JP5901310B2 - Joint mechanism, finger and hand - Google Patents

Description

  The present invention relates to a joint mechanism suitable for use in a robot or the like, and a finger and a hand equipped with the joint mechanism.

  Conventionally, as a joint mechanism of an artificial hand or a robot hand (both of which are referred to as “hand”), a joint mechanism has been developed that performs substantially the same operation as that of a human finger joint. Conventionally, as this type of joint mechanism, for example, a plurality of finger portions (corresponding to bones of one finger) are connected to each other in a rotatable manner, and each finger portion is driven by a driving member. Some are configured to rotate by a predetermined angle.

  In Patent Document 1 (see FIGS. 10 to 13), a link member driven by a linear actuator is used as a driving member for driving each finger part. In Patent Document 2, each finger part (link) is attached to each link member. A fluid pressure actuator is used.

International Publication No. 2008-26574 JP-A-8-126984

  However, in the joint mechanism of Patent Document 1 (see FIGS. 10 to 13), the middle finger portion (intermediate member) and the distal finger portion (tip member) of the three finger portions constituting one finger are Each is made of a plate material and is bent into a U-shape opening toward the inner side (palm side). For this reason, the bottom surface of the center of the U-shape faces the outside (back side), and this bottom surface cannot function as a contact surface with the object to be grasped, and it is necessary to attach a component that becomes a separate contact surface. There is a risk that the number of parts increases, the structure becomes complicated, and the weight increases. A drive member (first side) is provided below (inner side, palm side) a connecting portion (first hinge portion) that rotatably connects the base side finger portion (base end member) and the intermediate finger portion (intermediate member). Since the connecting portion (second support shaft portion) that rotatably connects between the link member) and the middle finger portion (intermediate member) is installed, the height dimension of the finger portion increases and the height of the joint mechanism There was also a problem that the dimensions could not be reduced.

  On the other hand, in the joint mechanism of Patent Document 2, all three fingers (links) are made of a plate material, and are bent into a U shape that opens toward the outside (back side). The center bottom surface portion can function as a contact surface with the object to be grasped. However, since the fluid pressure actuator is installed outside each finger part, the height of the finger part becomes large, the height of the joint mechanism cannot be reduced, and the structure is complicated and the number of parts is also large. There was a problem that a lot of weight also became heavy.

  The present invention has been made in view of the above-described points, and an object thereof is to provide a joint mechanism, a finger, and a hand that can be thinned in height and simplified in structure. is there.

The joint mechanism according to the present invention includes an attachment member, a first finger portion pivotally connected to the attachment member at a first connection portion on a base side, and a second connection on a distal end side of the first finger portion. A second finger portion whose root side is pivotally connected at the portion, a tip side is pivotally connected at a fourth connecting portion on the root side of the second finger portion, and the root side applies drive power. A first drive unit connected to the three connection units, a third finger unit whose root side is pivotally connected at the fifth connection unit on the distal end side of the second finger unit, and the third finger unit on the distal end side base side seventh rotation is freely connected to the connecting portion and the root side of have a second driving unit that is rotatably connected to the sixth connecting portion of the front end side of the first finger portion of the second By pushing the three connecting portions toward the fourth connecting portion, the first finger portion and the second finger portion are driven at the same time, and both of them are integrally rotated around the first connecting portion. Or when the rotation of the first finger portion is blocked in rotation relative to the third finger and the second finger unit by the second drive unit with the second finger unit is rotated about the second connecting portion Further, each of the first finger portion, the second finger portion, and the third finger portion is formed by bending a plate material into a U-shape and arranging the bottom surface portion at the center thereof inward, and the fourth finger portion . The connecting portion is provided at a portion protruding from the second connecting portion of the second finger portion to the base side, and at least a part of the fourth connecting portion enters the opening portion outside the first finger portion. In addition, when the second finger portion is folded inward with respect to the first finger portion, the fourth connection portion is exposed outward from the inside of the opening portion of the first finger portion , while the sixth connection portion Is provided at a portion protruding from the second connection portion of the first finger portion toward the tip side, and on the back side of the left and right side portions of the second finger portion. Is inserted into the sixth connection portion insertion recess, and when the third finger portion is bent inward with respect to the second finger portion, the sixth connection portion insertion recess is pulled out from the inside. The seventh connecting portion is inserted into the seventh connecting portion insertion recess provided at a position closer to the root side than the fifth connecting portion on the palm side of the left and right side surfaces of the second finger portion with respect to the second finger portion. The three-finger portion is configured to be inserted when folded inward .
According to this joint mechanism, both the first finger part and the second finger part are arranged in such a manner that the plate material is bent in a U-shape and the bottom surface part at the center thereof is directed inward. It can function directly as a contact surface. For this reason, simplification of the structure and weight reduction can be achieved. In addition, since the fourth connecting portion is provided in the portion protruding from the second connecting portion of the second finger portion to the base side, the second and fourth connecting portions do not overlap with each other in the height direction. It is possible to reduce the height dimension of the vicinity of the second connection portion to which the second finger portion is connected. Further, since the inside of the first finger part is used as a part of the swinging space of the fourth connection part, the fourth connection part is not connected to the first finger when the second finger part is folded inward with respect to the first finger part. The protrusion amount (protrusion dimension) protruding outward from the inside of the opening portion of the portion can be reduced. That is, the height of the vicinity of the second connecting portion where the first and second finger portions are connected, regardless of the folded state (open or closed) between the first and second finger portions. The dimensions can be reduced.

In addition, since the third finger portion is bent in a U-shape and the bottom surface portion at the center thereof is arranged inward, the bottom surface portion of the third finger portion together with the first and second finger portions is also a gripping object. It can function directly as a contact surface. For this reason, simplification of the structure and weight reduction can be achieved. In addition, since the sixth connection portion is provided in the portion of the first finger portion that protrudes to the tip side from the second connection portion, the second and sixth connection portions do not overlap in the height direction, and this also causes the first finger , The height dimension of the vicinity of the second connecting portion to which the second finger portion is connected can be reduced. Further, since the sixth connecting portion insertion recess provided in the second finger portion is disposed between the left and right side portions of the first finger portion, the protruding amount (protrusion) in which the sixth connecting portion protrudes toward the outside of the second finger portion. Dimension) can be reduced. That is, the height of the vicinity of the second connecting portion where the first and second finger portions are connected, regardless of the folded state (open or closed) between the first and second finger portions. The dimensions can be reduced.
In the present invention, the height of the portion on the base side of the sixth connection portion insertion recess on the back side of the second finger portion is made lower than the height of the tip side portion, and the second finger portion It is characterized in that the height of the tip side portion of the palm side edge is higher than the height of the root side portion of the seventh connection portion insertion recess.

  In the present invention, fingers may be configured by applying the joint mechanism, and a hand (prosthetic hand or robot hand) may be configured by providing a plurality of fingers.

  According to the present invention, the height of the finger portion can be reduced, and at the same time, the structure can be simplified.

3 is a side view of the hand 1. FIG. 1 is a perspective view of a hand 1. It is the perspective view which looked at the hand 1 from diagonally lower side. 3 is a perspective view of a connecting member 50. FIG. Fig.5 (a) is a side view of the 1st finger part 81, FIG.5 (b) is AA sectional drawing of Fig.5 (a). 6 is a side view of a second finger part 91. FIG. 4 is a side view of a third finger unit 101. FIG. FIG. 6 is an operation explanatory diagram of the hand 1.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a side view of a hand 1 to which a joint mechanism according to an embodiment of the present invention is applied, FIG. 2 is a perspective view of the hand 1 viewed from an oblique upper side, and FIG. 3 is a perspective view of the hand 1 viewed from an oblique lower side. It is. As shown in these drawings, the hand 1 includes an attachment member 10, a drive mechanism 30 attached to the attachment member 10, and a pair of fingers 80A and 80B attached to the attachment member 10 and driven by the drive mechanism 30. Configured. In the following description, the direction in which the fingers 80A and 80B are bent (the lower direction in FIG. 1) is referred to as the inner side or the palm side, and the opposite direction (the upper direction in FIG. 1) is referred to as the outer side or the upper side.

  The attachment member 10 is indicated by a phantom line by a one-dot chain line, and the linear actuator 31 of the drive mechanism 30 is attached, and the connecting member 50 and the first finger portion 81 can be independently rotated at the position of the first connection portion 87. It is pivotally supported.

  The drive mechanism 30 includes a linear actuator 31 and a connecting member 50. The linear actuator 31 includes a substantially cylindrical actuator body 33 and a rod 35 protruding from one end face of the actuator body 33 so as to be able to advance and retract. The linear actuator 31 is electric and can adjust the amount of advancement and retreat of the rod 35.

  FIG. 4 is a perspective view of the connecting member 50. As shown in the figure, the connecting member 50 has a block shape that is substantially heart-shaped when viewed from the side. A first connecting portion shaft 61 is rotatably inserted into the lower center of the connecting member 50, and a third connecting portion shaft 63 is rotatably inserted into one upper portion of the connecting member 50. Further, a connecting rod 65 is attached to the other upper portion of the connecting member 50 so as to rotatably connect the pair of side wall portions 55.

  The connecting member 50 has both side portions of the first connection portion shaft 61 attached to the attachment member 10 and is respectively described below at both ends of the first connection portion shaft 61 that penetrates the attachment member 10 and protrudes to the outer sides thereof. The first connection part 87 of the first finger part 81 is rotatably attached. That is, the connecting member 50 and the first finger portion 81 are attached to the attachment member 10 so as to be independently rotatable.

  On the other hand, the tip of the rod 35 of the linear actuator 31 is attached to the center of the connecting rod 65 of the connecting member 50. Further, the following third connecting portions 113 of the first driving portion 111 are attached to both ends of the third connecting portion shaft 63 of the connecting member 50. As can be seen from the above, the connecting member 50 is arranged so that the first connecting portion 87, the third connecting portion 113, and the connecting rod 65 are respectively the apexes of a triangle when viewed from the side, and one linear actuator 31 and two fingers 80A and 80B are connected.

  Since the fingers 80A and 80B have the same structure, the description will be mainly given to one finger 80A. The finger 80A includes a first finger portion 81 that is pivotally connected to the attachment member 10 at a first connection portion 87 on the base side (attachment member 10 side), and a distal end side (attachment member 10) of the first finger portion 81. The second finger part 91 whose base side is pivotally connected at the second connecting part 97 on the side away from the second finger part 91, and the root side is pivotable at the fifth connecting part 107 on the tip side of the second finger part 91. The third finger part 101 to be connected is connected to the third connection part 113 whose tip side is rotatably connected by a fourth connection part 115 on the base side of the second finger part 91 and whose base side applies driving power. The first drive unit 111 and the distal end side of the first drive unit 111 are pivotally connected to the seventh connection portion 125 on the root side of the third finger portion 101, and the root side is connected to the sixth connection portion 123 on the distal end side of the first finger portion 81. And a second drive unit 121 connected rotatably.

  FIG. 5 is a view showing the first finger portion 81, FIG. 5 (a) is a side view, and FIG. 5 (b) is an AA cross-sectional view of FIG. 5 (a). As shown in FIG. 1 and FIG. 1 to FIG. 3, the first finger portion 81 is parallel to both sides of the bottom surface portion 82 at the center by bending a single flat plate (plate material) into a substantially U shape at the lower side. A pair of side surface portions 83, 83 are provided. As described above, the first connection portion 87 is provided at the base side portion of the pair of side surface portions 83, 83, and is connected to the attachment member 10 at this portion so as to be rotatable. It is arranged toward the inside (palm side). Therefore, the opening portion 85 faces outward (back side). The first connecting portion 87 is provided with a bearing. A second connection portion 97 is provided on the distal end side of the first finger portion 81, and a sixth connection portion 123 is provided on a portion protruding further toward the distal end side than the second connection portion 97. The lower part on the tip side from the vicinity of the second connection part 97 of the first finger part 81 is a second finger part insertion part 821 in which the bottom part 82 is cut away.

  FIG. 6 is a side view of the second finger portion 91. As shown in FIG. 1 and FIG. 1 to FIG. 3, the second finger portion 91 is parallel to both sides of the central bottom surface portion 92 by bending a single flat plate (plate material) into a substantially U shape at the lower side. A pair of side surface portions 93, 93 is provided. A second connecting portion 97 is provided at the base side portion of the pair of side surface portions 93, 93, and is connected to the pair of side surface portions 83, 83 of the first finger portion 81 so as to be rotatable. In the 2nd connection part 97, the axis | shaft is passed between the both-sides surface parts 83 and 83 (93, 93) (the following connection parts are also the same). The both side surface portions 93 of the second finger portion 91 are provided with a portion that protrudes to the base side from the second connection portion 97, and a fourth connection portion 115 that is rotatably connected to the first drive portion 111 is provided at that portion. ing. In addition, a substantially U-shaped sixth connection portion insertion for inserting the sixth connection portion 123 into a position on the tip side of the second connection portion 97 of the side 93a on the back side of the left and right side surface portions 93 of the second finger portion 91 is inserted. A recess 931 is formed. The portion on the base side of the sixth side connection portion insertion recess 931 on the side 93a on the back side has a lower height than the portion on the tip side. In addition, a substantially U-shaped seventh portion into which the seventh connection portion 125 is inserted at a position closer to the root side than the fifth connection portion 107 on the inner side (palm side) side 93b of the left and right side surface portions 93 of the second finger portion 91. A connection portion insertion recess 933 is formed. The portion of the inner side 93b closer to the tip than the seventh connecting portion insertion recess 933 has a higher height than the portion on the root side. The width dimension between the outer side surfaces of the both side surface parts 93 of the second finger part 91 is formed to be slightly smaller than the width dimension between the inner side surfaces of the both side surface parts 83 of the first finger part 81. When connecting the portion 91 and the first finger portion 81 at the second connection portion 97, the root side portion of the second finger portion 91 is inserted between the left and right side surface portions 83 of the tip side portion of the first finger portion 81. . At this time, the sixth connection portion insertion recess 931 is disposed between the side surface portions 83 of the first finger portion 81. Further, the root side portion of the second finger portion 91 is fitted into the second finger portion insertion portion 821 of the first finger portion 81. Further, the bottom surface 92 at the center of the second finger portion 91 is arranged toward the palm side.

  FIG. 7 is a side view of the third finger unit 101. As shown in FIG. 1 and FIG. 1 to FIG. 3, the third finger portion 101 is parallel to both sides of the bottom surface portion 102 at the center by bending a single flat plate (plate material) into a substantially U shape at the lower side. Are provided with a pair of side surface portions 103, 103. A fifth connecting portion 107 is provided at the upper part of the base side of the pair of side surface portions 103, 103, and is connected to the second finger portion 91 at this portion so as to be freely rotatable. A seventh connection unit 107 is provided below the fifth connection unit 107.

  As shown in FIGS. 1-3, the 1st drive part 111 is a rod-shaped flat plate, and it is rotatably connected to the connection member 50 in the 3rd connection part 113 of the base side as mentioned above. On the other hand, the distal end side of the first drive unit 111 is rotatably connected at a fourth connection portion 115 of the second finger portion 91 protruding from the second connection portion 97 to the root side. Further, as shown in FIG. 1, a part of the fourth connecting portion 115 enters the opening portion 85 on the outer side (back side) of the first finger portion 81.

  The second drive unit 121 is a rod-like flat plate similar to the first drive unit 111, and a portion of the sixth connection portion 123 on the base side that protrudes to the tip side from the second connection portion 97 of the first finger portion 81. Is pivotably connected to the. On the other hand, the base side portion of the third finger portion 101 is rotatably connected at the seventh connection portion 125 on the distal end side of the second drive portion 121.

  A biasing means 140 made of a tension spring is attached between the second finger portion 91 and the third finger portion 101, and the direction in which the second and third finger portions 91 and 101 always open (the fifth connecting portion 107 is connected). A biasing force is applied to the second finger portion 91 in the center in the direction in which the tip side portion of the third finger portion 101 moves outward (back side). The fifth connecting portion 107 is located on the inner side (palm side) of the fulcrum a1 on the second finger portion 91 side of the biasing means 140. In other words, the urging means 140 urges the fulcrum a1 locked to the second finger portion 91 and the fulcrum a2 locked to the third finger portion 101 so as to approach each other. When the third finger portion 101 is moved inward (palm side) with respect to the portion 91, the two fulcrums a1 and a2 are moved away from each other, so that they are biased toward the original open position. As a result, the first and second finger portions 81 and 91 are also urged in the opening direction, and eventually the first, second and third finger portions 81, 91 and 101 are urged in the opening direction. In addition, instead of the position, the biasing means 140 is applied between the first and second finger portions 81 and 91 so that a biasing force in a direction in which the first and second finger portions 81 and 91 are always opened is applied. It may be attached.

  Next, the operation of the hand 1 will be described. First, FIG. 1 shows a state in which the rod 35 of the linear actuator 31 is most retracted into the actuator main body 33. In this state, the connecting member 50 rotates most clockwise around the first connection portion 87 (the reverse of the arrow C). Direction). At this time, each finger 80A, 80B is open.

  From this state, the linear actuator 31 is driven to push out the rod 35. If the gripping object 130 shown in FIG. 1 does not exist at this time, the connecting member 50 rotates counterclockwise (arrow C direction) about the first connecting portion 87, and the third connecting portion 113 is in the fourth connecting portion 115 direction. It is pushed out toward. As a result, the entire first, second, and third finger portions 81, 91, and 101 are rotated as they are, with the first connection portion 87 as the center (indicated by a one-dot chain line E1 in FIG. 1). The entire first, second, and third finger portions 81, 91, and 101 rotate together as they are because the biasing means 140 opens the entire first, second, and third finger portions 81, 91, and 101. This is because the urging force for maintaining the state is provided. This operation is used, for example, when pinching an object with a fingertip. On the other hand, when the linear actuator 31 is driven and the pushed-out rod 35 is retracted backward, the first, second, and third finger portions 81, 91, 101 as a whole are directly moved to the first connecting portion 87 by the reverse operation. Rotate integrally around the center to return to the state shown in FIG.

  Next, it is assumed that the grasped object 130 is in contact with the bottom surface portion 82 on the side (inside) on which the first finger portion 81 moves. In this state, when the linear actuator 31 is driven and the connecting member 50 is rotated counterclockwise about the first connecting portion 87 by the rod 35, the third connecting portion 113 is pushed out toward the fourth connecting portion 115. At this time, since the first finger portion 81 cannot rotate, when the pressing force pressing the third connecting portion 113 overcomes the urging force of the urging means 140, the second finger portion 91 is connected to the second connection as shown in FIG. It rotates around the part 97. At this time, as shown in FIG. 8, the stationary sixth connection portion 123 provided on the first finger portion 81 is relative to the fourth connection portion 115 that rotates about the second connection portion 97. Since it moves to the fourth connection part 115 side, the second drive part 121 is retracted backward with respect to the second finger part 91, and the sixth connection part 123 moves in the direction of coming out of the sixth connection part insertion recess 931. To do. As a result, the seventh connection portion 125 is retracted rearward and enters the seventh connection portion insertion recess 933, and the third finger portion 101 rotates around the fifth connection portion 107 with respect to the second finger portion 91. To go. As shown in FIG. 8, when the second finger portion 91 is folded inward with respect to the first finger portion 81, the fourth connection portion 115 is exposed from the inside of the opening portion 85 of the first finger portion 81 toward the outside. I will do it.

  As a result, the second finger portion 91 and the third finger portion 101 are bent, and finally the gripping object 130 is gripped (indicated by a one-dot chain line E2 in FIG. 1). In other words, the second drive unit 121 is connected at the sixth connection part 123 at the tip of the first finger part 81, and the second finger part 91 is connected to the first finger part at the second connection part 97 inside the sixth connection part 123. 81, when the second finger 91 is rotated with respect to the first finger 81, the second drive unit 121 connects the third finger 103 to the seventh connection inside the fifth connection 107. The second finger part 91 and the third finger part 103 rotate inward simultaneously, bend, and grip the object 130 to be gripped. That is, whenever the second finger 91 is rotated with respect to the first finger 81, the third finger 103 is always rotated with respect to the second finger 91. By the way, the first finger part 81, the second finger part 91, and the third finger part 101 are all arranged by bending the plate material into a U-shape and placing the bottom face parts 82, 92, 102 at the inside thereof. These bottom surface portions 82, 92, 102 can directly function as contact surfaces with the gripping object 130. For this reason, it is not necessary to separately attach a part to be a contact surface, and the structure can be simplified and reduced in weight.

  Next, when the linear actuator 31 is driven and the connecting member 50 is rotated clockwise about the first connection portion 87, the second and second connection portions 97 and 107 are centered on the second and fifth connection portions 97 and 107 by the reverse operation. The three finger portions 91 and 101 are rotated to return to the state shown by the solid line in FIG. That is, when grasping an object, it is rotated from the first finger part 81 side, and when it is released, it is rotated from the biasing means 140 side (second and third finger parts 91, 101 side), that is, from the opposite side.

  Even when the first finger part 81 is rotated by a predetermined angle from the state shown in FIG. 1 and then comes into contact with the gripping object 130 and stops, the second and third finger parts 91, 91, 101 is bent relative to the first finger portion 81 as described above.

  The first drive unit 111 is coupled to the second finger unit 91 at the fourth connection unit 115, and the first finger unit 81 is coupled to the second finger unit 91 at the second connection unit 97 inside the fourth connection unit 115. Therefore, the driving force of the first driving unit 111 connected to the driving mechanism 30 is first transmitted to the second finger unit 91, then transmitted to the first finger unit 81, and then transmitted to the first and second finger units 81, 91. Torque around the first and second connection portions 87 and 97 is generated.

  By the way, as shown in FIG. 1, in this hand 1, since the 4th connection part 115 was provided in the part protruded in the root side rather than the 2nd connection part 97 of the 2nd finger part 91, it is 2nd, 4th connection. Since the portions 97 and 115 do not overlap in the height direction, the height dimension of the vicinity of the second connection portion 97 where the first and second finger portions 81 and 91 are connected can be reduced. At the same time, a part of the fourth connection part 115 enters the opening part 85 that opens to the outside of the first finger part 81, so that the inside of the first finger part 81 becomes a part of the swinging space of the fourth connection part 115. Since it is used, when the second finger 91 is bent inward with respect to the first finger 81, the fourth connecting portion 115 protrudes outward from the inside of the opening portion 85 of the first finger 81 ( (Projection dimension) can be reduced. That is, the second connection in which the first and second finger portions 81 and 91 are connected to each other regardless of the folded state (open or closed) between the first and second finger portions 81 and 91. The height of the portion near the portion 97 can be reduced.

  On the other hand, since the sixth connection portion 123 is provided at a portion protruding from the second connection portion 97 to the front end side, the second and sixth connection portions 97 and 123 do not overlap in the height direction. The sixth connecting portion 123 is provided on the first finger portion 81 to connect the second driving portion 121 that drives the third finger portion 101, and also by this, the first and second finger portions 81 and 91 are provided. It is possible to reduce the height dimension in the vicinity of the second connecting portion 97 to which is connected. Moreover, since the 6th connection part insertion recessed part 931 provided in the 2nd finger part 91 was arrange | positioned between the right-and-left both-sides surface part 83 of the 1st finger part 81, the 6th connection part 123 faces outward from the 2nd finger part 91. The protruding protrusion amount (protruding dimension) can be reduced. That is, the second connection in which the first and second finger portions 81 and 91 are connected to each other regardless of the folded state (open or closed) between the first and second finger portions 81 and 91. The thickness of the portion near the portion 97 can also be reduced from this configuration.

  Further, since the first and second drive portions 111 and 121 are both rod-shaped flat plates, even if the first and second drive portions 111 and 121 are fitted between the both side surface portions 93 of the second finger portion 91, the width between the both side surface portions 93 may be small. 91 can be set to the minimum width required.

  By the way, in the hand 1, when the position where the object 130 is in contact with the first finger portion 81 of one finger 80 </ b> A is different from the position where it is in contact with the first finger portion 81 of the other finger 80 </ b> B, The fingers 80A and 80B perform different operations while the position of the third connecting portion 113 remains the same. That is, by simply driving two sets of fingers 80A and 80B arranged in parallel by a single drive mechanism 30, the first and first fingers 80A and 80B can be moved according to the shape of the object 130 to be grasped. The bent states of the second and third finger portions 81, 91, 101 can be easily changed, and thereby the operation substantially the same as the operation of a plurality of fingers of a person can be easily performed.

  Further, by changing the position of any one of the first, second, third, and fourth connecting portions 87, 97, 113, and 115 between the two fingers 80A and 80B, each finger can be obtained without touching the grasped object. The bending states of 80A and 80B can be varied.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea described in the claims and the specification and drawings. Is possible. Note that any shape or structure not directly described in the specification and drawings is within the scope of the technical idea of the present invention as long as the effects and advantages of the present invention are achieved. For example, in the hand 1, a part of the fourth connection part 115 enters the opening part 85 of the first finger part 81, but the whole fourth connection part 115 enters the opening part 85 of the first finger part 81. It may be allowed. In the hand 1, the two fingers 80A and 80B are simultaneously driven by one drive mechanism 30 through one connecting member 50. However, each finger 80A and 80B is independently driven by a separate drive mechanism. You may comprise so that it may drive. Further, the power of the linear actuator 31 may be transmitted to the third connecting portion 113 by a member other than the connecting member 50 (for example, a linear guide or the like).

1 Hand 10 Mounting Member 30 Drive Mechanism 31 Linear Actuator (Drive Mechanism)
50 Connecting member (drive mechanism)
80A, B Finger 81 First finger portion 82 Bottom surface portion 83 Side surface portion 87 First connection portion 91 Second finger portion 92 Bottom surface portion 93 Side surface portion 93a Side on the back side 931 Sixth connection portion insertion recess 97 Second connection portion 101 First Third finger portion 107 Fifth connecting portion 111 First driving portion 113 Third connecting portion 115 Fourth connecting portion 121 Second driving portion 123 Sixth connecting portion 125 Seventh connecting portion

Claims (4)

The base side is freely rotatable at the attachment member, the first finger part pivotally connected to the attachment member at the first connection part on the root side, and the second connection part on the tip side of the first finger part. A second finger portion connected to the first finger portion, a tip end side of the second finger portion being pivotally connected by a fourth connecting portion on a root side of the second finger portion, and a root side being connected to a third connection portion to which driving power is applied. 1 driving part, a third finger part whose root side is pivotally connected at the fifth connection part on the tip side of the second finger part, and a seventh connection part whose tip side is the root side of the third finger part rotatably connected to and the base side is closed and a second driving unit that is rotatably connected to the sixth connecting portion of the front end side of the first finger portion, said fourth connecting the third connecting portion The first finger and the second finger are driven at the same time and are rotated together around the first connecting portion or the first finger is prevented from rotating. When it is in a configuration in which the second finger third finger portion by the second driving unit while rotated about the second connection portion is rotated relative to the second finger,
Furthermore, the first finger part, the second finger part, and the third finger part are all arranged in such a manner that the plate is bent in a U-shape and the center bottom part is directed inward.
The fourth connection portion is provided in a portion protruding from the second connection portion of the second finger portion to the base side, and at least a part of the fourth connection portion is an opening portion outside the first finger portion. The fourth connecting portion is exposed from the inside of the opening portion of the first finger portion to the outside when the second finger portion is folded inward with respect to the first finger portion while entering the inside ,
On the other hand, the sixth connection portion is provided at a portion protruding from the second connection portion of the first finger portion toward the distal end side, and provided on the instep side of the left and right side surfaces of the second finger portion. Is inserted into the 6 connection portion insertion recess, and is configured to come out of the sixth connection portion insertion recess when the third finger portion is bent inward with respect to the second finger portion,
Further, the seventh connection portion is formed in a seventh connection portion insertion recess provided at a position closer to the root side than the fifth connection portion on the palm side of the left and right side surfaces of the second finger portion. In contrast, the joint mechanism is configured to be inserted when the third finger portion is bent inward . The joint mechanism according to claim 1,
While forming the height of the portion closer to the root side than the sixth connecting portion insertion recess of the side on the back side of the second finger portion is lower than the height of the tip side portion,
A joint mechanism characterized in that the height of the tip side portion of the palm side side of the second finger portion is higher than the height of the root side portion of the seventh finger portion .   A finger comprising the joint mechanism according to claim 1.   A hand comprising a plurality of fingers according to claim 3.

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