JP5164757B2 - Finger joint drive mechanism of robot hand - Google Patents

Finger joint drive mechanism of robot hand Download PDF

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JP5164757B2
JP5164757B2 JP2008235344A JP2008235344A JP5164757B2 JP 5164757 B2 JP5164757 B2 JP 5164757B2 JP 2008235344 A JP2008235344 A JP 2008235344A JP 2008235344 A JP2008235344 A JP 2008235344A JP 5164757 B2 JP5164757 B2 JP 5164757B2
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JP2010064223A (en
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芳秀 清沢
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Harmonic Drive Systems Inc
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本発明は、必要な速度およびトルクで指を動かすことのできる小型でコンパクトなロボットハンドの指関節駆動機構に関する。   The present invention relates to a finger joint drive mechanism for a small and compact robot hand that can move a finger at a required speed and torque.

ロボットハンドの指関節駆動機構は、回転アクチュエータの出力回転を減速歯車列あるいはベルト・プーリ式などの伝達機構を介して指関節軸に伝達し、指関節に取り付けた指を開閉方向に旋回させるようになっている。減速歯車列を用いる場合には傘歯車などが用いられており、このような機構は特許文献１に開示されている。
特開２００７−１８５７３３号公報 The finger joint drive mechanism of the robot hand transmits the output rotation of the rotary actuator to the finger joint axis via a transmission mechanism such as a reduction gear train or a belt / pulley type, and turns the finger attached to the finger joint in the opening / closing direction. It has become. When a reduction gear train is used, a bevel gear or the like is used, and such a mechanism is disclosed in Patent Document 1.
JP 2007-185733 A

ここで、指を開いた状態から閉じた状態まで移動する動作においては、その動作の中で常に大きなトルクを必要とする訳ではない。一般には、指を閉じる状態においては物を把持するために大きなトルクが必要とされ、指を開く動作、あるいは開いた状態から閉じる方向に動作させる最初の段階などではトルクを必要とせず、動作速度が速い方がよい。換言すると、指が取り付けられている指関節軸は、有限回転の回転動作の中で常に所定のトルクを必要とするのではなく、ある角度の時に特に大きなトルクを必要とする場合が多く、また、そのときには速度は要求されない。   Here, in the operation of moving the finger from the open state to the closed state, a large torque is not always required in the operation. In general, a large torque is required to grip an object when the finger is closed, and no torque is required in the first stage of opening the finger or moving it from the open state to the closing direction. Is better. In other words, the finger joint shaft to which the finger is attached does not always require a predetermined torque in a finite rotation operation, but often requires a particularly large torque at a certain angle. , Then speed is not required.

本発明の課題は、この点に鑑みて、トルクを必要とする回転角度位置においては大きなトルクを発生でき、トルクを必要とした回転角度位置においては高速動作を行うことのできるようにした小型でコンパクトなロボットハンドの指関節駆動機構を提案することにある。   In view of this point, the problem of the present invention is a small size that can generate a large torque at a rotational angle position that requires torque and can perform high-speed operation at a rotational angle position that requires torque. The purpose is to propose a finger joint drive mechanism for a compact robot hand.

上記の課題を解決するために、本発明のロボットハンドの指関節駆動機構は、
回転アクチュエータと、
この回転アクチュエータによって回転駆動する駆動側歯車と、
前記駆動側歯車にかみ合っている従動側歯車と、
前記従動側歯車によって駆動される関節軸とを有し、
前記駆動側歯車および前記従動側歯車は非円形歯車であり、
前記回転アクチュエータは、出力軸と、この出力軸が回転自在の状態で中心を貫通して延びている筒状ハウジングとを備え、前記出力軸を回転しないように固定すると、前記筒状ハウジングから回転が出力されるものであり、
前記駆動側歯車は前記筒状ハウジングの外側に同心状に取り付けられていることを特徴としている。 In order to solve the above problem, the finger joint drive mechanism of the robot hand of the present invention is:
A rotary actuator;
A drive-side gear that is rotationally driven by the rotary actuator;
A driven gear meshing with the drive gear;
A joint shaft driven by the driven gear,
The drive-side gear and the driven gear Ri non-circular gear der,
The rotary actuator includes an output shaft and a cylindrical housing that extends through the center of the output shaft so that the output shaft is rotatable. When the output shaft is fixed so as not to rotate, the rotary actuator rotates from the cylindrical housing. Is output,
The drive side gear is concentrically attached to the outside of the cylindrical housing .

本発明のロボットハンドの指関節駆動機構において、In the finger joint drive mechanism of the robot hand of the present invention,
前記回転アクチュエータは、モータと減速機を同軸状態で連結した構成となっており、前記出力軸は前記減速機の出力軸であり、The rotary actuator has a configuration in which a motor and a speed reducer are connected in a coaxial state, and the output shaft is an output shaft of the speed reducer,
前記モータの回転軸の軸端部を回転自在の状態で支持し、前記出力軸が回転しないように固定されているフレームを有し、A frame that supports the shaft end of the rotation shaft of the motor in a freely rotatable state, and is fixed so that the output shaft does not rotate;
前記関節軸は、前記出力軸に平行に延び、前記フレームによって回転自在の状態で支持されており、The joint shaft extends parallel to the output shaft and is supported by the frame in a rotatable state.
前記従動側歯車は、前記関節軸に同軸に固定されている。The driven gear is fixed coaxially to the joint shaft.

このように、本発明では、回転アクチュエータの軸長を短くしてコンパクトな構成とするために、前記回転アクチュエータとして、出力軸と、この出力軸が回転自在の状態で中心を貫通して延びている筒状ハウジングとを備え、前記出力軸を回転しないように固定すると、前記筒状ハウジングから回転が出力されるものを用いて、前記駆動側歯車を前記筒状ハウジングの外側に同心状に取り付けてある。 Thus, in the present invention, in order to compact structure by reducing the axial length of the rotary actuator, as the rotary actuator, the output shaft, the output shaft extends through the center in a rotatable state The drive side gear is concentrically attached to the outside of the cylindrical housing by using a cylinder housing that rotates when the output shaft is fixed so as not to rotate. It is.

本発明のロボットハンドの指関節駆動機構では、楕円歯車などの非円形歯車を用いることにより、１回転内の所定の有限回転角度範囲内において、両歯車の回転角度位置に応じて減速比が変化する。したがって、トルクが必要な指の動作部分では回転力伝達機構の最終減速比を大きくして大きな力で物の把持などを行うことができ、トルクが要らない指の動作部分では最終減速比を小さくして高速で指を動作させることができる。   In the finger joint drive mechanism of the robot hand according to the present invention, the reduction ratio changes according to the rotation angle position of both gears within a predetermined finite rotation angle range within one rotation by using a non-circular gear such as an elliptical gear. To do. Therefore, it is possible to increase the final reduction ratio of the rotational force transmission mechanism at the finger movement part that requires torque, and to grip an object with a large force, and reduce the final reduction ratio at the finger movement part that does not require torque. And move your finger at high speed.

以下に、図面を参照して本発明を適用したロボットハンドの指関節駆動機構の実施の形態を説明する。   Hereinafter, an embodiment of a finger joint drive mechanism of a robot hand to which the present invention is applied will be described with reference to the drawings.

図１（Ａ）および（Ｂ）は、本実施の形態に係るロボットハンドの指関節駆動機構と同様な基本構成を備えた指関節駆動機構を示す説明図および歯車列を示す説明図である。指関節駆動機構１は、不図示のロボットハンドの掌などに取り付けられるフレーム２を備えている。フレーム２は例えばコの字状に折り曲げ形成されており、その左右の支持腕２ａ、２ｂの間に、回転自在の状態で関節軸３が架け渡されている。関節軸３には、指４の後端部が固定されており、指４は関節軸３から直交する方向に延びている。また、左右の支持腕２ａ、２ｂの間には、回転アクチュエータ５が配置されており、本例では回転アクチュエータ５が一方の支持腕２ａに固定されており、その出力軸５ａが関節軸３と平行に延びている。 FIGS. 1A and 1B are an explanatory diagram showing a finger joint driving mechanism having a basic configuration similar to the finger joint driving mechanism of the robot hand according to the present embodiment and an explanatory diagram showing a gear train. The finger joint drive mechanism 1 includes a frame 2 attached to the palm of a robot hand (not shown). The frame 2 is formed in a U-shape, for example, and a joint shaft 3 is bridged between the left and right support arms 2a and 2b in a rotatable state. The rear end portion of the finger 4 is fixed to the joint shaft 3, and the finger 4 extends from the joint shaft 3 in a direction orthogonal to the joint shaft 3. A rotation actuator 5 is disposed between the left and right support arms 2a, 2b. In this example, the rotation actuator 5 is fixed to one support arm 2a, and its output shaft 5a is connected to the joint shaft 3. It extends in parallel.

回転アクチュエータ５は、モータ５ｂと減速機５ｃを同軸状態に連結した構成となっており、出力軸５ａの先端部には駆動側歯車６が同軸状態に固定されている。関節軸３における指４に隣接した部位には従動側歯車７が同軸状態に固定されており、この従動側歯車７が駆動側歯車６にかみ合っている。駆動側歯車６および従動側歯車７は非円形歯車であり、例えば、図１（Ｂ）に示すように楕円歯車を用いることができる。   The rotary actuator 5 has a configuration in which a motor 5b and a speed reducer 5c are connected in a coaxial state, and a drive-side gear 6 is fixed in a coaxial state at the tip of the output shaft 5a. A driven gear 7 is fixed in a coaxial state at a portion of the joint shaft 3 adjacent to the finger 4, and the driven gear 7 is engaged with the drive gear 6. The driving side gear 6 and the driven side gear 7 are non-circular gears, and for example, elliptical gears can be used as shown in FIG.

図２（Ａ）、（Ｂ）は指関節駆動機構１の動作を示す説明図である。図２（Ａ）に示すように指４が例えば水平に延びている状態が開き位置であり、図２（Ｂ）に示すように指４が下方に直角に折れ曲がっている状態が閉じ位置（物の把持位置）であるとする。この場合には、開き位置から閉じ位置に向かう初動時にはトルクを必要とせず動作速度を必要とする。したがって、駆動側歯車６の長軸端の部分に、従動側歯車７の短軸端の部分がかみ合うように、両歯車の位相を設定しておけばよい。   2A and 2B are explanatory diagrams showing the operation of the finger joint drive mechanism 1. FIG. As shown in FIG. 2 (A), for example, the state in which the finger 4 extends horizontally is the open position, and as shown in FIG. 2 (B), the state in which the finger 4 is bent at a right angle downward is the closed position (object). ). In this case, at the initial movement from the open position toward the closed position, torque is not required and an operating speed is required. Therefore, the phases of both gears may be set so that the portion of the short shaft end of the driven gear 7 meshes with the portion of the long shaft end of the drive side gear 6.

この状態から指４を閉じ位置に向けて旋回させると、両歯車６、７からなる回転力伝達機構の最終減速比が徐々に大きくなり、これに伴ってトルクが増加し、指の動作速度が低下する。指４が閉じ位置に至ると、図２（Ｂ）に示すように、駆動側歯車６の短軸端の部分が従動側歯車７の長軸端の部分に噛み合った状態になる。指４を開く動作においては、逆に、最終減速比が徐々に小さくなり、これに伴ってトルクも徐々に減少し、指の動作速度が徐々に大きくなる。   When the finger 4 is turned toward the closed position from this state, the final reduction ratio of the rotational force transmission mechanism composed of the two gears 6 and 7 gradually increases, and accordingly, the torque increases and the operation speed of the finger increases. descend. When the finger 4 reaches the closed position, the short shaft end portion of the driving gear 6 is engaged with the long shaft end portion of the driven gear 7 as shown in FIG. In the operation of opening the finger 4, conversely, the final reduction ratio is gradually reduced, and accordingly, the torque is gradually reduced, and the operation speed of the finger is gradually increased.

次に、図３は本発明の実施の形態に係る指関節駆動機構を示す説明図である。この図に示す指関節駆動機構１Ａでは、駆動側歯車６が回転アクチュエータ５の減速機５ｃのハウジング５ｅの外側に同軸状態に固定されている。また、この駆動側歯車６にかみ合うように、従動側歯車７は、指４の後端部の位置において関節軸３に固定されている。 Next, FIG. 3 is an explanatory view showing the finger joint drive mechanism according to the embodiment of the present invention . In the finger joint drive mechanism 1A shown in this figure, the drive-side gear 6 is fixed coaxially on the outside of the housing 5 e of the reduction gear 5c of the rotary actuator 5. Further, the driven gear 7 is fixed to the joint shaft 3 at the position of the rear end portion of the finger 4 so as to engage with the driving gear 6.

ここで、回転アクチュエータ５のモータ５ｂの回転軸５ｄの軸端部はフレーム２の一方の支持腕２ａによって回転自在の状態で支持されている。これに対して、減速機５ｃの出力軸５ａは他方の支持腕２ｂに回転しないように固定されている。減速機５ｃのハウジング５ｅは円筒状ハウジングであり、その中心に出力軸５ａが貫通して延びている。減速機５ｃは、出力軸５ａを回転しないように固定した場合には、ハウジング５ｅが減速回転出力要素として回転する形式のものである。   Here, the shaft end portion of the rotating shaft 5 d of the motor 5 b of the rotary actuator 5 is supported in a freely rotatable state by one support arm 2 a of the frame 2. On the other hand, the output shaft 5a of the speed reducer 5c is fixed to the other support arm 2b so as not to rotate. A housing 5e of the speed reducer 5c is a cylindrical housing, and an output shaft 5a extends through the center thereof. The reduction gear 5c is of a type in which the housing 5e rotates as a reduced rotation output element when the output shaft 5a is fixed so as not to rotate.

このように、ハウジング５ｅに駆動側歯車６を取り付けると、回転アクチュエータ５の軸長を短くでき、全体として、小型でコンパクトな指関節駆動機構を得ることができるという利点がある。   Thus, when the drive side gear 6 is attached to the housing 5e, there is an advantage that the axial length of the rotary actuator 5 can be shortened and a small and compact finger joint drive mechanism can be obtained as a whole.

なお、上記の例では、駆動側歯車６、従動側歯車７として楕円歯車を用いているが、これ以外の非円形歯車を用いることもできる。   In the above example, elliptical gears are used as the drive side gear 6 and the driven side gear 7, but other non-circular gears may be used.

（Ａ）は本発明を適用したロボットハンドの指関節駆動機構と同様な基本構成を 備えた指関節駆動機構を示す説明図であり、（Ｂ）は駆動側歯車および従動側歯車を示す説明図である。(A) is explanatory drawing which shows the finger joint drive mechanism provided with the same basic composition as the finger joint drive mechanism of the robot hand to which this invention is applied, (B) is explanatory drawing which shows a drive side gearwheel and a driven side gearwheel. It is. 図１の指関節駆動機構の動作を示す説明図である。It is explanatory drawing which shows operation | movement of the finger joint drive mechanism of FIG. 本発明の実施の形態に係る指関節駆動機構を示す説明図である。It is explanatory drawing which shows the finger joint drive mechanism which concerns on embodiment of this invention .

符号の説明Explanation of symbols

１ 指関節駆動機構
２ フレーム
２ａ、２ｂ 支持腕
３ 関節軸
４ 指
５ 回転アクチュエータ
５ａ 出力軸
５ｂ モータ
５ｃ 減速機
５ｄ モータの回転軸
５ｅ 減速機のハウジング
６ 駆動側歯車
７ 従動側歯車 DESCRIPTION OF SYMBOLS 1 Finger joint drive mechanism 2 Frame 2a, 2b Support arm 3 Joint shaft 4 Finger 5 Rotary actuator 5a Output shaft 5b Motor 5c Reduction gear 5d Motor rotation shaft 5e Reduction gear housing 6 Drive side gear 7 Drive side gear

Claims (2)

回転アクチュエータ（５）と、
この回転アクチュエータ（５）によって回転駆動する駆動側歯車（６）と、
前記駆動側歯車（６）にかみ合っている従動側歯車（７）と、
前記従動側歯車（７）によって駆動される関節軸（３）とを有し、
前記駆動側歯車（６）および前記従動側歯車（７）は非円形歯車であり、
前記回転アクチュエータ（５）は、出力軸（５ａ）と、この出力軸（５ａ）が回転自在の状態で中心を貫通して延びている筒状ハウジング（５ｅ）とを備え、前記出力軸（５ａ）を回転しないように固定すると、前記筒状ハウジング（５ｅ）から回転が出力されるものであり、
前記駆動側歯車（６）は前記筒状ハウジング（５ｅ）の外側に同心状に取り付けられていることを特徴とするロボットハンドの指関節駆動機構（１）。 A rotary actuator (5) ;
A drive side gear (6) that is rotationally driven by the rotary actuator (5) ;
A driven gear (7) meshing with the drive gear (6) ;
A joint shaft (3) driven by the driven gear (7) ,
The driving-side gear (6) and said driven gear (7) is Ri non-circular gear der,
The rotary actuator (5) includes an output shaft (5a) and a cylindrical housing (5e) extending through the center in a state where the output shaft (5a) is rotatable, and the output shaft (5a). ) Is fixed so as not to rotate, rotation is output from the cylindrical housing (5e),
A finger joint drive mechanism (1) for a robot hand, wherein the drive gear (6) is concentrically attached to the outside of the cylindrical housing (5e ) . 請求項１に記載のロボットハンドの指関節駆動機構（１）において、
前記回転アクチュエータ（５）は、モータ（５ｂ）と減速機（５ｃ）を同軸状態で連結した構成となっており、前記出力軸（５ａ）は前記減速機（５ｃ）の出力軸であり、
前記モータ（５ｂ）の回転軸（５ｄ）の軸端部を回転自在の状態で支持し、前記出力軸（５ａ）が回転しないように固定されているフレーム（２）を有し、
前記関節軸（３）は、前記出力軸（５ａ）に平行に延び、前記フレーム（２）によって回転自在の状態で支持されており、
前記従動側歯車（７）は、前記関節軸（３）に同軸に固定されているロボットハンドの指関節駆動機構（１）。 The finger joint drive mechanism (1) of the robot hand according to claim 1,
The rotary actuator (5) has a configuration in which a motor (5b) and a speed reducer (5c) are connected in a coaxial state, and the output shaft (5a) is an output shaft of the speed reducer (5c),
A frame (2) that rotatably supports the shaft end of the rotating shaft (5d) of the motor (5b) and is fixed so that the output shaft (5a) does not rotate;
The joint shaft (3) extends parallel to the output shaft (5a) and is supported by the frame (2) in a rotatable state .
The driven gear (7) is a finger joint drive mechanism (1) of a robot hand fixed coaxially to the joint shaft (3).
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103745647A (en) * 2013-12-25 2014-04-23 辽宁科技学院 Teaching aid capable of reflecting non-circular gear drive ratio
CN103745647B (en) * 2013-12-25 2016-06-08 辽宁科技学院 The teaching aid of non-circular gear drive ratio can be reflected

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