JP5430253B2 - Robot hand device - Google Patents

Description

  The present invention relates to a robot hand device capable of operating a finger mechanism around two axes.

  Conventionally, various researches and developments have been made on robot hand devices that imitate human hands for the purpose of causing a robot to perform a wide variety of tasks. In particular, when reproducing the function of the thumb of five human fingers, for example, when the palm is turned up, an axis that rotates the thumb in the height direction and the thumb is rotated in the left-right direction. Two axes are required.

  As the robot hand device as described above, the motor fixed to the base and the base are supported so as to be rotatable around the first axis parallel to and offset from the drive shaft of the motor, and the control shaft is movable. A first link member having one guide route is provided. In addition, a second link member connected to the drive shaft of the motor and supporting the control shaft and reciprocating the control shaft in the first guide path by rotation of the drive shaft of the motor is provided. Further, the finger link member is supported by the first link member so as to be rotatable around the second axis intersecting the first axis, and is linked directly or indirectly to the control shaft and is driven to rotate by the operation of the control shaft. Is known (see Patent Document 1).

  In this robot hand apparatus, a biaxial finger mechanism that intersects with a single motor can be operated.

JP 2006-167839 A

  In the above prior art, the base has the second guide route within the movable range of the first guide route. The second link member includes a rotating body fixed to the drive shaft, and a connecting link that is rotatably supported by the rotating body and that supports the control shaft. The second guide path includes a first guide path whose control axis is guided in the circumferential direction around the first axis and a second guide path guided in the radial direction around the first axis. Has been. The control shaft is configured to be slidable with respect to the first guide path and the second guide path.

  With the above configuration, when the rotating body rotates in a predetermined direction, the control shaft provided in the connection link moves in the guide slot and the second guide path, respectively. When the control shaft is guided to the first guide path, the first link member is rotated with respect to the base with the fixed shaft as a fulcrum, and the control shaft is guided to the second guide path, whereby the finger link member. Is rotated with respect to the first link member via the elevating member and the arm member with the connecting pin as a fulcrum.

  In the conventional technology, in order to operate the finger mechanism around two axes intersecting with a single motor, the above-mentioned complicated structure is necessary, and assembling many components increases the number of steps and increases the cost. There is a problem of becoming.

  An object of the present invention is to provide a robot hand device that has a simple structure and can operate a finger mechanism around two axes with a single motor.

A robot hand device according to the present invention includes a base, a motor fixed to the base, a finger mechanism extending from one end edge of the base, and a rotational force generated by the motor perpendicular to the drive shaft of the motor. a primary link mechanism for converting the linear motion direction, and a secondary link mechanism for converting the linear motion converted by the primary link mechanism into a rotational movement of the parallel axis to the drive shaft of the motor, the secondary and a linear motion mechanism that is relatively movably configured with the finger mechanism converts the rotational motion which is converted by the link mechanism into a linear motion in a direction perpendicular to the drive shaft of the serial motor,
By transmitting the rotational motion from the secondary link mechanism to the finger mechanism, the finger mechanism is rotated together with the linear motion mechanism from a horizontal state to a standing state or from a standing state to a horizontal state, and the finger mechanism and the straight line are rotated. When the movement mechanism rotates together to reach the end point of the rotation range, the finger mechanism and the linear movement mechanism are changed to a relative movement state, and the linear movement mechanism moves the linear movement to the finger. When the finger mechanism is changed from the standing state to the bent state or from the bent state to the standing state by transmitting to the mechanism, and when the finger mechanism and the linear motion mechanism move relatively to reach the end point of the motion range Further, the present invention is characterized in that the finger mechanism and the linear motion mechanism are configured to be switched to a state of rotating together .

In the robot hand device of the present invention, the primary link mechanism converts the rotational force generated by the motor into a linear motion in a direction perpendicular to the drive shaft of the motor. Secondary link mechanism converts the rotary motion of the parallel axis linear motion converted by the primary link mechanism to the drive shaft of the motor. Linear movement mechanism is a rotary motion that is manually converted to the secondary linkage is relatively movably configured with finger mechanism converts a linear motion in a direction perpendicular to the drive shaft of the motor. Then, by transmitting rotational motion from the secondary link mechanism to the finger mechanism, the finger mechanism is rotated together with the linear motion mechanism from the horizontal state to the standing state or from the standing state to the horizontal state, and the finger mechanism and the linear motion mechanism are When the finger mechanism and the linear motion mechanism move relative to each other and reach the end point of the rotational range, the finger mechanism is moved by transmitting the linear motion from the linear motion mechanism to the finger mechanism. When the finger mechanism and the linear motion mechanism move relative to each other and reach the end point of the range of motion when they are changed from the standing state to the bent state or from the bent state to the standing state, both the finger mechanism and the linear motion mechanism rotate. It changes to the state to move.
According to the present invention, as described above, the robot hand device is driven by the primary link mechanism, the secondary link mechanism, and the linear motion mechanism, so that the structure of the robot hand device is simple and a single motor is used. The finger mechanism can be operated about two axes.

In the robot hand apparatus according to the present invention, the primary link mechanism is fixed to a drive shaft of the motor and transmits a rotational force generated by the motor, and is provided rotatably on the first link member. A second transmission member, a vertical transmission shaft extending in a direction perpendicular to the drive shaft of the motor, a vertical transmission shaft member slidably provided on the vertical transmission shaft, and pivoting on the vertical transmission shaft member It is preferable to include a third link member that is freely provided and that abuts on the second link member to convert the rotational force of the motor into a linear motion in a direction perpendicular to the drive shaft of the motor.

According to this preferred embodiment, the primary link mechanism is configured by the first link member, the second link member, the vertical transmission shaft, the vertical transmission shaft member, and the third link member, and the rotational force generated by the motor is transmitted to the motor. Convert to linear motion in a direction perpendicular to the drive axis.

Further, in the robot hand device according to the preferred embodiment, the secondary link mechanism is connected to the vertical transmission shaft member and the linear motion mechanism, and converts the linear motion of the third link member into the rotational motion . A configuration including a link member is preferable.

According to this preferable configuration, the secondary link mechanism is configured to cause the linear motion converted by the primary link mechanism to be parallel to the motor drive shaft so that the finger mechanism changes from the horizontal state to the standing state or from the standing state to the horizontal state. It is converted into a rotational motion around a simple axis.

Furthermore, in the robot hand device having the above preferable configuration , the linear motion mechanism includes a fifth link member that is provided at a proximal end portion of the finger mechanism and converts the rotational motion of the fourth link member into the linear motion. Is preferred.

According to this preferred configuration, the rotary motion of linear motion is converted primary link mechanism by the secondary link mechanism, the drive shaft of the motor so as finger mechanism is in tension from or bent state to the bent state from the stretched state Convert to linear motion in the direction perpendicular to.

It is a top view which shows an example of the robot hand apparatus based on this invention. It is a figure which shows the finger mechanism of the robot hand apparatus of FIG. 1, (a) is a perspective view which shows the state in which the finger mechanism stood upright, (b) is a perspective view which shows the state in which the finger mechanism was bent. It is a front view which shows the expression of the robot hand apparatus of FIG. It is a figure which shows operation | movement of the finger mechanism of the robot hand apparatus of FIG. 1, (a) is a perspective view which shows operation | movement which a finger mechanism stands upright, (b) is a figure which shows operation | movement which a finger mechanism bends. It is an enlarged view which shows the base end part of the linear motion mechanism of the robot hand apparatus of FIG.

  Next, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. In the present embodiment, an example in which the present invention is applied to a thumb finger mechanism among finger mechanisms of a robot hand apparatus configured like a human hand will be described.

As shown in FIG. 1, the robot hand device 10 of the present invention is extended from a base portion 12 corresponding to a human palm or back of a human hand, a motor 14 fixed to the base portion 12, and one end edge of the base portion 12. The finger mechanism 16, a primary link mechanism 18 that converts the rotational force generated by the motor 14 into a linear motion in a direction perpendicular to the drive shaft 14 a of the motor 14, and the linear motion converted by the primary link mechanism 18 is a finger mechanism. The secondary link mechanism 20 that converts the rotational movement about the axis parallel to the drive shaft 14a of the motor 14 so that 16 changes from the horizontal state to the standing state or from the standing state to the horizontal state. In the direction perpendicular to the drive shaft 14a of the motor 14 so that the finger mechanism 16 changes from the extended state to the bent state or from the bent state to the extended state, the rotational movement obtained by converting the linear movement of the next link mechanism 18 is converted. And a linear motion mechanism 22 which converts the linear motion.

  The base part 12 is formed in a case shape by combining a palm part corresponding to the palm part of a human hand and a back part corresponding to the back part of the human hand. A motor 14, a primary link mechanism 18, a secondary link mechanism 20, a linear motion mechanism 22, and the like are accommodated in a case that forms a palm part and a back part.

  As shown in FIG. 2A, the finger mechanism 16 includes two internode members 24 and 26, and the internode member 24 on the base side among these internode members and the frame F fixed to the base portion 12. The joint member 28 that is pivotably connected, the joint member 30 that pivotally connects the two internode members 24 and 26, and the joint member ahead of the joint member 28 in conjunction with the operation of the root internode member 24 It is mainly comprised by the link arm 32 for operating 30. FIG. In the following description, for convenience, the two internode members 24 and 26 are also referred to as a root member 24 and a fingertip member 26 in order from the root side, and the two joint members 28 and 30 are sequentially connected to the first joint from the hand side. The member 30 and the second joint member 28 are referred to.

  The base member 24 is a member having a shape in which both ends of a rectangle are formed in a semicircular shape in a side view, and a base end portion 24 a is rotatably connected to a second joint member 28 fixed to the frame F. In addition, the fingertip member 26 is rotatably connected to the distal end portion 24b via the first joint member 30. In addition, a linear motion mechanism 22 (described later) is rotatably connected to the root member 24 at a suitable position on the palm side in the vicinity of the second joint member 28 via a pin P1. The link arm 32 is rotatably connected to the frame F via a pin P2 at an appropriate position on the back side of the hand in the vicinity of the second joint member 28.

  The fingertip member 26 is a member whose outer shape is substantially the same as that of the root member 24, and a base end portion 26 a is rotatably connected to the root member 24 via the first joint member 30. Further, a link arm 32 is rotatably connected to the fingertip member 26 via a pin P3 at an appropriate position on the palm side in the vicinity of the first joint member 30.

  The link arm 32 is a member that is rotatably connected to the frame F and the fingertip member 26, and as shown in FIG. 2B, the root member 24 is pulled by the linear motion mechanism 22 (arrow A1). When the root member 24 is rotated (arrow A2), the base member 24 is rotated around the fixed pin P2 (arrow A3), and the fingertip member 26 is pulled via the pin P3 (arrow A4). 26 is rotated (arrow A5).

  When the finger mechanism 16 is extended from the bent state, the finger mechanism 16 is operated so that the directions of the arrows A1 to A5 are all reversed.

  Next, with reference to FIG. 3, the aspect expressed by operation | movement of the finger mechanism 16 of the thumb of the robot hand apparatus 10 of this embodiment is demonstrated.

The first mode is a horizontal state in which the finger mechanism 16 is parallel to the drive shaft 14a of the motor 14 as shown in FIG. As shown in FIG. 3B, the second mode is an upright state (extended state) in which the finger mechanism 16 is perpendicular to the drive shaft 14 a of the motor 14. The third mode is a bent state in which the finger mechanism 16 is bent from an extended state in which the finger mechanism 16 is perpendicular to the drive shaft 14a of the motor 14, as shown in FIG.

Next, with reference to FIG. 4, the structure of the primary link mechanism 18, the secondary link mechanism 20, the linear motion mechanism 22, and the flame | frame F which implement | achieve the operation | movement from which a finger mechanism 16 changes to a bending state from a horizontal state is demonstrated. .

The primary link mechanism 18 includes a first link member 50 that is fixed to the drive shaft 14 a of the motor 14 and transmits the rotational motion of the motor 14, a second link member 52 that is rotatably provided on the first link member 50, and a motor. 14, a vertical transmission shaft 54 extending in a direction perpendicular to the drive shaft 14a, a vertical transmission shaft member 56 slidably provided on the vertical transmission shaft 54, and a second link rotatably provided on the vertical transmission shaft member 56. A third link member 58 is provided that contacts the member 52 and converts the rotational motion of the motor 14 into linear motion in a direction perpendicular to the drive shaft 14 a of the motor 14.

  The first link member 50 is formed in a disc shape and is fixed to the drive shaft 14a of the motor 14 with a screw or the like, and is formed integrally with the disc portion 50a and is offset from the drive shaft 14a of the motor 14. A cylindrical portion 50b extending in a direction perpendicular to the drive shaft 14a of the motor 14 is formed.

  The 2nd link member 52 is comprised from the outer cylinder part 52a externally fitted by the cylindrical part 50b of the 1st link member 50 so that rotation is possible.

  The vertical transmission shaft 54 is formed of a cylindrical portion 54 a that is formed in a cylindrical shape and has a base end fixed to the frame F.

  When the vertical transmission shaft member 56 is externally fitted to the cylindrical portion 54 a of the vertical transmission shaft 54, the cylindrical portion 56 a, the first hole portion 56 b provided in a direction parallel to the drive shaft 14 a of the motor 14, and the motor 14. The second hole 56c is provided in a direction parallel to the drive shaft 14a at a predetermined angle.

  The third link member 58 includes a shaft portion 58a that fits in the first hole portion 56b of the vertical transmission shaft member 56, and a cylindrical portion 58b that fits rotatably in the shaft portion 58a.

The secondary link mechanism 20 performs the linear motion of the third link member 58 around an axis parallel to the drive shaft 14a of the motor 14 so that the finger mechanism 16 changes from a horizontal state to a standing state or from a standing state to a horizontal state. The 4th link member 60 which connects the 3rd link member 58 and the linear motion mechanism 22 which convert into a rotational motion is provided.

  The fourth link member 60 is a first cylindrical portion 60a that is rotatably fitted in the second hole portion 56c of the vertical transmission shaft member 56, and an arm portion 60b that extends in a predetermined direction from the base end portion of the first cylindrical portion 60a. And a second cylindrical portion 60c that protrudes perpendicularly to a predetermined direction in which the arm portion 60b extends outward at the distal end portion of the arm portion 60b.

  The linear motion mechanism 22 changes the rotational motion of the fourth link member 60 to a linear motion in a direction perpendicular to the drive shaft 14a of the motor 14 so that the finger mechanism 16 changes from the extended state to the bent state or from the bent state to the extended state. A fifth link member 62 is provided at the base end of the finger mechanism 16 to be converted and drives the finger mechanism 16.

The fifth link member 62 is formed integrally with a portion in which the second cylindrical portion 60c of the fourth link member 60 is fitted with the hole portion 62a , and is directed to the elongated hole portion 62b and the frame F located on the outside. and a cylindrical portion 62c protruding Te, first link portion 62d extending in the direction of the finger mechanism 16, and the base of the finger mechanism 16 extends in the direction of the finger mechanism 16 as well as connected with the first link portion 62d It is comprised from the 2nd link part 62e connected with the base end part 24a of the member 24. As shown in FIG.

The frame F passes through the first frame member Fc having left and right walls Fa and Fb in which the vertical transmission shaft 54 is fixed and the through holes are formed, and the long hole portion 62b of the fifth link member 62. A columnar portion Fd that protrudes toward the fifth link member 62 so that the first link portion 62d of the fifth link member 62 can slide, and a long hole portion that allows the columnar portion 62c of the fifth link member 62 to slide. The second frame member Ff that has Fe and is connected to the proximal end portion 24a of the root member 24 of the finger mechanism 16 at the distal end portion.

  Next, with reference to FIG. 4, the operation of the finger mechanism 16 from the horizontal state to the bent state will be described.

First, referring to FIG. 4A, the finger mechanism 16 changes from a horizontal state in which the finger mechanism 16 is parallel to the drive shaft 14a of the motor 14 to a standing state (extended state) in which the finger mechanism 16 is perpendicular to the drive shaft 14a of the motor 14. The operation will be described.

  First, the motor 14 rotates counterclockwise when viewed from the left side, and the disc part 50a of the first link member 50 and the outer cylinder part 52a of the second link member 52 are counterclockwise when viewed from the left side. Rotate.

  Next, the outer cylindrical portion 52a of the second link member 52 abuts on the cylindrical portion 58b of the third link member 58 provided on the vertical transmission shaft member 56, and the cylindrical portion 58b of the third link member 58 is viewed from the left side. Rotate counterclockwise with.

  When the cylindrical portion 58b of the third link member 58 is rotated counterclockwise as viewed from the left side, the cylindrical portion 58b of the third link member 58 causes the vertical transmission shaft member 56 to be perpendicular to the drive shaft 14a of the motor 14. It is lowered along the vertical transmission shaft 54 extending in the direction.

  When the vertical transmission shaft member 56 is lowered along the vertical transmission shaft 54, the fourth link member 60 that connects the third link member 58 and the linear motion mechanism 22 rotates in the clockwise direction in front view.

  When the fourth link member 60 is rotated in the clockwise direction when viewed from the front, the finger mechanism 16 is raised.

  Next, with reference to FIG. 4B, an operation will be described in which the finger mechanism 16 changes from an upright state (extended state) where the finger mechanism 16 is perpendicular to the drive shaft 14 a of the motor 14 to a bent state where the finger mechanism 16 is bent. .

  When the finger mechanism 16 is in an upright state perpendicular to the drive shaft 14a of the motor 14, the stopper 70 shown in FIG.

Further, when the fourth link member 60 is rotated counterclockwise in the front view, the first link portion 62d and the second link portion 62e of the fifth link member 62 are slid in the proximal direction.

  When the second link member 62e of the fifth link member 62 is slid in the proximal direction, the proximal end portion 24a of the base member 24 of the finger mechanism 16 connected to the second link member 62e of the fifth link member 62 is The finger mechanism 16 is bent by being pulled toward the proximal end side of the second link member 62e of the fifth link member 62.

As described above, according to the present embodiment, the primary link mechanism 18 converts the rotational force generated by the motor 14 into linear motion in a direction perpendicular to the drive shaft 14 a of the motor 14. The secondary link mechanism 20 converts the linear motion converted by the primary link mechanism 18 into a rotational motion around an axis parallel to the drive shaft 14 a of the motor 14. Linear motion mechanism 22 has a rotational movement that is manually converted to the secondary link mechanism 20 is relatively movably configured with finger mechanism 16 converts the linear motion in a direction perpendicular to the drive shaft 14a of the motor 14 . Then, by transmitting the rotational motion from the secondary link mechanism 20 to the finger mechanism 16, the finger mechanism 16 is rotated together with the linear motion mechanism 22 from the horizontal state to the standing state or from the standing state to the horizontal state. When the movement mechanism 22 rotates together and reaches the end point of the rotation range, the finger mechanism 16 and the linear movement mechanism 22 are changed to a relatively moving state, and the linear movement mechanism 22 performs linear movement. When the finger mechanism 16 is changed from the standing state to the bent state or from the bent state to the standing state by transmitting to 16, the finger mechanism 16 and the linear motion mechanism 22 move relatively to reach the end point of the motion range. In addition, the finger mechanism 16 and the linear motion mechanism 22 are both rotated.
Thus, the driving of the robot hand device 10, to realize the primary link mechanism 18, the secondary link mechanism 20 and the linear motion mechanism 22 of the above configuration, the robot hand device 10 structure is simple, a single It has become one that can actuate the finger mechanism about two axes by a motor.

DESCRIPTION OF SYMBOLS 10 ... Robot hand apparatus, 12 ... Base part, 14 ... Motor, 14a ... Drive shaft, 16 ... Finger mechanism, 18 ... Primary link mechanism, 20 ... Secondary link mechanism, 22 ... Linear motion mechanism, 24 ... Root member, 24a ... Base end part, 24b ... Tip part, 26 ... Fingertip member, 28 ... Second joint member, 30 ... First joint member, 32 ... Link arm, 50 ... First link member, 50a ... Disc part, 50b ... Column , 52 ... second link member, 52a ... outer cylinder part, 54 ... vertical transmission shaft, 54a ... cylindrical part, 56 ... vertical transmission shaft member, 56a ... cylindrical part, 56b ... first hole part, 56c ... second hole 58, third link member, 58a, shaft portion, 58b, cylindrical portion, 60, fourth link member, 60a, first column portion, 60b, arm portion, 60c, second column portion, 62, fifth link. Member, 62a ... hole, 62b ... long hole, 62c ... column 62d ... first link portion , 62e ... second link portion , 70 ... stopper, F ... frame, Fa ... left wall, Fb ... right wall, Fc ... first frame member, Fd ... column portion, Fe ... long hole portion , Ff: second frame member, P1, P2, P3,...

Claims (4)

The base,
A motor fixed to the base;
A finger mechanism extending from one edge of the base;
A primary link mechanism that converts a rotational force generated by the motor into a linear motion in a direction perpendicular to the drive shaft of the motor;
A secondary link mechanism for converting the linear motion converted by the primary link mechanism into a rotational movement of the parallel axis to the drive shaft of the motor,
And a linear motion mechanism that is relatively movably configured with the finger mechanism converts the rotary motion converted by said second link mechanism into a linear motion in a direction perpendicular to the drive shaft of the motor,
By transmitting the rotational motion from the secondary link mechanism to the finger mechanism, the finger mechanism is rotated together with the linear motion mechanism from a horizontal state to a standing state or from a standing state to a horizontal state, and the finger mechanism and the straight line are rotated. When the movement mechanism rotates together to reach the end point of the rotation range, the finger mechanism and the linear movement mechanism are changed to a relative movement state, and the linear movement mechanism moves the linear movement to the finger. When the finger mechanism is changed from the standing state to the bent state or from the bent state to the standing state by transmitting to the mechanism, and when the finger mechanism and the linear motion mechanism move relatively to reach the end point of the motion range In addition, the robot hand device is configured so that the finger mechanism and the linear motion mechanism are switched to a state of rotating together . The robot hand apparatus according to claim 1, wherein
The primary link mechanism includes a first link member that is fixed to a drive shaft of the motor and transmits a rotational force generated by the motor; a second link member that is rotatably provided on the first link member; A vertical transmission shaft extending in a direction perpendicular to the drive shaft of the motor; a vertical transmission shaft member slidably provided on the vertical transmission shaft; and a second link provided rotatably on the vertical transmission shaft member. A robot hand device comprising: a third link member that contacts the member and converts the rotational motion of the motor into a linear motion in a direction perpendicular to the drive shaft of the motor. The robot hand apparatus according to claim 2, wherein
The secondary link mechanism includes a fourth link member that is connected to the vertical transmission shaft member and the linear motion mechanism and converts the linear motion of the third link member into the rotational motion. apparatus. The robot hand apparatus according to claim 3, wherein
The robot hand device, wherein the linear motion mechanism includes a fifth link member that is provided at a proximal end portion of the finger mechanism and converts the rotational motion of the fourth link member into the linear motion.

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