車２２，２３，２４と噛み合い且つ第１フインガ１０，１１，２０の端部に設けられた回転歯車３２，３３，３４，回転歯車３２，３３，３４に噛み合う隣接した中間回転歯車２９，３０，３１，及び中間回転歯車２９，３０，３１に噛み合う第２フインガ１２，１３，２１の端部に設けられたフインガ歯車２６，２７，２８から構成されている。基本的な構成では，回転歯車３２，３３，３４，中間回転歯車２９，３０，３１，及びフインガ歯車２６，２７，２８は，それらの歯幅が板状部材１０Ａ，１０Ｂ，板状部材１１Ａ，１１Ｂ，板状部材２０Ａ，２０Ｂ間の間隔とほぼ等しい厚さに形成されている。また，このロボットハンドでは，第２フインガ１２，第２フインガ１３及び第２フインガ２１のそれぞれの端部に設けられたフインガ歯車２６，２７，２８の中心は，３本の第１フインガ１０，１１，２０と第２フインガ１２，１３，２１の第２関節を形成している。 A gear train 25 is disposed between each of the plate-like members 10A, 10B, 11A, 11B, 20A, and 20B. The gear train 25 meshes with the guide gears 22, 23, 24 provided on the fixed shafts 17, 18 fixed to the frame 2, and the rotating gear 32 provided at the end of the first fingers 10, 11, 20. 33, 34, adjacent intermediate rotation gears 29, 30, 31 meshing with the rotation gears 32, 33, 34, and second fingers 12, 13, 21 meshing with the intermediate rotation gears 29, 30, 31 It consists of finger gears 26, 27 and 28. In the basic configuration, the rotation gears 32, 33, 34, the intermediate rotation gears 29, 30, 31, and the finger gears 26, 27, 28 have the tooth widths of the plate-like members 10A, 10B, the plate-like member 11A, 11B and a thickness approximately equal to the distance between the plate-like members 20A and 20B. Further, in this robot hand, the centers of the finger gears 26, 27, 28 provided at the ends of the second finger 12, the second finger 13, and the second finger 21 are the three first fingers 10, 11. , 20 and the second fingers 12, 13, 21 form a second joint.

また，一対の板状部材１０Ａ，１０Ｂ，板状部材１１Ａ，１１Ｂ，及び板状部材２０Ａ，２０Ｂの間の空間には，駆動軸５，６に回転自在に取り付けられ且つ自身が回転しないガイド歯車２２，２３，２４をそれぞれ配設されており，また，ガイド歯車２２，２３，２４は，片方に１８０度強の歯を設けた形状に形成され，固定軸１７，１８に固定された固定アーム４８，４９，５０にそれぞれ固定されている。また，ガイド歯車２２，２３，２４には，第１フインガ１０，１１，２０の回転歯車３２，３３，３４が噛み合っている。ガイド歯車２２，２３，２４は，固定状態であるので，回転歯車３２，３３，３４は，第１フインガ１０，１１，２０が揺動することによってガイド歯車２２，２３，２４の周上を転動して移動し，駆動軸５，６を中心に第１関節を構成することになる。 Further, a guide gear that is rotatably attached to the drive shafts 5 and 6 and does not rotate in the space between the pair of plate members 10A and 10B, the plate members 11A and 11B, and the plate members 20A and 20B. 22, 23, 24 are arranged, and the guide gears 22, 23, 24 are formed in a shape having teeth of 180 degrees on one side, and fixed arms fixed to the fixed shafts 17, 18. 48, 49, and 50, respectively. Further, the rotating gears 32, 33, 34 of the first fingers 10, 11, 20 are engaged with the guide gears 22, 23, 24. Since the guide gears 22, 23, 24 are in a fixed state, the rotary gears 32, 33, 34 roll on the circumference of the guide gears 22, 23, 24 as the first fingers 10, 11, 20 swing. The first joint is formed around the drive shafts 5 and 6 by moving and moving.

次に，図８及び図９を参照して，第１フインガ１０，１１，２０，及び第２フインガ１２，１３，２１の動きについて説明する。駆動軸５と駆動軸６とは逆方向に回転しているので，第１フインガ１０及び第２フインガ１２の動きは，第１フインガ１１，２０及び第２フインガ１３，２１の動きとは逆方向，即ち対向する方向に移動即ち揺動することになる。まず，第１フインガ１０は駆動軸５に固定されており，ガイド歯車２２は固定軸１７及びアーム４８に固定されているので，駆動軸５が回転して第１フインガ１０が矢印Ａの方向に動かされると，第１フインガ１０に回転自在に配設された回転歯車３２がガイド歯車２２の周上を噛み合った状態でガイドされて矢印Ｂ方向の回転する。回転歯車３２が矢印Ｂ方向に回転すると，回転歯車３２に噛み合っている中間回転歯車２９が矢印Ｃ方向に回転する。中間回転歯車２９が矢印Ｃ方向の回転すると，中間回転歯車２９に噛み合っているフインガ歯車２６が矢印Ｄ方向の回転し，第２フインガ１２を矢印Ｅ方向に揺動させることになる。また，第１フインガ１１，２０は駆動軸６に固定されており，ガイド歯車２３，２４は固定軸１８及びアーム４９，５０に固定されているので，駆動軸６が回転して第１フインガ１１，２０が矢印Ａ１の方向に動かされると，第１フインガ１１，２０に回転自在に配設された回転歯車３３，３４がガイド歯車２３，２４の周上を噛み合った状態でガイドされて矢印Ｂ１方向に回転する。回転歯車３３，３４が矢印Ｂ１方向に回転すると，回転歯車３３，３４に噛み合っている中間回転歯車３０．３１が矢印Ｃ１方向に回転する。中間回転歯車３０，３１が矢印Ｃ１方向の回転すると，中間回転歯車３０，３１に噛み合っているフインガ歯車２７，２８が矢印Ｄ１方向に回転し，第２フインガ１３，２１を矢印Ｅ１方向に揺動させることになる。従って，このロボットハンドは，モータ１の回転制御によって図８に示すような開放状態から図９に示すような把持する閉状態に揺動させたり，その逆方向に揺動させることができる。 Next, the movement of the first fingers 10, 11, 20 and the second fingers 12, 13, 21 will be described with reference to FIGS. Since the drive shaft 5 and the drive shaft 6 rotate in opposite directions, the movement of the first finger 10 and the second finger 12 is opposite to the movement of the first finger 11, 20 and the second finger 13, 21. That is, it moves or swings in the opposite direction. First, since the first finger 10 is fixed to the drive shaft 5 and the guide gear 22 is fixed to the fixed shaft 17 and the arm 48, the drive shaft 5 rotates and the first finger 10 moves in the direction of arrow A. When moved, the rotary gear 32 rotatably arranged on the first finger 10 is guided in a state of meshing with the circumference of the guide gear 22 and rotates in the direction of arrow B. When the rotating gear 32 rotates in the arrow B direction, the intermediate rotating gear 29 meshed with the rotating gear 32 rotates in the arrow C direction. When the intermediate rotation gear 29 rotates in the direction of arrow C, the finger gear 26 meshed with the intermediate rotation gear 29 rotates in the direction of arrow D, and the second finger 12 swings in the direction of arrow E. Further, since the first fingers 11 and 20 are fixed to the drive shaft 6 and the guide gears 23 and 24 are fixed to the fixed shaft 18 and the arms 49 and 50, the drive shaft 6 rotates and the first fingers 11 are rotated. , 20 are moved in the direction of the arrow A1, the rotary gears 33, 34 rotatably arranged on the first fingers 11, 20 are guided in a state where they are meshed with the circumference of the guide gears 23, 24, and the arrow B1 Rotate in the direction. When the rotating gears 33 and 34 rotate in the arrow B1 direction, the intermediate rotating gear 30.31 meshed with the rotating gears 33 and 34 rotates in the arrow C1 direction. When the intermediate rotating gears 30 and 31 rotate in the direction of arrow C1, the finger gears 27 and 28 meshing with the intermediate rotating gears 30 and 31 rotate in the direction of arrow D1, and the second fingers 13 and 21 swing in the direction of arrow E1. I will let you. Therefore, the robot hand can be swung from the open state as shown in FIG. 8 to the closed state as shown in FIG. 9 or in the opposite direction by the rotation control of the motor 1.

また，第１フインガ１０，１１，２０，及び第２フインガ１２，１３，２１の回転角は，各歯車のサイズを同じにすれば，同じになるが，各歯車のサイズや歯数を変更すれば種々に調整することができる。例えば，第２フインガ１２，１３，２１の回転角を第１フインガ１０，１１，２０の回転角よりも小さくしたい場合には，第１フインガ１０，１１，２０の３本の指の端にある歯車部分の直径を大きくして歯車の歯一本当りの回転角を小さくすれば，簡単に回転角を小さくすることができる。言い換えれば，各歯車の直径，歯数等を種々に変更すれば，第２フインガ１２，１３，２１の動きを所望な移動即ち揺動状態に適正に容易に変更することができるものである。 Also, the rotation angles of the first fingers 10, 11, 20 and the second fingers 12, 13, 21 are the same if the sizes of the gears are the same, but the size and the number of teeth of each gear can be changed. Various adjustments can be made. For example, when the rotation angle of the second fingers 12, 13, and 21 is desired to be smaller than the rotation angle of the first fingers 10, 11, and 20, they are at the ends of the three fingers of the first fingers 10, 11, and 20. If the diameter of the gear portion is increased to reduce the rotation angle per gear tooth, the rotation angle can be easily reduced. In other words, if the diameter, the number of teeth, etc. of each gear are variously changed, the movement of the second fingers 12, 13, and 21 can be easily and appropriately changed to a desired movement, that is, a swinging state.

次に，図１０〜図１６を参照して，この発明によるロボットハンドの第１実施例である３関節を持つタイプのロボットハンドを説明する。第１実施例は，基本的な構成が人の親指のように２関節タイプであったのに対し，１関節を増加させた親指以外の指のように３関節タイプのロボットハンドである。第１実施例は，モータ１から駆動軸５，６までの構成は，基本的な構成と同様であるので，ここではそれらの説明を省略する。第１実施例のロボットハンドは，基本的な構成の第１フインガ１０，１１，２０と第２フインガ１２，１３，２１との間に，中間フインガ５３をそれぞれ介在させることによって構成することができる。ここで説明を簡単にするため，駆動軸５に枢着した第１フインガ５１，第１フインガ５１に枢着した中間フインガ５３，及び中間フインガ５３に枢着した第２フインガ５２について図示し説明することとする。このロボットハンドでは，中間フインガ５３が第１フインガ５１と第２フインガ５２との間に介在されている。第１フインガ５１の回転歯車６４が駆動軸５に回転自在に嵌合したフインガ歯車２２の周上を揺動することによって第１関節が構成され，また，中間フインガ５３のフインガ歯車６６が第１フインガ５１の中間回転歯車６５の回転によって第１フインガ５１のフインガ歯車５８の周上を揺動することによって第２関節が構成され，更に，第２フインガ５２のフインガ歯車６７が中間フインガ５３の中間回転歯車６５の回転によって第２フインガ５２のフインガ歯車６７が中間回転歯車６５の周上を転動することによって第２フインガ５２が揺動してフインガ歯車６７を中心に第３関節を構成するようになっている。 Next, a robot hand having three joints, which is a first embodiment of the robot hand according to the present invention, will be described with reference to FIGS. The first embodiment is a three-joint type robot hand like a finger other than the thumb with one joint increased, while the basic configuration is a two-joint type like a human thumb. In the first embodiment, since the configuration from the motor 1 to the drive shafts 5 and 6 is the same as the basic configuration, the description thereof is omitted here. The robot hand of the first embodiment can be configured by interposing intermediate fingers 53 between the first fingers 10, 11, 20 and the second fingers 12, 13, 21 of the basic configuration. . In order to simplify the description, the first finger 51 pivotally attached to the drive shaft 5, the intermediate finger 53 pivotally attached to the first finger 51, and the second finger 52 pivotally attached to the intermediate finger 53 will be illustrated and described. I will do it. In this robot hand, an intermediate finger 53 is interposed between a first finger 51 and a second finger 52. A first joint is constituted by the rotation gear 64 of the first finger 51 swinging on the circumference of the finger gear 22 that is rotatably fitted to the drive shaft 5, and the finger gear 66 of the intermediate finger 53 is the first finger gear 66. A second joint is formed by swinging on the periphery of the finger gear 58 of the first finger 51 by the rotation of the intermediate rotating gear 65 of the finger 51, and the finger gear 67 of the second finger 52 is further in the middle of the intermediate finger 53. The rotation of the rotary gear 65 causes the finger gear 67 of the second finger 52 to roll on the circumference of the intermediate rotary gear 65 so that the second finger 52 swings to form the third joint around the finger gear 67. It has become.

図１１及び図１２を参照して，第１フインガ５１について説明する。第１フインガ５１は，図１１に示す板状部材５１Ａと図１２に示す板状部材５１Ｂとが互いに隔置して対向状態に配置して構成されている。板状部材５１Ａと板状部材５１Ｂは，基本的な構成と同様に，ビス５４によって互いに固着されて一体構造になっており，両者の板状部材間に歯車列５５が組み込まれている。第１フインガ５１を構成する板状部材５１Ａ，５１Ｂには，駆動軸５が嵌合する取付け孔６０及びビス孔５７が形成され，駆動軸５を取付け孔６０に嵌合してビス孔５７にビス５４を螺入して，駆動軸５と第１フインガ５１とが固定されている。従って，第１フインガ５１は，駆動軸５の回転によって駆動軸５を中心に揺動し，第１関節を構成することになる。第１フインガ５１の板状部材５１Ａの先端側には，図１１に示すように，第２関節の動作を可能にする歯車を一体構造で成形したフインガ歯車５８が設けられている。フインガ歯車５８は中間フインガ５３のガイドとして機能する。また，板状部材５１Ａには，ビスが挿通するビス孔５９が形成されている。また，板状部材５１Ｂは，図１２に示すように，雌ねじ付きのボス部６１，６２が設けられている。ボス部６２は，板状部材５１Ｂの先端部に位置してボス部６１の半分の高さである。第１フインガ５１は，ボス部６１，６２に回転歯車６４と中間回転歯車６５を回転自在に装着し，次いで板状部材５１Ａと板状部材５１Ｂとの間に，ボス部６１，６２，回転歯車６４及び中間回転歯車６５を介在させた状態で，互いに対向させてビス５４によって固着することによって構成される。板状部材５１Ａと板状部材５１Ｂとの間には，ガイド歯車２２と噛み合ってガイド歯車２２の周上を転動する回転歯車６４，回転歯車６４に噛み合う中間回転歯車６５，中間回転歯車６５に隣接して中間フインガ５３の回転歯車６３と噛み合うフインガ歯車５８，及び中間回転歯車６５に噛み合ってフインガ歯車５８と側面に接する中間フインガ５３のフインガ歯車６６が配列されている。フインガ歯車５８は中間回転歯車６５の回転に干渉しないように切欠き７６が形成されている。図１３に示すように，回転歯車６４と中間回転歯車６５とは同一歯幅に形成され，また，フインガ歯車５８と回転歯車６３は回転歯車６４の歯幅の半分のサイズに形成されている。従って，板状部材５１Ａと板状部材５１Ｂとを対向させた状態では，フインガ歯車５８と後述の中間フインガ５３に設けたフインガ歯車６６とが側面を接した状態になって，中間回転歯車６５の歯幅になっている。また，これらの歯車６３，６４，６５には，その中心にボス部６１，６２に嵌着した軸受４４，４５，４６（図６）が挿通する取付孔５６が形成されている。 The first finger 51 will be described with reference to FIGS. 11 and 12. The first finger 51 is configured such that the plate-like member 51A shown in FIG. 11 and the plate-like member 51B shown in FIG. Similarly to the basic configuration, the plate-like member 51A and the plate-like member 51B are fixed to each other by a screw 54 to form an integral structure, and a gear train 55 is incorporated between the two plate-like members. The plate-like members 51A and 51B constituting the first finger 51 are formed with mounting holes 60 and screw holes 57 into which the drive shaft 5 is fitted. The drive shafts 5 are fitted into the mounting holes 60 to form screw holes 57. Screws 54 are screwed in, and the drive shaft 5 and the first fingers 51 are fixed. Accordingly, the first finger 51 swings about the drive shaft 5 by the rotation of the drive shaft 5 and constitutes the first joint. As shown in FIG. 11, a finger gear 58 is formed on the front end side of the plate-like member 51 A of the first finger 51. The finger gear 58 functions as a guide for the intermediate finger 53. Further, a screw hole 59 through which a screw is inserted is formed in the plate-like member 51A. Further, as shown in FIG. 12, the plate-like member 51B is provided with boss portions 61 and 62 with female threads. The boss 62 is located at the tip of the plate-like member 51B and is half the height of the boss 61. In the first finger 51, a rotating gear 64 and an intermediate rotating gear 65 are rotatably mounted on the boss portions 61 and 62, and then the boss portions 61 and 62 and the rotating gear are interposed between the plate-like member 51A and the plate-like member 51B. 64 and the intermediate rotating gear 65 are interposed and are fixed to each other by screws 54 so as to face each other. Between the plate-like member 51A and the plate-like member 51B, there are a rotating gear 64 that meshes with the guide gear 22 and rolls around the guide gear 22, an intermediate rotating gear 65 that meshes with the rotating gear 64, and an intermediate rotating gear 65. A finger gear 58 that meshes with the rotating gear 63 of the intermediate finger 53 and a finger gear 66 of the intermediate finger 53 that meshes with the intermediate rotating gear 65 and is in contact with the side surface are arranged. The finger gear 58 is formed with a notch 76 so as not to interfere with the rotation of the intermediate rotating gear 65. As shown in FIG. 13, the rotation gear 64 and the intermediate rotation gear 65 are formed to have the same tooth width, and the finger gear 58 and the rotation gear 63 are formed to be half the tooth width of the rotation gear 64. Therefore, in a state where the plate-like member 51A and the plate-like member 51B are opposed to each other, the finger gear 58 and the finger gear 66 provided on the intermediate finger 53 described later are in contact with each other, and the intermediate rotating gear 65 Tooth width. Further, the gears 63, 64, 65 are formed with mounting holes 56 through which the bearings 44, 45, 46 (FIG. 6) fitted to the boss portions 61, 62 are inserted.

図１４及び図１５を参照して，中間フインガ５３について説明する。中間フインガ５３は，図１４に示す板状部材５３Ａと図１５に示す板状部材５３Ｂとが互いに隔置して対向状態に配置して構成されている。板状部材５３Ａと板状部材５３Ｂは，第１フインガ５１と同様に，ビス５４によって互いに固着されて一体構造になっており，両者の板状部材間に歯車列５５が組み込まれている。板状部材５３Ａの先端側には，図１４に示すように，第２関節の動作を可能にする歯車を一体構造で成形したフインガ歯車６６が設けられている。また，板状部材５３Ａには，ビスが挿通するビス孔５９が形成されている。また，板状部材５３Ｂは，図１５に示すように，雌ねじ付きのボス部６１，６２が設けられている。中間フインガ５３は，ボス部６１，６２に回転歯車６３と中間回転歯車６５を回転自在に装着し，次いで板状部材５３Ａと板状部材５３Ｂとの間に，ボス部６１，６２，回転歯車６３と中間回転歯車６５を介在させた状態で，互いに対向させてビス５４によって固着することによって構成される。第１フインガ５１の板状部材５１Ａと板状部材５１Ｂとの間には，第１フインガ５１の中間回転歯車６５と噛み合って中間回転歯車６５の周上を転動する中間フインガ５３のフインガ歯車６６が配列されている。更に，中間フインガ５３の板状部材５３Ａと板状部材５３Ｂとの間には，第１フインガ５１のフインガ歯車５８と噛み合う回転歯車６３，回転歯車６３に噛み合う中間回転歯車６５，及び第２フインガ５２のフインガ歯車６７が配列されている。中間フインガ５３は，そのフインガ歯車６６が第１フインガ５１の板状部材５１Ａと板状部材５１Ｂとの間にフインガ歯車５８と側面を接して配置され，ボス部６２を取付孔５６に挿通してビス５４で板状部材５１Ａと板状部材５１Ｂを固着することによって揺動可能に第１フインガ５１に取り付けられている。板状部材５３Ｂは，第１フインガ５１の端部のフインガ歯車５８の周上を転動する時に，第１フインガ５１に干渉しないように切欠き６８が形成されている。また，中間フインガ５３の中間回転歯車６５の回転に応じて，第２フインガ５２のフインガ歯車６７が中間回転歯車６５の周上を転動することによって第３関節が構成されることになっている。 The intermediate finger 53 will be described with reference to FIGS. The intermediate fingers 53 are configured such that a plate-like member 53A shown in FIG. 14 and a plate-like member 53B shown in FIG. Similarly to the first finger 51, the plate-like member 53A and the plate-like member 53B are fixed to each other by a screw 54 to form an integral structure, and a gear train 55 is incorporated between the two plate-like members. As shown in FIG. 14, a finger gear 66 is formed on the front end side of the plate-like member 53A. Further, a screw hole 59 through which a screw is inserted is formed in the plate-like member 53A. Further, as shown in FIG. 15, the plate-like member 53B is provided with boss portions 61 and 62 with female threads. In the intermediate finger 53, the rotating gear 63 and the intermediate rotating gear 65 are rotatably mounted on the boss portions 61 and 62, and then the boss portions 61 and 62 and the rotating gear 63 are interposed between the plate-like member 53A and the plate-like member 53B. And an intermediate rotating gear 65 interposed therebetween, and are fixed to each other by screws 54 so as to face each other. Between the plate-like member 51A and the plate-like member 51B of the first finger 51, the finger gear 66 of the intermediate finger 53 that meshes with the intermediate rotary gear 65 of the first finger 51 and rolls on the circumference of the intermediate rotary gear 65. Are arranged. Further, between the plate-like member 53 A and the plate-like member 53 B of the intermediate finger 53, there are a rotating gear 63 that meshes with the finger gear 58 of the first finger 51, an intermediate rotating gear 65 that meshes with the rotating gear 63, and a second finger 52. The finger gear 67 is arranged. The intermediate finger 53 is arranged such that the finger gear 66 is in contact with the finger gear 58 and the side surface between the plate-like member 51A and the plate-like member 51B of the first finger 51, and the boss portion 62 is inserted through the mounting hole 56. By fixing the plate-like member 51A and the plate-like member 51B with screws 54, the screw is attached to the first finger 51 so as to be swingable. The plate-like member 53 B is formed with a notch 68 so as not to interfere with the first finger 51 when rolling on the periphery of the finger gear 58 at the end of the first finger 51. Further, the third joint is configured by the finger gear 67 of the second finger 52 rolling on the circumference of the intermediate rotation gear 65 in accordance with the rotation of the intermediate rotation gear 65 of the intermediate finger 53. .

図１６を参照して，第２フインガ５２について説明する。第２フインガ５２は，端部にフインガ歯車６７が一体構造に設けられている。第１実施例の第２フインガ５２は，基本的な構成の第２フインガ１２と実質的に同一の形状に構成されている。第２フインガ５２は，物体の把持部７４を形成すると共に，その先端部にフインガ歯車６７を備えている。フインガ歯車６７の中心にはボス部６１が挿通する取付孔５６が形成されている。第２フインガ５２は，図１０に示すように，中間フインガ５３の板状部材５３Ａと板状部材５３Ｂとの間に配置され，中間フインガ５３のボス部６１を取付孔５６に挿通してビス５４で板状部材５３Ａと板状部材５３Ｂを固着することによって揺動可能に中間フインガ５３に取り付けられ，第３関節を構成している。 The second finger 52 will be described with reference to FIG. The second finger 52 is provided with a finger gear 67 at an end portion in an integral structure. The second finger 52 of the first embodiment is configured in substantially the same shape as the second finger 12 of the basic configuration. The second finger 52 forms an object gripping portion 74 and includes a finger gear 67 at the tip thereof. A mounting hole 56 through which the boss 61 is inserted is formed at the center of the finger gear 67. As shown in FIG. 10, the second finger 52 is disposed between the plate-like member 53 A and the plate-like member 53 B of the intermediate finger 53, and the boss portion 61 of the intermediate finger 53 is inserted through the mounting hole 56 to provide a screw 54. Thus, the plate-like member 53A and the plate-like member 53B are fixedly attached to the intermediate finger 53 so as to be swingable, thereby constituting a third joint.

次に，第１実施例の３関節を持つロボットハンドの作動について説明する。モータ１によって駆動軸５が回転する動作は，基本的な構成と同様である。駆動軸５が回転することによって，駆動軸５に固定されている第１フインガ５１が駆動軸５を中心にして回転する。そこで，第１フインガ５１は駆動軸５を中心にして揺動し，第１関節の機能を果たすように枢動即ち揺動する。また，駆動軸５には回転自在にガイド歯車２２が支持されている。ガイド歯車２２は，固定軸１７に固定されているので，回転することはない。第１フインガ５１に回転自在に支持されている回転歯車６４は，第１フインガ５１の回転に従ってガイド歯車２２の周上をガイドされて回転しつつ転動する。回転歯車６４が回転すると，回転歯車６４に噛み合っている第１フインガ５１の中間回転歯車６５が回転する。 Next, the operation of the robot hand having three joints according to the first embodiment will be described. The operation of rotating the drive shaft 5 by the motor 1 is the same as the basic configuration. As the drive shaft 5 rotates, the first finger 51 fixed to the drive shaft 5 rotates around the drive shaft 5. Therefore, the first finger 51 swings about the drive shaft 5 and pivots, that is, swings so as to perform the function of the first joint. A guide gear 22 is supported on the drive shaft 5 so as to be rotatable. Since the guide gear 22 is fixed to the fixed shaft 17, it does not rotate. The rotating gear 64 rotatably supported by the first finger 51 rolls while being rotated while being guided around the guide gear 22 according to the rotation of the first finger 51. When the rotating gear 64 rotates, the intermediate rotating gear 65 of the first finger 51 that meshes with the rotating gear 64 rotates.

また，第１フインガ５１の中間回転歯車６５には，中間フインガ５３のフインガ歯車６６が噛み合っているので，中間回転歯車６５の回転は，中間フインガ５３のフインガ歯車６６を回転させて中間フインガ５３をフインガ歯車６６を中心に回転させることになる。そこで，中間フインガ５３はフインガ歯車６６を中心にして揺動し，第２関節の機能を果たすように枢動即ち揺動する。一方，第１フインガ５１のフインガ歯車５８は，中間フインガ５３の端部に配置された回転歯車６３に噛み合っているので，第１フインガ５１の回転に従って，中間フインガ５３の回転歯車６３は，第１フインガ５１のフインガ歯車５８をガイドとしてフインガ歯車５８の周上を回転しつつ転動する。回転歯車６３の回転は，回転歯車６３に噛み合っている中間フインガ５３の中間回転歯車６５を回転させる。 Further, since the finger gear 66 of the intermediate finger 53 is meshed with the intermediate rotating gear 65 of the first finger 51, the rotation of the intermediate rotating gear 65 rotates the finger gear 66 of the intermediate finger 53 to cause the intermediate finger 53 to rotate. The finger gear 66 is rotated around the center. Therefore, the intermediate finger 53 swings around the finger gear 66 and pivots or swings so as to perform the function of the second joint. On the other hand, since the finger gear 58 of the first finger 51 is meshed with the rotary gear 63 disposed at the end of the intermediate finger 53, the rotary gear 63 of the intermediate finger 53 is changed according to the rotation of the first finger 51. The finger 51 rolls while rotating on the periphery of the finger gear 58 using the finger gear 58 of the finger 51 as a guide. The rotation of the rotating gear 63 rotates the intermediate rotating gear 65 of the intermediate finger 53 meshed with the rotating gear 63.

更に，中間フインガ５３の中間回転歯車６５には，第２フインガ５２のフインガ歯車６７が噛み合っている。そこで，第２フインガ５２は，フインガ歯車６７を中心にして揺動し，第３関節の機能を果たすように枢動即ち揺動することになる。従って，第１実施例のロボットハンドは，上記のように，固定軸１７に固定されたガイド歯車２２が第１フインガ５１をガイドして第１関節が形成され，第１フインガ５１のフインガ歯車５８が中間フインガ５３をガイドして第２関節が形成され，中間フインガ５３の中間回転歯車６５が第２フインガ５２をガイドして第３関節が形成されている。 Further, a finger gear 67 of the second finger 52 is meshed with the intermediate rotating gear 65 of the intermediate finger 53. Therefore, the second finger 52 swings around the finger gear 67 and pivots, that is, swings so as to perform the function of the third joint. Accordingly, in the robot hand of the first embodiment, as described above, the guide gear 22 fixed to the fixed shaft 17 guides the first finger 51 to form the first joint, and the finger gear 58 of the first finger 51 is formed. The intermediate finger 53 is guided to form the second joint, and the intermediate rotating gear 65 of the intermediate finger 53 guides the second finger 52 to form the third joint.

次に，図１７と図１８を参照して，この発明によるロボットハンドの第２実施例として４関節以上の多関節を持つタイプのロボットハンドについて説明する。第２実施例のロボットハンドは，第１実施例のロボットハンドにおける第１フインガ５１と中間フインガ５３との間に，中間フインガ６９を組み込むことによって構成される。中間フインガ６９を１個加える毎に関節数が増加するようになっている。中間フインガ６９は，板状部材７０と板状部材５３Ａとを対向させてビス５４で固定することによって構成される。中間フインガ６９の板状部材５３Ａは，中間フインガ５３の板状部材と同一形状であるので，その説明は省略する。板状部材７０は，図１８に示すように，先端部に一体構造のフインガ歯車７２を備えると共に，端部にボス部６１，中間にボス部６２，先端部にフインガ歯車７２上にボス部７３が設けられている。板状部材７０は，先端部には手前に隣接するフインガ５１，６９に干渉しないように切欠き７５が形成されている。また，フインガ歯車７２には，中間回転歯車６５の回転に干渉しないように切欠き７１が形成されている。ボス部７３は，フインガ歯車７２の中心部に設けられている。また，中間フインガ６９には，端部側のボス部６２に挿通した回転歯車６３，及び回転歯車６３に噛み合う中間回転歯車６５が配置されている。フインガ歯車７２は，隣接する中間フインガ６９の回転歯車６３と噛み合っており，板状部材５３Ａに設けたフインガ歯車６６に対して側面を接した状態に配設されている。このロボットハンドでは，フインガ歯車７２の周上を回転歯車６３が転動することによって先端側に位置する中間フインガ６９がフインガ歯車６６を中心に揺動して関節を構成している。 Next, with reference to FIGS. 17 and 18, a robot hand having four or more joints as a second embodiment of the robot hand according to the present invention will be described. The robot hand of the second embodiment is configured by incorporating an intermediate finger 69 between the first finger 51 and the intermediate finger 53 in the robot hand of the first embodiment. Each time one intermediate finger 69 is added, the number of joints increases. The intermediate finger 69 is configured by fixing the plate-like member 70 and the plate-like member 53 A to face each other with screws 54. Since the plate-like member 53A of the intermediate finger 69 has the same shape as the plate-like member of the intermediate finger 53, the description thereof is omitted. As shown in FIG. 18, the plate-like member 70 is provided with a finger gear 72 having a monolithic structure at the tip, a boss 61 at the end, a boss 62 at the middle, and a boss 73 on the finger gear 72 at the tip. Is provided. The plate-like member 70 has a notch 75 formed at the tip so as not to interfere with the fingers 51 and 69 adjacent to the front. Further, the finger gear 72 is formed with a notch 71 so as not to interfere with the rotation of the intermediate rotation gear 65. The boss 73 is provided at the center of the finger gear 72. Further, the intermediate finger 69 is provided with a rotation gear 63 inserted through the boss portion 62 on the end side, and an intermediate rotation gear 65 meshing with the rotation gear 63. The finger gear 72 meshes with the rotating gear 63 of the adjacent intermediate finger 69 and is disposed in a state in which the side surface is in contact with the finger gear 66 provided on the plate-like member 53A. In this robot hand, when the rotary gear 63 rolls on the periphery of the finger gear 72, the intermediate finger 69 located on the tip side swings around the finger gear 66 to form a joint.

第２実施例のロボットハンドは，上記のように構成されているので，次のように作動することができる。モータ１によって駆動軸５が回転する動作は，基本的な構成と同様である。また，第１フインガ５１の作動は，第１実施例と同様である。駆動軸５が回転することによって，駆動軸５に固定されている第１フインガ５１が駆動軸５を中心にして回転する。第１フインガ５１に回転自在に支持されている回転歯車６４は，第１フインガ５１の回転に従ってガイド歯車２２の周上を回転しつつ転動する。そこで，第１フインガ５１は駆動軸５を中心にして枢動し，第１関節の機能を果たすように枢動即ち揺動させることになる。また，回転歯車６４が回転すると，回転歯車６４に噛み合っている第１フインガ５１の中間回転歯車６５が回転する。中間回転歯車６５には板状部材５３Ａに設けたフインガ歯車６６と噛み合っているので，中間回転歯車６５の回転は，第１の中間フインガ６９を揺動させることになる。また，第１フインガ５１の回転はフインガ歯車５８を回転させ，フインガ歯車５８に噛み合っている回転歯車６３を回転させることになる。従って，第１フインガ５１の回転は，フインガ歯車６６を通じて第１の中間フインガ６９を回転させると共に，回転歯車６３をフインガ歯車５８の周上に沿って回転しつつ転動させ，第１の中間フインガ６９をフインガ歯車５８，６６を中心とする第２関節の機能を果たすように枢動即ち揺動させることになる。更に，回転歯車６３の回転は，第１の中間フインガ６９の中間回転歯車６５を回転させる。中間回転歯車６５には隣接する第２の中間フインガ６９のフインガ歯車６６が噛み合っているので，第１の中間回転歯車６５の回転は第２の中間フインガ６９を揺動させることになる。第２の中間フインガ６９を揺動すると，第２の回転歯車６３が第１のフインガ歯車７２と噛み合っているので，第２の回転歯車６３は第１のフインガ歯車７２の周上に沿って回転しつつ転動させ，第２の中間フインガ６９をフインガ歯車６６，７２を中心とする第３関節の機能を果たすように枢動即ち揺動させることになる。また，中間フインガ６９と第２フインガ５２との作動は，第１実施例の中間フインガ５３と第２フインガ５２との作動と同等である。このようにして，中間フインガ６９を増加させる毎に関節の数が増加することになる。従って，この発明によるロボットハンドは，４関節以上の多関節についても，上記の３関節のタイプのロボットハンドの構造と同じ考えで延長すればよく，図１７に示すように多関節のロボットハンドを設計することができる。 Since the robot hand of the second embodiment is configured as described above, it can operate as follows. The operation of rotating the drive shaft 5 by the motor 1 is the same as the basic configuration. The operation of the first finger 51 is the same as that of the first embodiment. As the drive shaft 5 rotates, the first finger 51 fixed to the drive shaft 5 rotates around the drive shaft 5. The rotating gear 64 rotatably supported by the first finger 51 rolls while rotating on the circumference of the guide gear 22 according to the rotation of the first finger 51. Therefore, the first finger 51 pivots about the drive shaft 5 and pivots, that is, swings so as to perform the function of the first joint. When the rotating gear 64 rotates, the intermediate rotating gear 65 of the first finger 51 that meshes with the rotating gear 64 rotates. Since the intermediate rotation gear 65 meshes with the finger gear 66 provided on the plate-like member 53A, the rotation of the intermediate rotation gear 65 causes the first intermediate finger 69 to swing. Also, the rotation of the first finger 51 rotates the finger gear 58 and rotates the rotating gear 63 meshed with the finger gear 58. Accordingly, the rotation of the first finger 51 causes the first intermediate finger 69 to rotate through the finger gear 66 and also causes the rotary gear 63 to roll while rotating along the circumference of the finger gear 58 to thereby rotate the first intermediate finger. 69 is pivoted or swung so as to perform the function of the second joint centered on the finger gears 58 and 66. Further, the rotation of the rotating gear 63 rotates the intermediate rotating gear 65 of the first intermediate finger 69. Since the intermediate rotating gear 65 is engaged with the finger gear 66 of the adjacent second intermediate finger 69, the rotation of the first intermediate rotating gear 65 causes the second intermediate finger 69 to swing. When the second intermediate finger 69 is swung, the second rotating gear 63 meshes with the first finger gear 72, so that the second rotating gear 63 rotates along the circumference of the first finger gear 72. The second intermediate finger 69 is pivoted or swung so as to perform the function of the third joint centered on the finger gears 66 and 72. The operation of the intermediate finger 69 and the second finger 52 is equivalent to the operation of the intermediate finger 53 and the second finger 52 of the first embodiment. In this manner, the number of joints increases each time the intermediate fingers 69 are increased. Therefore, the robot hand according to the present invention can be extended with the same idea as the structure of the above-described three-joint type robot hand even for a multi-joint having four or more joints. As shown in FIG. Can be designed.

この発明によるロボットハンドは，上記のように構成されているので，３本指に限らず，５本フインガ即ち５本指の構造で，２関節，３関節，多関節の構造のロボットハンドを構成することもできる。また，親指に相当する指を２関節タイプに構成し，他の指を３関節タイプに構成すれば，５本の指を持つ人の手と同じ構造に構成でき，人の擬似ハンドを製作することもできる。 Since the robot hand according to the present invention is configured as described above, the robot hand is not limited to three fingers, and has a structure of two fingers, three joints, and many joints with a five finger structure, that is, a five finger structure. You can also Also, if the finger corresponding to the thumb is configured as a two-joint type and the other fingers are configured as a three-joint type, it can be configured in the same structure as a human hand having five fingers, and a pseudo-hand of a person is manufactured. You can also.

この発明によるロボットハンドは，例えば，好ましくない作業環境，高温や低温作業環境等の場所，宇宙等で物品や部材を移動させたり，物品や部材を設備に設置したりする作業を遠隔操作で行う作業用ロボットのハンド部分，義手のハンド部分等に組み込んで適用できる。 The robot hand according to the present invention performs remote operations such as moving an article or member in an unfavorable working environment, a place such as a high or low temperature working environment, space, etc., or installing the article or member in equipment. It can be applied by incorporating it into the hand part of a working robot, the hand part of a prosthetic hand, etc.

この発明によるロボットハンドの基本的な構成である２関節タイプのロボットハンドを示す平面図である。It is a top view which shows the 2 joint type robot hand which is a fundamental structure of the robot hand by this invention. 図１のロボットハンドを図１の左側から見た側面図である。It is the side view which looked at the robot hand of FIG. 1 from the left side of FIG. 第１フインガと第２フインガの動きを説明する説明図である。It is explanatory drawing explaining the motion of a 1st finger and a 2nd finger. 第１フインガと第２フインガを構成する板状部材を示す平面図である。It is a top view which shows the plate-shaped member which comprises a 1st finger and a 2nd finger. 図４の第１フインガと第２フインガを示す側面図である。It is a side view which shows the 1st finger and the 2nd finger of FIG. 図４の第１フインガを構成する一対の板状部材を固着した状態を示す部分側面図である。It is a partial side view which shows the state which fixed the pair of plate-shaped member which comprises the 1st finger of FIG. 左側の第１フインガを構成する板状部材が左側の回転軸駆動歯車と一体構造であることを示し，Ａは平面図であり，Ｂは側面図である。It is shown that the plate-like member constituting the left first finger is integral with the left rotating shaft drive gear, A is a plan view, and B is a side view. 第１フインガと第２フインガとの作動状態を説明する説明図である。It is explanatory drawing explaining the operating state of a 1st finger and a 2nd finger. 第１フインガと第２フインガとの把持状態まで作動した状態を示す説明図である。It is explanatory drawing which shows the state which act | operated to the holding state of the 1st finger and the 2nd finger. この発明によるロボットハンドの第１実施例である３関節タイプのロボットハンドを示しており，Ａは平面図，及びＢは側面図である。1 shows a three-joint type robot hand according to a first embodiment of the robot hand according to the present invention, in which A is a plan view and B is a side view. 図１０における第１フインガの一方の板状部材を示し，Ａは平面図，Ｂは側面図，及びＣは裏面図である。FIG. 10 shows one plate-like member of the first finger in FIG. 10, wherein A is a plan view, B is a side view, and C is a back view. 図１０における第１フインガの他方の板状部材を示し，Ａは平面図，Ｂは側面図，及びＣは裏面図である。The other plate-shaped member of the 1st finger in FIG. 10 is shown, A is a top view, B is a side view, C is a back view. このロボットハンドにおける板状部材間に配設された回転歯車を示し，Ａ−１は小径の回転歯車の平面図，Ａ−２は小径の回転歯車の側面図，Ｂ−１は大径の回転歯車の平面図，Ｂ−２は大径の回転歯車の側面図である。1 shows a rotating gear disposed between plate members in this robot hand, A-1 is a plan view of a small-diameter rotating gear, A-2 is a side view of a small-diameter rotating gear, and B-1 is a large-diameter rotation. A plan view of the gear, B-2 is a side view of a large-diameter rotating gear. このロボットハンドにおける中間フインガの一方の板状部材を示し，Ａは平面図，Ｂは側面図，及びＣは裏面図である。One plate-like member of the intermediate finger in this robot hand is shown, in which A is a plan view, B is a side view, and C is a back view. このロボットハンドにおける中間フインガの他方の板状部材を示し，Ａは平面図，及びＢは側面図である。The other plate-like member of the intermediate finger in this robot hand is shown, A is a plan view and B is a side view. このロボットハンドにおける第２フインガを示し，Ａは平面図，及びＢは側面図である。The 2nd finger in this robot hand is shown, A is a top view and B is a side view. この発明によるロボットハンドの第２実施例である多関節タイプのロボットハンドを示しており，Ａは平面図，及びＢは側面図である。2 shows a multi-joint type robot hand according to a second embodiment of the robot hand according to the present invention, wherein A is a plan view and B is a side view. FIG. 図１７のロボットハンドに組み込まれている中間フインガの板状部材を示しており，Ａは側面図，及びＢは平面図である。FIG. 18 shows a plate member of an intermediate finger incorporated in the robot hand of FIG. 17, wherein A is a side view and B is a plan view. 図１に示すロボットハンドを示す斜視図である。It is a perspective view which shows the robot hand shown in FIG.

１モータ
２フレーム
３カメラ
４減速機
５，６駆動軸
１０，１１，２０第１フインガ
１０Ａ，１０Ｂ，１１Ａ，１１Ｂ２０Ａ，２０Ｂ第１フインガの板状部材
１２，１３，２１第２フインガ
１７，１８固定軸
２２，２３，２４ガイド歯車
２５，５５歯車列２６，２７，２８フインガ歯車
２９，３０，３１中間回転歯車
３２，３３，３４回転歯車
３５，３６，３７，５４ビス
３８，３９，４０，６１，６２，７３ボス部
４１，４２，４３雌ねじ
５１第１フインガ
５１Ａ，５１Ｂ板状部材
５２第２フインガ
５３中間フインガ
５３Ａ，５３Ｂ板状部材
５８フインガ歯車
５９ビス孔
６０取付け孔
６３，６４回転歯車
６５中間回転歯車
６６，６７フインガ歯車
６８，７５，７６切欠き
６９中間フインガ
７０中間フインガ７０の板状部材
７２フインガ歯車
７４把持部 DESCRIPTION OF SYMBOLS 1 Motor 2 Frame 3 Camera 4 Reducer 5,6 Drive shaft 10, 11, 20 First finger 10A, 10B, 11A, 11B 20A, 20B First finger plate-like member 12, 13, 21 Second finger 17, 18 Fixed shafts 22, 23, 24 Guide gears 25, 55 Gear trains 26, 27, 28 Finger gears 29, 30, 31 Intermediate rotating gears 32, 33, 34 Rotary gears 35, 36, 37, 54 Screws 38, 39, 40, 61, 62, 73 Boss portion 41, 42, 43 Female thread 51 First finger 51A, 51B Plate member 52 Second finger 53 Intermediate finger 53A, 53B Plate member 58 Finger gear 59 Screw hole 60 Mounting hole 63, 64 Rotating gear 65 Intermediate rotating gear 66, 67 Finger gear 68, 75, 76 Notch 69 Middle finger 70 Medium Plate member 72 finger wheel 74 grip of the fingers 70

Claims

One motor as a drive source that is driven and controlled based on information obtained by a detector attached to the frame, and the rotation from the one motor is transmitted via a speed reducer and is rotatably attached to the frame A pair of oppositely rotating drive shafts, at least a pair of first fingers pivoted with one end fixed to each of the pair of drive shafts, and rotation of the drive shaft is transmitted via a gear train and gripping an object at least one pair of second fingers to pivot in opposite directions to form a part, and is configured from between fingers among which is interposed between the first fingers and the second fingers,
The intermediate fingers are each transmitted via a gear train disposed on the first finger, and the second fingers are respectively transmitted via a gear train disposed on the intermediate finger ,
The first finger and the intermediate finger are each composed of a pair of plate-like members facing each other, and an end portion of one plate-like member of the intermediate finger is pivotally attached between the plate-like members of the first finger. And the end of one of the plate members of the second finger is pivoted between the plate members of the intermediate fingers,
One intermediate finger is interposed between the first finger and the second finger to form three joints, and the gear train incorporated in the first finger is a fixed shaft fixed to the frame. A rotating gear that meshes with the guide gear provided on the intermediate gear, an intermediate rotating gear that meshes adjacent to the rotating gear, a finger gear that meshes with the intermediate rotating gear and is provided at an end of the intermediate finger, and one of the first fingers. The gear train is composed of a finger gear provided at the end of the plate-like member, and the gear train incorporated in the intermediate finger includes a rotating gear meshing with the finger gear of the first finger, and an intermediate rotating meshing adjacent to the rotating gear. A gear gear and a finger gear meshed with the intermediate rotation gear and provided at the end of the second finger,
One plate-like member is provided with a female-threaded boss portion, and the other plate-like member is provided with a screw insertion hole. A screw inserted through the screw insertion hole is screwed into the female-threaded boss portion. A robot hand comprising: the plate-like members fixed to each other; and the rotating gear and the intermediate gear are rotatably fitted to the boss portion .

One motor as a drive source that is driven and controlled based on information obtained by a detector attached to the frame, and the rotation from the one motor is transmitted via a speed reducer and is rotatably attached to the frame A pair of oppositely rotating drive shafts, at least a pair of first fingers pivoted with one end fixed to each of the pair of drive shafts, and rotation of the drive shaft is transmitted via a gear train and gripping an object Comprising at least a pair of second fingers pivoting in opposite directions to form a part, and an intermediate finger interposed between the first finger and the second finger,
The intermediate fingers are each transmitted via a gear train disposed on the first finger, and the second fingers are respectively transmitted via a gear train disposed on the intermediate finger,
The first finger and the intermediate finger are each composed of a pair of plate-like members facing each other, and an end portion of one plate-like member of the intermediate finger is pivotally attached between the plate-like members of the first finger. And the end of one of the plate members of the second finger is pivoted between the plate members of the intermediate fingers ,
At least one intermediate finger transmitted through a gear train is interposed between the first finger and the intermediate finger, so that it has four or more joints and is incorporated into another intermediate finger. The gear train includes a finger gear provided at an end portion of one of the plate-like members of the intermediate finger, a rotary gear meshing with the finger gear of the first finger or the adjacent intermediate finger, and adjacent to the rotary gear. An intermediate rotating gear meshing with the intermediate rotating gear, and a finger gear provided at the end of the other plate-like member of another adjacent intermediate finger meshing with the intermediate rotating gear,
One plate-like member is provided with a female-threaded boss portion, and the other plate-like member is provided with a screw insertion hole. A screw inserted through the screw insertion hole is screwed into the female-threaded boss portion. A robot hand comprising: the plate-like members fixed to each other; and the rotating gear and the intermediate gear are rotatably fitted to the boss portion .

Said first finger and said fingers gear provided at an end portion of one of said plate-like member of the intermediate finger is claim 1 also consists of the are intermediate to the notch so as not to interfere with the rotation of the rotary gear outs formed Is the robot hand described in 2.

The robot according to any one of claims 1 to 3 , wherein the detector is a camera, and the information obtained by the camera is input to a controller, and the motor is driven and controlled by a command from the controller. hand.