JP6215029B2

JP6215029B2 - Hand mechanism

Info

Publication number: JP6215029B2
Application number: JP2013254253A
Authority: JP
Inventors: 正樹永塚
Original assignee: THK Co Ltd
Current assignee: THK Co Ltd
Priority date: 2013-12-09
Filing date: 2013-12-09
Publication date: 2017-10-18
Anticipated expiration: 2033-12-09
Also published as: JP2015112651A

Description

本発明は、把持対象物を把持するためのハンド機構に関する。 The present invention relates to a hand mechanism for gripping an object to be gripped.

従来、ロボットハンドに人間の指に近い構造を採用し、多様な対象物の把持が試みられている。例えば、特許文献１には、基部が複数の構造材から成り、前記複数の構造材間を支持部を介して回動自在に接続し、磁石で吸着して固定するとともに、弾性体が前記構造材間を離間する方向に付勢する構成が開示されている。当該構成では、磁石の吸着力と弾性体の付勢力の関係を調整することで、ロボットハンドが把持対象物を把持しているときに外力が加わると、フィンガの根元部分でフィンガがハンドの構造体から離間されることになる。これにより、フィンガや把持対象物が印加された外力により破損されるのを回避することができる。 Conventionally, a robot hand adopting a structure close to a human finger has been tried to grip various objects. For example, in Patent Document 1, a base portion is composed of a plurality of structural materials, the plurality of structural materials are rotatably connected via a support portion, and are adsorbed and fixed with a magnet. A configuration is disclosed in which the materials are biased in the direction of separating the materials. In this configuration, when the external force is applied when the robot hand is gripping the object to be gripped by adjusting the relationship between the magnet's attracting force and the urging force of the elastic body, the finger is structured at the base of the finger. It will be separated from the body. Thereby, it can avoid that a finger and a grasped object are damaged by the applied external force.

また、特許文献２に示す別のハンド構造は、リンク機構を伴い、複数の部材で指が形成される。そして、当該ハンド機構では、その指の根元の部材が対象物との接触でその回転が阻止されると、当該根元の部材に対して他の部材が回転することで、指全体としては当該対象物を巻き込む動作を実現し、対象物の把持が行われる。 Another hand structure shown in Patent Document 2 is accompanied by a link mechanism, and a finger is formed by a plurality of members. In the hand mechanism, when the member at the base of the finger is prevented from rotating due to contact with the object, the other member rotates with respect to the member at the base, so that the finger as a whole is the target. The operation of winding the object is realized, and the object is gripped.

特開２００８−１５５３０２号公報JP 2008-155302 A 特開２０１３−１５４４０９号公報JP 2013-154409 A

従来のハンド機構では、一般には駆動力が所定のアクチュエータ等から付与されて、当該ハンド機構が備える指が回転駆動等されて対象物の把持が行われる。ここで、把持対象物を確実に把持しようとし、また、ハンド機構の指を細かく制御しようとするためには、アクチュエータの数を増やしたり、その出力を大きくしたりすればよい。しかし、そのようにするとハンド機構の構成が複雑となったり、ハンド機構の駆動に要するエネルギーが増大したりすることになる。一方で、アクチュエータの数が少なかったり、その出力が小さかったりすると、アクチュエータからの駆動力には限りがあるため、ハンド機構による可搬重量を低くせざるを得ない。また、一般にハンド機構で対象物を把持しようとする場合には、対象物に作用する重力に抗して把持力を掛け続けなければならないため、ハンド機構が発揮すべき機能にもよるが、アクチュエータの定格出力を低くすることは容易ではない。このようにハンド機構において、発揮すべき機能と構成の簡素化を両立するのは容易なことではない。 In a conventional hand mechanism, a driving force is generally applied from a predetermined actuator or the like, and a finger included in the hand mechanism is rotationally driven to grip an object. Here, in order to securely grip the object to be gripped and to finely control the fingers of the hand mechanism, the number of actuators may be increased or the output thereof may be increased. However, such a configuration complicates the structure of the hand mechanism or increases the energy required for driving the hand mechanism. On the other hand, if the number of actuators is small or the output is small, the driving force from the actuators is limited, and thus the loadable weight by the hand mechanism must be reduced. Also, in general, when trying to grip an object with a hand mechanism, it is necessary to continue to apply a gripping force against the gravity acting on the object. It is not easy to reduce the rated output. Thus, in the hand mechanism, it is not easy to achieve both the function to be exhibited and the simplification of the configuration.

折しも、昨今では画像認識技術が発達してきており、その認識結果を利用してＦＡの分野ではロボットに様々な対象物の把持動作をさせたいという要求が高まってきている。従来では、特定の把持動作に特化した専用のエンドエフェクタを複数用意し、作業目的に応じて選択している場合もある。しかし、それでは、保守性や利便性が好ましくなく、やはり、多様な把持動作を可能とするハンド機構に対する期待は更に高まっているが、そうするとハンド機構の複雑化やアクチュエータの出力増大が避けられない状況となっている。 On the other hand, image recognition technology has been developed recently, and in the field of FA using the recognition result, there is an increasing demand for causing the robot to grip various objects. Conventionally, there are cases where a plurality of dedicated end effectors specialized for a specific gripping operation are prepared and selected according to the work purpose. However, maintenance and convenience are not preferable, and the expectation for a hand mechanism that enables various gripping operations is still increasing, but in that case, the complexity of the hand mechanism and the increase in the output of the actuator cannot be avoided. It has become.

本発明は、上記した問題点に鑑みてなされたものであり、対象物把持のための構造を簡素化しながらも、比較的高い機能を発揮するハンド機構を提供することを目的とする。 The present invention has been made in view of the above-described problems, and an object thereof is to provide a hand mechanism that exhibits a relatively high function while simplifying a structure for gripping an object.

本発明において、上記課題を解決するために、２つの多関節指と１つの単関節指を有するハンド機構において、単関節指側に、ハンド機構を閉じる方向の付勢力を掛ける構成を採用することで、ハンド機構の構造の簡素化と比較的高い把持機能との両立を図っている。 In the present invention, in order to solve the above-described problem, in a hand mechanism having two multi-joint fingers and one single-joint finger, a configuration in which a biasing force in the direction of closing the hand mechanism is applied to the single-joint finger side is adopted. Therefore, both the simplification of the structure of the hand mechanism and a relatively high gripping function are achieved.

詳細には、本発明は、取付部材と、指部同士が接続部を介して互いに回転可能となるように接続された複数の指部を含む多関節指であって、その根元側で前記取付部材に対して該複数の指部のうち一つの指部が回転自在に取り付けられる、第１多関節指及び第２多関節指と、前記第１多関節指及び前記第２多関節指に対して、駆動アクチュエータからの駆動力を伝える駆動部と、前記第１多関節指及び前記第２多関節指と接続され、且つ、前記取付部材に対して所定接続部を中心に回転可能となるように接続された、一つの指部から形成される単関節指であって、前記駆動アクチュエータからの駆動力により、該第１多関節指及び該第２多関節とともに該所定接続部を中心に回転する単関節指と、前記単関節指を、前記所定接続部を中心として前記第１多関節指及び前記第２多関節指側に回転させる付勢力を、前記駆動アクチュエータからの駆動力とは別に該単関節指に対して付与する付勢手段と、を備えるハンド機構である。 Specifically, the present invention is an articulated finger including an attachment member and a plurality of fingers connected so that the fingers can rotate with each other via a connecting portion, and the attachment is performed at the base side thereof. The first multi-joint finger and the second multi-joint finger, and the first multi-joint finger and the second multi-joint finger, wherein one of the plurality of finger portions is rotatably attached to the member And a drive unit that transmits a driving force from the drive actuator, and is connected to the first multi-joint finger and the second multi-joint finger, and is rotatable about a predetermined connection unit with respect to the attachment member. A single-joint finger formed from a single finger connected to the first joint and the second multi-joint together with the first multi-joint and rotated about the predetermined joint by the driving force from the drive actuator The single joint finger and the single joint finger centered on the predetermined connection portion. An urging means for applying an urging force for rotating the first articulated finger and the second articulated finger to the single articulated finger separately from the driving force from the drive actuator; is there.

本発明に係るハンド機構は、第１多関節指及び第２多関節指と、単関節指とを有し、これらの指により、各指の構成を利用した多様な把持動作を行うことが可能である。なお、これらの３つの指は、駆動アクチュエータからの駆動力が駆動部を介して伝えられることで把持動作が実現されるため、ハンド機構としては簡素な構造により比較的高い機能を発揮するものである。ここで、第１多関節指及び第２多関節指が、複数の指部で形成されているのは、例えば、各指部が回転することで指全体の形状を折りたたんだり伸ばしたりすることで多様な把持動作を可能とするためである。一方で、単関節指部を一つの指部で形成するのは、ハンド機構の構成を可及的に簡素化するためであり、更には、把持対象物の把持を容易に実現するためである。このように、指の構成が明確に異なる二種類の指により、本発明に係るハンド機構は形成されている。 The hand mechanism according to the present invention has a first multi-joint finger, a second multi-joint finger, and a single-joint finger, and these fingers can perform various gripping operations using the configuration of each finger. It is. Note that these three fingers exhibit a relatively high function with a simple structure because the gripping operation is realized by transmitting the driving force from the driving actuator through the driving unit. is there. Here, the reason why the first multi-joint fingers and the second multi-joint fingers are formed by a plurality of finger portions is, for example, that each finger portion rotates to fold or stretch the shape of the entire finger. This is to enable various gripping operations. On the other hand, the reason why the single-joint finger part is formed by one finger part is to simplify the configuration of the hand mechanism as much as possible, and furthermore, to easily grasp the object to be grasped. . In this way, the hand mechanism according to the present invention is formed by two types of fingers that are clearly different in finger configuration.

このような指を有するハンド機構において、単関節指側に、駆動アクチュエータからの駆動力とは区別される付勢力を付与する付勢手段が設けられている。上記の通り、単関節指は、一つの指部により形成され、取付部材に対して回転自在に取り付けられている。したがって、付勢手段によって付与される付勢力は、単関節指の回転駆動に関し一義的な回転モーメントを発生させるものであり、ハンド機構による把持動作を複雑化させるものではない。また、複数の指部を有する第１多関節指及び第２多関節指と単関節指とで把持対象物を把持しようとする場合、単関節指側に上述した付勢力を付与することで、少なくとも把持対象物を把持した状態を維持可能とするモーメントが、単関節指の所定接続部を中心として発生することになる。これは、把持対象物の把持機能の観点から、効果的に駆動アクチュエータの出力を補助することになるため、駆動アクチュエータの出力の小型化や、ハンド機構の構成簡素化に資するものと考えられる。 In such a hand mechanism having fingers, biasing means for applying a biasing force that is different from the driving force from the driving actuator is provided on the single joint finger side. As described above, the single joint finger is formed by one finger portion and is rotatably attached to the attachment member. Therefore, the biasing force applied by the biasing means generates a unique rotational moment with respect to the rotational drive of the single joint finger, and does not complicate the gripping operation by the hand mechanism. Moreover, when it is going to hold | grip a holding object with the 1st multi-joint finger which has a some finger part, a 2nd multi-joint finger, and a single joint finger, by giving the urging | biasing force mentioned above to the single joint finger side, At least a moment that can maintain the state of grasping the grasped object is generated around the predetermined connection portion of the single joint finger. Since this effectively assists the output of the drive actuator from the viewpoint of the grasping function of the object to be grasped, it is considered that this contributes to the miniaturization of the output of the drive actuator and the simplification of the configuration of the hand mechanism.

対象物把持のための構造を簡素化しながらも、比較的高い機能を発揮するハンド機構を提供することができる。 While simplifying the structure for gripping an object, a hand mechanism that exhibits a relatively high function can be provided.

本発明の第１および第２の実施例にハンド機構の斜視図である。It is a perspective view of a hand mechanism in the 1st and 2nd examples of the present invention. 図１に示すハンド機構の側面図である。It is a side view of the hand mechanism shown in FIG. 図１に示すハンド機構の上面図である。It is a top view of the hand mechanism shown in FIG. 図１に示すハンド機構の正面図である。It is a front view of the hand mechanism shown in FIG. 図１に示すハンド機構の内部のリンク機構の概略構成を示す図である。It is a figure which shows schematic structure of the link mechanism inside the hand mechanism shown in FIG. 図１に示すハンド機構を構成する連結部材の構成を示す図である。It is a figure which shows the structure of the connection member which comprises the hand mechanism shown in FIG. 図１に示すハンド機構を構成する第１指部の構成を示す図である。It is a figure which shows the structure of the 1st finger | toe part which comprises the hand mechanism shown in FIG. 図１に示すハンド機構を構成する第２指部の構成を示す図である。It is a figure which shows the structure of the 2nd finger | toe part which comprises the hand mechanism shown in FIG. 図１に示すハンド機構を構成する第３指部の構成を示す図である。It is a figure which shows the structure of the 3rd finger | toe part which comprises the hand mechanism shown in FIG. 図１に示すハンド機構において、第１モードが実行され多関節指と単関節指が駆動されてつまみ動作を行った状態を示す図である。In the hand mechanism shown in FIG. 1, it is a figure which shows the state which 1st mode was performed and the multi joint finger and the single joint finger were driven, and the knob operation was performed. 図１に示すハンド機構がつまみ動作により、把持対象物を把持している状態を示す第１の図である。FIG. 3 is a first diagram illustrating a state in which the hand mechanism illustrated in FIG. 1 is gripping a gripping target object by a knob operation. 図１に示すハンド機構において、第１モードが実行され多関節指と単関節指が駆動されてつまみ動作を行ったときの、多関節指と単関節指の接触位置と、各指の根元の接続部との位置関係を示す図である。In the hand mechanism shown in FIG. 1, when the first mode is executed and the multi-joint finger and the single-joint finger are driven to perform a knob operation, the contact position between the multi-joint finger and the single-joint finger and the root of each finger It is a figure which shows the positional relationship with a connection part. 図１に示すハンド機構がつまみ動作により、把持対象物を把持している状態を示す第２の図である。FIG. 6 is a second diagram illustrating a state in which the hand mechanism illustrated in FIG. 1 is gripping a gripping target object by a knob operation. 図１に示すハンド機構において第２モードが実行され、多関節指の巻き込み動作により、把持対象物を把持している状態を示す第１の図である。FIG. 6 is a first diagram illustrating a state in which a second mode is executed in the hand mechanism illustrated in FIG. 1 and a gripping target is gripped by a multi-joint finger entrainment operation. 図１に示すハンド機構が第２モードによる巻き込み動作実行時の、多関節指の巻き込み状態を示す図である。It is a figure which shows the state in which the articulated finger is involved when the hand mechanism shown in FIG. 図１に示すハンド機構において第２モードが実行され、多関節指の巻き込み動作により、把持対象物を把持している状態を示す第２の図である。FIG. 8 is a second diagram illustrating a state in which the second mode is executed in the hand mechanism illustrated in FIG. 1 and a gripping target is gripped by a multi-joint finger entrainment operation. 本発明の第２の実施例に係るハンド機構において、吸着機構による吸着対象物を吸着している状態を示す第１の図である。In the hand mechanism concerning the 2nd example of the present invention, it is the 1st figure showing the state where the adsorption object by the adsorption mechanism is adsorbed. 本発明の第２の実施例に係るハンド機構において、吸着機構による吸着対象物を吸着している状態を示す第２の図である。In the hand mechanism concerning the 2nd example of the present invention, it is the 2nd figure showing the state where the adsorption object by the adsorption mechanism is adsorbed.

以下、本発明の具体的な実施形態について図面に基づいて説明する。本実施例に記載されている構成部品の寸法、材質、形状、その相対配置等は、特に記載がない限りは発明の技術的範囲をそれらのみに限定する趣旨のものではない。 Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The dimensions, materials, shapes, relative arrangements, and the like of the components described in the present embodiment are not intended to limit the technical scope of the invention to those unless otherwise specified.

＜ハンド機構１の構成＞
図１は、本発明の実施形態にかかるハンド機構１の斜視図である。そして、図２はハンド機構１の側面図、図３はハンド機構１の上面図、図４はハンド機構１の正面図である。また、図５は、ハンド機構１を形成する多関節指８０Ａ、８０Ｂ、単関節指８０Ｃを含むリンク機構の状態が把握可能となるように、ハンド機構１の内部を可視化させた図である。なお、図１は、後述する第２の実施例に係るハンド機構１の構成も開示するものである。これらの図に示すように、ハンド機構１は、取付部材１０と、取付部材１０に取り付けられる駆動機構３０と、取付部材１０に取り付けられ駆動機構３０によって駆動される一対の多関節指８０Ａ、８０Ｂと単関節指８０Ｃを具備して構成されている。この一対の多関節指８０Ａ、８０Ｂは、複数の指部が互いに回転可能となるように複数の接続部によって接続され、その根元の指部が取付部材１０に取り付けられた多関節指である。また、単関節指８０Ｃは、一つの指部により形成され、当該指部の根元において接続部を介して取付部材１０に接続される単関節指である。各指の詳細な構造は、後述する。なお、以下の説明において、指８０Ａ、８０Ｂ、８０Ｃが折れ曲がっていく方向（図２において、多関節指８０Ａ、８０Ｂと単関節指８０Ｃとの間の空間が狭まる方向）を内側又は掌側、その反対方向（図２において当該空間が広がる方向）を外側又は甲側ということとする。 <Configuration of hand mechanism 1>
FIG. 1 is a perspective view of a hand mechanism 1 according to an embodiment of the present invention. 2 is a side view of the hand mechanism 1, FIG. 3 is a top view of the hand mechanism 1, and FIG. 4 is a front view of the hand mechanism 1. FIG. 5 is a diagram in which the inside of the hand mechanism 1 is visualized so that the state of the link mechanism including the multi-joint fingers 80A and 80B and the single joint finger 80C forming the hand mechanism 1 can be grasped. FIG. 1 also discloses a configuration of a hand mechanism 1 according to a second embodiment to be described later. As shown in these drawings, the hand mechanism 1 includes an attachment member 10, a drive mechanism 30 attached to the attachment member 10, and a pair of multi-joint fingers 80A and 80B attached to the attachment member 10 and driven by the drive mechanism 30. And a single joint finger 80C. The pair of articulated fingers 80 A and 80 B are articulated fingers that are connected by a plurality of connecting portions so that the plurality of finger portions can rotate with each other, and the base finger portions are attached to the attachment member 10. The single joint finger 80 C is a single joint finger that is formed by one finger portion and is connected to the attachment member 10 via a connection portion at the base of the finger portion. The detailed structure of each finger will be described later. In the following description, the direction in which the fingers 80A, 80B, 80C are bent (the direction in which the space between the multi-joint fingers 80A, 80B and the single-joint finger 80C is narrowed in FIG. 2) is the inner side or the palm side. The opposite direction (the direction in which the space expands in FIG. 2) is referred to as the outside or the instep side.

図１においては、取付部材１０は、その内部が可視化されるようにその一部が省略して
記載されている。取付部材１０は、駆動機構３０のリニアアクチュエータ３１を取り付ける場であるとともに、連結部材５０と第１指部８１を第１接続部８７の位置においてそれぞれ独立に回転自在に軸支している。駆動機構３０は、リニアアクチュエータ３１と連結部材５０とを具備して構成されている。リニアアクチュエータ３１は、概略円筒形をなすアクチュエータ本体３３とアクチュエータ本体３３の一方の端面から進退可能に突出するロッド３５とを有している。リニアアクチュエータ３１は電動で、取付部材１０内に配置された制御装置からの指令に従いロッド３５の進退量を調節することができる。 In FIG. 1, the mounting member 10 is shown with a part thereof omitted so that the inside thereof can be visualized. The attachment member 10 is a place where the linear actuator 31 of the drive mechanism 30 is attached, and rotatably supports the connecting member 50 and the first finger portion 81 independently at the position of the first connection portion 87. 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 electrically driven and can adjust the advance / retreat amount of the rod 35 in accordance with a command from a control device arranged in the mounting member 10.

図６は、連結部材５０の斜視図である。同図に示すように連結部材５０は、側面から見て概略Ｖ字形となっているブロック形状である。連結部材５０の下部中央には回転自在に第１接続部用シャフト６１が挿通され、また連結部材５０の２つに分かれる一方の上部には回転自在に第３接続部用シャフト６３が挿通され、さらに連結部材５０のもう一方の上部には一対の側壁部５５間を回転自在に連結する連結ロッド６５が取り付けられている。 FIG. 6 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 V-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 that rotatably connects the pair of side wall portions 55 is attached to the other upper portion of the connecting member 50.

連結部材５０はその第１接続部用シャフト６１の両側部分が取付部材１０に取り付けられるとともに、取付部材１０を貫通してその両外側に突出した第１接続部用シャフト６１の両端にそれぞれ下記する第１指部８１の第１接続部８７を回転自在に取り付けている。つまり、連結部材５０と第１指部８１はそれぞれ独立して回転自在となるように取付部材１０に取り付けられている。なお、後述するように、この第１指部８１には、連結部１９０を介して単関節指８０Ｃが連結されている。一方、連結部材５０の連結ロッド６５の中央には、リニアアクチュエータ３１のロッド３５の先端が取り付けられている。また連結部材５０の第３接続部用シャフト６３の両端には後述する第１駆動部１１１の第３接続部１１３が取り付けられている。このように、連結部材５０を介して、ハンド機構１における１つのリニアアクチュエータ３１と、２本の多関節指８０Ａ、８０Ｂと単関節指８０Ｃとが連結されている。 The connecting member 50 has both side portions of the first connecting portion shaft 61 attached to the mounting member 10 and is respectively described below at both ends of the first connecting portion shaft 61 that penetrates the mounting 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. As will be described later, a single joint finger 80 C is connected to the first finger portion 81 via a connecting portion 190. 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 third connection portion 113 of the first drive portion 111 described later is attached to both ends of the third connection portion shaft 63 of the connecting member 50. As described above, the one linear actuator 31 in the hand mechanism 1, the two multi-joint fingers 80 A and 80 B, and the single-joint finger 80 C are connected via the connecting member 50.

次に、多関節指８０Ａ、８０Ｂの構造について詳細に説明する。なお、多関節指８０Ａ、８０Ｂは同一構造であるため、本明細書では代表として多関節指８０Ａについて説明する。多関節指８０Ａは、根元側（取付部材１０側）の第１接続部８７にて取付部材１０に回転自在に接続される第１指部８１と、第１指部８１の先端側（取付部材１０と離れる側）の第２接続部９７にて根元側が回転自在に接続される第２指部９１と、第２指部９１の先端側の第５接続部１０７にて根元側が回転自在に接続される第３指部１０１と、を有する。更に、多関節指８０Ａには、先端側が第２指部９１の根元側の第４接続部１１５にて回転自在に接続され且つ根元側が駆動動力を印加する前記第３接続部１１３に接続される第１駆動部１１１と、先端側が第３指部１０１の根元側の第７接続部１２５に回転自在に接続され且つ根元側が第１指部８１の先端側の第６接続部１２３に回転自在に接続される第２駆動部１２１とが連結されており、これらの駆動部１１１、１２１は、後述するように駆動機構３０からの駆動力を多関節指８０Ａの各指部に伝えるための構成である。 Next, the structure of the articulated fingers 80A and 80B will be described in detail. Since the articulated fingers 80A and 80B have the same structure, the articulated finger 80A will be described as a representative in this specification. The articulated finger 80A includes a first finger portion 81 that is rotatably 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) of the first finger portion 81. The second finger part 91 whose base side is rotatably connected at the second connecting part 97 on the side away from the base 10 and the base side is rotatably connected at the fifth connecting part 107 on the tip side of the second finger part 91. A third finger part 101 to be operated. Further, the articulated finger 80A is rotatably connected at the distal end side thereof by a fourth connection portion 115 on the root side of the second finger portion 91, and the root side is connected to the third connection portion 113 that applies driving power. The first drive unit 111 and the distal end side are rotatably connected to the seventh connection portion 125 on the root side of the third finger portion 101, and the root side is rotatable to the sixth connection portion 123 on the distal end side of the first finger portion 81. The connected second driving unit 121 is connected, and these driving units 111 and 121 are configured to transmit the driving force from the driving mechanism 30 to each finger portion of the multi-joint finger 80A as will be described later. is there.

ここで、図７は第１指部８１を示す図であり、図７（ａ）は第１指部８１の側面図、図７（ｂ）は図７（ａ）のＡ−Ａ断面図である。同図及び図１、図３に示すように第１指部８１は、１枚の平板（板材）を下辺において略Ｕ字状に折り曲げることで、中央の底面部８２の両側に平行になるように一対の側面部８３を設けて構成されている。一対の側面部８３の根元側部分には前述のように第１接続部８７が設けられており、この部分において第１指部８１は取付部材１０に回転自在に接続され、その際中央の底面部８２は内側（掌側）に向けて、換言すれば、開口部分８５が外側（甲側）を向くように第１指部８１は配置される。第１接続部８７にはベアリングが設置されている（以下の各接続部においても、同様にベアリングによる軸支が行われているものとする）。第１指部８１の先端側には第２接続部９７が設けられ、さらに第２接続部９７よりも先端側に突出させた部分に第６接続部１２３が設けられている。第１指部８１の第２接続部９７付近から先端側の下部に
は、底面部８２が切り欠かれて第２指部挿入部８２１が形成されている。また、図７（ａ）に示すように、第１接続部８７と第２接続部９７との間であって、第１接続部８７寄りに第１０接続部２０２が設けられている。この第１０接続部２０２は、後述するように第１指部８１とリンク部材１９０とが互いに回転自在となるように両者を軸支する接続部である。 Here, FIG. 7 is a view showing the first finger portion 81, FIG. 7 (a) is a side view of the first finger portion 81, and FIG. 7 (b) is a cross-sectional view taken along line AA in FIG. 7 (a). is there. As shown in FIG. 1 and FIG. 1 and FIG. 3, the first finger portion 81 is parallel to both sides of the central bottom surface portion 82 by bending one flat plate (plate material) into a substantially U shape at the lower side. A pair of side surface portions 83 is provided. As described above, the first connection portion 87 is provided at the base side portion of the pair of side surface portions 83, and in this portion, the first finger portion 81 is rotatably connected to the mounting member 10, and at this time, the bottom surface at the center The first finger portion 81 is arranged so that the portion 82 faces inward (palm side), in other words, the opening portion 85 faces outward (back side). A bearing is installed in the first connecting portion 87 (assuming that the following connecting portions are similarly supported by bearings). 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. A bottom surface portion 82 is notched and a second finger portion insertion portion 821 is formed in the lower portion on the distal end side from the vicinity of the second connection portion 97 of the first finger portion 81. In addition, as shown in FIG. 7A, the tenth connection portion 202 is provided between the first connection portion 87 and the second connection portion 97 and closer to the first connection portion 87. As will be described later, the tenth connection portion 202 is a connection portion that pivotally supports the first finger portion 81 and the link member 190 so that the first finger portion 81 and the link member 190 are rotatable with respect to each other.

次に図８は、第２指部９１の側面図である。第２指部９１も、第１指部８１と同じように、１枚の平板（板材）を下辺において略Ｕ字状に折り曲げることで、中央の底面部９２の両側に平行になるように一対の側面部９３を設けて構成されている。一対の側面部９３の根元側部分には第２接続部９７が設けられており、この部分において第１指部８１の一対の側面部８３に回転自在に接続される。第２接続部９７では、両側面部８３、９３間に軸が渡されている。第２指部９１の両側面部９３には第２接続部９７よりも根元側に突出する部分を設け、その部分に第１駆動部１１１に回転自在に接続される第４接続部１１５を設けている。また、第２指部９１の左右両側面部９３の甲側の辺９３ａの第２接続部９７よりも先端側の位置には、第６接続部１２３を挿入する略Ｕ字状の第６接続部挿入凹部９３１が形成されている。甲側の辺９３ａの第６接続部挿入凹部９３１よりも根元側の部分は先端側の部分よりも高さを低くしている（図８中の高さｈ１を参照）。 Next, FIG. 8 is a side view of the second finger portion 91. Similarly to the first finger portion 81, the second finger portion 91 is also paired so as to be parallel to both sides of the central bottom surface portion 92 by bending one flat plate (plate material) into a substantially U shape at the lower side. The side surface portion 93 is provided. A second connecting portion 97 is provided at the base side portion of the pair of side surface portions 93, and is connected to the pair of side surface portions 83 of the first finger portion 81 in this portion so as to be freely rotatable. In the second connection portion 97, the shaft is passed between the side surface portions 83 and 93. A portion projecting to the base side from the second connection portion 97 is provided on both side surface portions 93 of the second finger portion 91, and a fourth connection portion 115 that is rotatably connected to the first drive portion 111 is provided in that portion. Yes. In addition, a substantially U-shaped sixth connecting portion into which the sixth connecting portion 123 is inserted at a position closer to the tip side than the second connecting 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. An insertion recess 931 is formed. The portion on the base side of the sixth connection portion insertion recess 931 on the side 93a on the back side has a lower height than the portion on the tip side (see height h1 in FIG. 8).

また、第２指部９１の左右両側面部９３の内側（掌側）の辺９３ｂの第５接続部１０７よりも根元側の位置には、第７接続部１２５を挿入する略Ｕ字状の第７接続部挿入凹部９３３が形成されている。内側の辺９３ｂの第７接続部挿入凹部９３３よりも先端側の部分は根元側の部分よりも高さを高くしている（図８中の高さｈ２を参照）。第２指部９１の両側面部９３の外側面間の幅寸法は、前記第１指部８１の両側面部８３の内側面間の幅寸法よりも若干小さい寸法に形成されている。これにより、第２指部９１と第１指部８１を第２接続部９７において接続する際は、第２指部９１の根元側部分が第１指部８１の先端側部分の左右両側面部８３の間に挿入される。このとき第６接続部挿入凹部９３１は、第１指部８１の両側面部８３の間に配置される。また第２指部９１の根元側部分は第１指部８１の第２指部挿入部８２１に嵌り込む。また第２指部９１の中央の底面９２が掌側に向くように、多関節指８０Ａにおいて第２指部９１が配置される。 In addition, a substantially U-shaped second insertion portion 125 is inserted at a position closer to the root side than the fifth connection portion 107 of the side 93b on the inner side (palm side) of the left and right side surface portions 93 of the second finger portion 91. 7 connection part insertion recessed part 933 is formed. A portion of the inner side 93b closer to the tip than the seventh connection portion insertion recess 933 has a higher height than a portion on the base side (see height h2 in FIG. 8). 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. Thus, when the second finger portion 91 and the first finger portion 81 are connected at the second connection portion 97, the left and right side surface portions 83 of the root side portion of the second finger portion 91 are the tip side portions of the first finger portion 81. Inserted between. 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 second finger part 91 is arranged in the multi-joint finger 80A so that the bottom surface 92 at the center of the second finger part 91 faces the palm side.

次に、図９は、第３指部１０１の側面図である。第３指部１０１も、第１指部８１、第２指部９１と同じように、１枚の平板（板材）を下辺において略Ｕ字状に折り曲げることで、中央の底面部１０２の両側に平行になるように一対の側面部１０３を設けて形成されている。一対の側面部１０３の根元側の上部には第５接続部１０７が設けられており、この部分において第２指部９１に回転自在に接続されている。第５接続部１０７の下部には第７接続部１２５が設けられている。 Next, FIG. 9 is a side view of the third finger unit 101. Similarly to the first finger part 81 and the second finger part 91, the third finger part 101 is bent on both sides of the bottom face part 102 at the center by bending a flat plate (plate material) into a substantially U shape at the lower side. A pair of side surface portions 103 are provided so as to be parallel to each other. A fifth connecting portion 107 is provided at the upper part on the base side of the pair of side surface portions 103, and is connected to the second finger portion 91 so as to be rotatable at this portion. A seventh connection portion 125 is provided below the fifth connection portion 107.

次に、第１駆動部１１１及び第２駆動部１２１について説明する。第１駆動部１１１は棒状の平板であり、上述の通り、その根元側の第３接続部１１３において、連結部材５０に回転自在に接続されている。一方、第１駆動部１１１の先端側は第２指部９１の第２接続部９７よりも根元側に突出させた部分の第４接続部１１５において回転自在に接続されている。さらに第４接続部１１５は、図１に示すように、その一部が、第２指部挿入部８２１を介して第１指部８１の外側（甲側）の開口部分８５内に入り込んでいる。 Next, the first drive unit 111 and the second drive unit 121 will be described. The 1st drive part 111 is a rod-shaped flat plate, and as above-mentioned, in the 3rd connection part 113 of the root side, it is connected to the connection member 50 rotatably. On the other hand, the distal end side of the first drive unit 111 is rotatably connected at a fourth connection portion 115 of a portion protruding from the second connection portion 97 of the second finger portion 91 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 via the second finger portion insertion portion 821. .

また、第２駆動部１２１は、第１駆動部１１１と同じように棒状の平板であり、その根元側の第６接続部１２３において第１指部８１の第２接続部９７よりも先端側に突出させた部分に回転自在に接続されている。一方、第２駆動部１２１の先端側の第７接続部１２５において第３指部１０１の根元側の部分が回転自在に接続されている。 The second drive unit 121 is a rod-like flat plate as in the first drive unit 111, and the distal end side of the second connection unit 97 of the first finger unit 81 in the sixth connection unit 123 on the base side thereof. It is rotatably connected to the protruding part. On the other hand, the base side portion of the third finger portion 101 is rotatably connected to the seventh connection portion 125 on the distal end side of the second drive portion 121.

更に、第２指部９１と第３指部１０１の間には、引っ張りバネからなる付勢手段１４０
が取り付けられ、第２指部９１と第３指部１０１との間が常に開く方向（第５接続部１０７を中心にして第２指部９１に対して第３指部１０１の先端側部分が外側（甲側）に移動する方向）の付勢力が付与されている。なお、第５接続部１０７は付勢手段１４０の第２指部９１側の支点ａ１より内側（掌側）に位置している。換言すると、付勢手段１４０は、第２指部９１に係止された支点ａ１と第３指部１０１に係止された支点ａ２間の離間距離が近づくように付勢しており、第２指部９１に対して第３指部１０１を内側（掌側）に移動した際は両支点ａ１、ａ２間が遠ざかるので、付勢手段１４０は元の開いた位置に向けてより強く付勢することになる。これにより、第１指部８１と第２指部９１間も開く方向に付勢され、結局、第１指部８１、第２指部９１、第３指部１０１全体は開く方向に付勢されることになる。なお付勢手段１４０は、このような配置に代わって、第１指部８１、第２指部９１間に、第１指部８１、第２指部９１間が常に開く方向の付勢力が付与されるように、取り付けてもよい。 Further, between the second finger portion 91 and the third finger portion 101, an urging means 140 made of a tension spring is provided.
In the direction in which the gap between the second finger portion 91 and the third finger portion 101 is always opened (the tip side portion of the third finger portion 101 is centered on the fifth connecting portion 107 with respect to the second finger portion 91). The urging force of the outer side (the direction of movement to the upper side) is applied. 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 separation distance between the fulcrum a1 locked to the second finger portion 91 and the fulcrum a2 locked to the third finger portion 101 to approach the second fulcrum a1. When the third finger 101 is moved inward (palm side) with respect to the finger 91, the fulcrums a1 and a2 move away from each other, so that the urging means 140 urges more strongly toward the original open position. It will be. As a result, the first finger 81 and the second finger 91 are also biased in the opening direction, and eventually the first finger 81, the second finger 91, and the third finger 101 are biased in the opening direction. Will be. In addition, instead of such an arrangement, the urging means 140 applies an urging force between the first finger part 81 and the second finger part 91 in a direction in which the first finger part 81 and the second finger part 91 always open. May be attached as is.

ここで、図１〜図５からも分かるように、ハンド機構１には２つの多関節指８０Ａ、８０Ｂとともに、一つの単関節指８０Ｃが備えられている。この単関節指８０Ｃは、一つの指部である第４指部１８０から形成されており、２つの多関節指８０Ａ、８０Ｂに対向するように、且つ第８接続部２００を中心に取付部材１０に対して回転自在となるように取付部材１０に取り付けられている。なお、接続部２００は、第４指部１８０の根元側から先端側に向かって一定距離の位置に設けられており、その第４指部１８０の根元側には更に接続部２０１が設けられている。この接続部２０１は、上記の通り第１指部８１に対して第１０接続部２０２を介して回転自在に接続された連結部１９０を、第４指部１８０に対して回転自在に接続するための接続部である。このようなリンク構成により、単関節指８０Ｃは、多関節指８０Ａ、８０Ｂを形成する第１指部８１の動きに連動して、換言すると第１指部８１に駆動力を付与する駆動機構３０からの駆動力の一部が連結部１９０を介して伝えられることで、接続部２００を中心に取付部材１０に対して回転する。 Here, as can be seen from FIGS. 1 to 5, the hand mechanism 1 is provided with one single-joint finger 80 C as well as two multi-joint fingers 80 A and 80 B. This single-joint finger 80C is formed from a fourth finger portion 180 which is one finger portion, and is attached to the mounting member 10 so as to face the two multi-joint fingers 80A and 80B and centering on the eighth connection portion 200. Are attached to the attachment member 10 so as to be rotatable. The connection part 200 is provided at a position at a fixed distance from the base side of the fourth finger part 180 toward the tip side, and a connection part 201 is further provided on the base side of the fourth finger part 180. Yes. This connecting portion 201 is for connecting the connecting portion 190 rotatably connected to the first finger portion 81 via the tenth connecting portion 202 as described above to the fourth finger portion 180. It is a connection part. With such a link configuration, the single-joint finger 80C interlocks with the movement of the first finger part 81 forming the multi-joint fingers 80A and 80B, in other words, the drive mechanism 30 that applies driving force to the first finger part 81. When a part of the driving force is transmitted through the connecting portion 190, the driving force is rotated with respect to the attachment member 10 around the connecting portion 200.

このような指に関する構成を有するハンド機構１では、多関節指８０Ａ及び多関節指８０Ｂと単関節指８０Ｃとの間の空間（把持空間３００：図２、図５を参照）に位置する把持対象物を把持することが可能となる。すなわち、駆動機構３０からの駆動力によって把持空間３００が狭まるように、後述する２つの把持動作モードが実行されることで、ハンド機構１は多様な把持動作を実現することができる。 In the hand mechanism 1 having such a finger-related configuration, the gripping target located in the space between the multi-joint finger 80A and the multi-joint finger 80B and the single-joint finger 80C (gripping space 300: see FIGS. 2 and 5). An object can be gripped. That is, the hand mechanism 1 can realize various gripping operations by executing two gripping operation modes described later so that the gripping space 300 is narrowed by the driving force from the drive mechanism 30.

なお、図５に示すように、第４指部１８０の根元側であって接続部２０１の近傍位置と、アクチュエータ本体３３近くの支点１８２との間、すなわち、取付部材１０の内部にバネ１８１が配置されている。バネ１８１は、第４指部１８０の接続部２００を中心とした回転範囲において、常時、第４指部１８０を、接続部２００を中心に図５中の矢印ｍ１の方向（図中において時計回り方向）に回転させるモーメントを発生するように付勢する。そして、このようにバネ１８１によって常時図５中の矢印ｍ１方向にモーメントが掛かると、多関節指８０Ａ及び多関節指８０Ｂに対しては、連結部１９０を介して図５中の矢印ｍ２の方向（図中において反時計回り方向）に回転させるモーメントが発生することになる。したがって、バネ１８１は、ハンド機構１を構成する各指８０Ａ、８０Ｂ、８０Ｃを常時閉じる方向に付勢していることになる。しかも、バネ１８１は多関節指８０Ａ、８０Ｂの第１指部８１に対しては付勢するが、第２指部９１と第３指部１０１に対しては付勢しないので、付勢手段１４０の付勢力を阻害することはない。したがって、付勢手段１４０による第２指部９１及び第３指部１０１への付勢力と、バネ１８１による第１指部８１への付勢力は、相殺されることなく各々有効に働く。 As shown in FIG. 5, a spring 181 is provided between the position near the connection portion 201 on the base side of the fourth finger 180 and the fulcrum 182 near the actuator body 33, that is, inside the mounting member 10. Has been placed. The spring 181 always moves the fourth finger 180 in the direction of the arrow m1 in FIG. 5 (clockwise in the drawing) around the connection 200 in the rotation range around the connection 200 of the fourth finger 180. To generate a moment to rotate in the direction). Then, when a moment is always applied in the direction of the arrow m1 in FIG. 5 by the spring 181 in this way, the direction of the arrow m2 in FIG. A moment to rotate in the counterclockwise direction in the figure is generated. Therefore, the spring 181 urges each finger 80A, 80B, 80C constituting the hand mechanism 1 in a direction to be always closed. In addition, the spring 181 urges the first finger part 81 of the multi-joint fingers 80A and 80B, but does not urge the second finger part 91 and the third finger part 101. It will not hinder your energizing power. Therefore, the urging force to the second finger part 91 and the third finger part 101 by the urging means 140 and the urging force to the first finger part 81 by the spring 181 work effectively without being canceled out.

ここでハンド機構１では、図１〜図４に示すように多関節指８０Ａの回転面（後述する第１モード及び第２モードにより指が回転するときの軌跡、以下、他の指の回転面についても同じ）及び多関節指８０Ｂの回転面、単関節指８０Ｃの回転面が互いに平行となるよ
うに、各指における指部が構成され、且つ各指が取付部材１０に取り付けられている。したがって、後述する第１モード及び第２モードが実行されても、多関節指８０Ａ、８０Ｂ、単関節指８０Ｃは互いに交差することなく、把持対象物の把持に影響を及ぼすことはない。また、図４から分かるように、ハンド機構１を正面から見たとき、単関節指８０Ｃの回転面が、多関節指８０Ａ、８０Ｂの回転面に挟まれるように、各指の相対位置が決定されている。このような配置により、第１モード及び第２モードを通して、把持対象物に対して単関節指８０Ｃの両側を２つの多関節指８０Ａ、８０Ｂが把持する形になるため、常に安定的に把持対象物を３点支持することが可能となる。 Here, in the hand mechanism 1, as shown in FIGS. 1 to 4, the rotation surface of the articulated finger 80 A (the trajectory when the finger rotates in the first mode and the second mode to be described later, hereinafter, the rotation surfaces of other fingers). The finger portions of each finger are configured so that the rotation surface of the multi-joint finger 80B and the rotation surface of the single joint finger 80C are parallel to each other, and each finger is attached to the attachment member 10. Therefore, even if a first mode and a second mode, which will be described later, are executed, the multi-joint fingers 80A and 80B and the single-joint finger 80C do not cross each other and do not affect the gripping of the gripping target. As can be seen from FIG. 4, when the hand mechanism 1 is viewed from the front, the relative positions of the fingers are determined so that the rotation surface of the single-joint finger 80C is sandwiched between the rotation surfaces of the multi-joint fingers 80A and 80B. Has been. With such an arrangement, the two articulated fingers 80A and 80B grip the both sides of the single joint finger 80C with respect to the grasped object through the first mode and the second mode. It becomes possible to support three points.

また、図２に示すように、多関節指８０Ａ、８０Ｂの第１指部８１と単関節指８０Ｃの第４指部１８０とを連結する連結部１９０は、その大部分が取付部材１０の内部に隠れ、その一部だけが把持空間３００に露出されている。このような構成にすることで、連結部１９０の大部分が把持空間３００に露出している構成と比べて連結部１９０により把持空間３００が狭くなるのを回避でき、ハンド機構１によって把持対象物をより的確に把持でき、又は、把持対象物を把持しようとするときのハンド機構１の位置決めや姿勢決めの制御が容易となる。好ましくは、後述する第１モード及び第２モードが実行されている間にわたって、連結部１９０の把持空間３００側への露出量を可及的に少なく抑えるように、連結部１９０の第１指部８１への連結部位である第１０接続部２０２及び第４指部１８０への連結部位である第９接続部２０１の位置が決定される。また、第４指部１８０に付勢力を付与しているバネ１８１も取付部材１０内に納められているので、バネ１８１がハンド機構１による把持対象物の把持動作を邪魔することはない。 As shown in FIG. 2, most of the connecting portion 190 that connects the first finger portion 81 of the multi-joint fingers 80 A and 80 B and the fourth finger portion 180 of the single-joint finger 80 C is the interior of the mounting member 10. And only a part thereof is exposed to the gripping space 300. By adopting such a configuration, it is possible to avoid the gripping space 300 from being narrowed by the connecting portion 190 as compared with a configuration in which most of the connecting portion 190 is exposed to the gripping space 300, and the hand mechanism 1 can hold the object to be gripped. Can be more accurately grasped, or the positioning and posture determination of the hand mechanism 1 can be easily controlled when trying to grasp the object to be grasped. Preferably, the first finger portion of the connecting portion 190 is suppressed so as to suppress the exposure amount of the connecting portion 190 to the gripping space 300 side as much as possible while the first mode and the second mode described later are executed. The positions of the tenth connecting portion 202 that is the connecting portion to 81 and the ninth connecting portion 201 that is the connecting portion to the fourth finger portion 180 are determined. Further, since the spring 181 that applies the urging force to the fourth finger portion 180 is also accommodated in the attachment member 10, the spring 181 does not interfere with the gripping operation of the gripping object by the hand mechanism 1.

＜ハンド機構１の動作＞
ここで、ハンド機構１の把持動作について詳細に説明する。ハンド機構１においては、多関節指８０Ａ、８０Ｂと単関節指８０Ｃとによる把持対象物のつまみ動作を行う第１モードと、主に多関節指８０Ａ、８０Ｂによる把持対象物の巻き込み動作を行う第２モードが実行される。これらのモードにおけるハンド機構１の動作について、ハンド機構１の各指が最大に開いている状態（例えば、図５に示す状態）から、第１モード、第２モードが順次実行される形態を例として説明する。 <Operation of hand mechanism 1>
Here, the gripping operation of the hand mechanism 1 will be described in detail. In the hand mechanism 1, a first mode in which the gripping object is gripped by the multi-joint fingers 80 A and 80 B and the single-joint finger 80 C, and a first operation in which the gripping object is entangled mainly by the multi-joint fingers 80 A and 80 B. Two modes are executed. Regarding the operation of the hand mechanism 1 in these modes, an example in which the first mode and the second mode are sequentially executed from the state where each finger of the hand mechanism 1 is maximally opened (for example, the state shown in FIG. 5). Will be described.

（１）第１モード
第１モードでは、把持対象物のつまみ動作が行われる。ここで、図５は、リニアアクチュエータ３１のロッド３５をアクチュエータ本体３３内に最も引き込んだ状態を示しており、この状態では連結部材５０は第１接続部８７を中心にしてリニアアクチュエータ側に最も引き込まれた状態になっている。このとき、多関節指８０Ａ、８０Ｂは、各指に含まれる指部および駆動部によるリンク構造上、指全体が最も外側に回転した状態であって、各指が図５に示すように真っ直ぐに伸ばされた状態となっている。この状態においては、第１指部８１が第１接続部８７を中心として外側に最も回転した位置にあるため、連結部１９０を介して、単関節指８０Ｃの第４指部１８０も第８接続部２００を中心として外側に最も回転した位置に置かれる。その結果、多関節指８０Ａ、８０Ｂと、単関節指８０Ｃは最も開いた状態となり、把持空間３００が最も大きく形成されることになる。 (1) First mode In the first mode, the gripping operation of the object to be grasped is performed. Here, FIG. 5 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 is most retracted toward the linear actuator with the first connecting portion 87 as the center. It is in the state. At this time, the multi-joint fingers 80A and 80B are in a state where the entire finger is rotated outwardly due to the link structure by the finger portion and the drive portion included in each finger, and each finger is straight as shown in FIG. It is in a stretched state. In this state, since the first finger portion 81 is at the position most rotated outward with the first connection portion 87 as the center, the fourth finger portion 180 of the single joint finger 80C is also connected to the eighth connection via the connecting portion 190. It is placed at a position that is most rotated outward about the part 200. As a result, the multi-joint fingers 80A and 80B and the single-joint finger 80C are in the most open state, and the gripping space 300 is formed to be the largest.

この状態からリニアアクチュエータ３１を駆動してそのロッド３５を押し出す。このとき把持空間３００に把持対象物が存在しないとすると、連結部材５０が第１接続部８７を中心にして図５中左回転し、第３接続部１１３が第４接続部１１５方向に向かって押し出される。これによって、第１接続部８７を中心として第１指部８１、第２指部９１、第３指部１０１全体がそのまま一体になって、すなわち、多関節指８０Ａ、８０Ｂが真っ直ぐ伸びた状態のままで内側に回転していく。このように第１指部８１、第２指部９１、第３指部１０１全体がそのまま一体に回転するのは、付勢手段１４０によって多関節指８０Ａ、８０Ｂでの各指部の姿勢を維持する付勢力が付与されているからである。 From this state, the linear actuator 31 is driven to push out the rod 35. If there is no gripping object in the gripping space 300 at this time, the connecting member 50 rotates counterclockwise in FIG. 5 around the first connecting portion 87, and the third connecting portion 113 moves toward the fourth connecting portion 115. Extruded. As a result, the first finger 81, the second finger 91, and the third finger 101 as a whole are united as they are with the first connection portion 87 as the center, that is, the articulated fingers 80A and 80B are straightly extended. Continue to rotate inward. The reason why the first finger 81, the second finger 91, and the third finger 101 are rotated as they are is that the biasing means 140 maintains the posture of each finger with the articulated fingers 80A and 80B. This is because the urging force to be applied is given.

また、多関節指８０Ａ、８０Ｂの全体が第１接続部８７を中心に内側に回転すると、連結部１９０を介して、単関節指８０Ｃの第４指部１８０も第８接続部２００を中心として内側に回転する。この結果、多関節指８０Ａ、８０Ｂと単関節指８０Ｃとは、それぞれの指が伸びた状態で、多関節指８０Ａ、８０Ｂの先端部と単関節指８０Ｃの先端部との距離が狭まるようにハンド機構１が閉じていく動作、すなわちつまみ動作が行われることになり、例えば、図１０に示す状態となる。なお、このつまみ動作が行われている過程では、バネ１８１によって第４指部１８０に対して内側に付勢力が付与されているため、つまみ動作が円滑に行われる。 When the entire multi-joint fingers 80A and 80B rotate inward about the first connection portion 87, the fourth finger portion 180 of the single-joint finger 80C also centers on the eighth connection portion 200 via the connection portion 190. Rotate inward. As a result, the multi-joint fingers 80A and 80B and the single-joint finger 80C are such that the distance between the tip of the multi-joint fingers 80A and 80B and the tip of the single-joint finger 80C is narrowed when the fingers are extended. An operation in which the hand mechanism 1 is closed, that is, a knob operation is performed. For example, the state shown in FIG. 10 is obtained. In the process in which the knob operation is performed, the spring operation 181 applies an urging force to the fourth finger portion 180 inward, so that the knob operation is smoothly performed.

図１０は、第１モードでのつまみ動作により、ハンド機構１の側面から見たときに多関節指８０Ａ、８０Ｂの先端部と単関節指８０Ｃの先端部との距離が極小となった状態を示している。本実施例では、このように両先端部間の距離が小さくなる状態で、先端部同士が対向するように、各指が構成されている。そこで、この両先端部間に把持対象物が位置するようにハンド機構１の位置および姿勢を制御すれば、多関節指８０Ａ、８０Ｂと単関節指８０Ｃの各先端部により、図１１に示すように把持対象物をつまんだ状態で把持することが可能となる。なお、この把持対象物を把持している状態においても、図１０に示すようにバネ１８１によって第４指部１８０に対して内側に付勢力が付与されている。そのため、第１モードでは、当該付勢力が、先端部間での把持対象物の把持状態を維持しようと作用することになり、以て把持対象物を把持した状態でハンド機構１全体の位置や姿勢が変動しても、安定して把持対象物を把持し続けることが可能となる。また、リニアアクチュエータ３１の電源が切られ駆動力の供給が絶たれた場合でも、バネ１８１の付勢力により把持対象物を把持し続けることが可能となる。 FIG. 10 shows a state in which the distance between the tip of the multi-joint fingers 80A and 80B and the tip of the single-joint finger 80C is minimized when viewed from the side of the hand mechanism 1 by the knob operation in the first mode. Show. In the present embodiment, each finger is configured such that the tip portions face each other in such a state that the distance between both tip portions becomes small. Therefore, if the position and posture of the hand mechanism 1 are controlled so that the object to be grasped is positioned between the two tips, the tips of the multi-joint fingers 80A and 80B and the single joint finger 80C are used as shown in FIG. It is possible to grip the object to be gripped while holding it. Even in the state where the gripping object is gripped, an urging force is applied to the fourth finger 180 by the spring 181 as shown in FIG. Therefore, in the first mode, the urging force acts to maintain the gripping state of the gripping object between the tip portions, and thus the position of the entire hand mechanism 1 in the state where the gripping object is gripped. Even if the posture fluctuates, it is possible to stably hold the object to be held. Further, even when the linear actuator 31 is turned off and the supply of the driving force is cut off, it is possible to continue to grip the object to be gripped by the biasing force of the spring 181.

また、上記のようなつまみ動作を行うときの、多関節指８０Ａ、８０Ｂと単関節指８０Ｃの各先端部の位置は、図１２に示すように把持対象物の把持方向、すなわち各先端部が把持対象物に接近し、把持力を作用させる方向において、多関節指８０Ａ、８０Ｂの取付部材１０への取付位置である第１接続部８７と、単関節指８０Ｃの取付部材１０への取付位置である第８接続部２００との間に位置するように、ハンド機構１が構成されている。上記の通り、第１モードでは、多関節指８０Ａ、８０Ｂは指全体で第１接続部８７を中心に回転し、単関節指８０Ｃは第８接続部２００を中心に回転するため、第１接続部８７と第８接続部２００との間で、その回転動作時に各指の先端部が最も把持対象物側の遠方に飛び出た状態となる。そこで、各指の先端部を図１２のように配置することで、つまみ動作時に各指の先端部がたどる軌跡を把握しやすくなり、各指が把持対象物が置かれる床面ＦＬ等に干渉することを回避しやすくなる。特に、把持対象物をつまんでいる状態での各指の先端部を基準点とした第１接続部８７の傾斜角θ１（基準点での法線と、基準点と接続部を結ぶ線とのなす角）と、第８接続部２００の傾斜角θ２が概ね等しくなるように、各指が取付部材１０に取り付けられるのが好ましい。 Further, the position of each tip of the multi-joint fingers 80A and 80B and the single joint finger 80C when performing the above-described knob operation is as follows. In the direction in which the gripping object approaches and the gripping force is applied, the first connecting portion 87 that is the mounting position of the multi-joint fingers 80A and 80B to the mounting member 10 and the mounting position of the single joint finger 80C to the mounting member 10 The hand mechanism 1 is configured so as to be located between the eighth connection portion 200 and the eighth connection portion 200. As described above, in the first mode, the multi-joint fingers 80A and 80B rotate around the first connection portion 87 as a whole, and the single joint finger 80C rotates around the eighth connection portion 200. Between the part 87 and the eighth connection part 200, the tip part of each finger protrudes farthest away from the grasped object during the rotation operation. Therefore, by arranging the tip of each finger as shown in FIG. 12, it becomes easier to grasp the trajectory followed by the tip of each finger during the knob operation, and each finger interferes with the floor surface FL or the like on which the grasped object is placed. It will be easier to avoid. In particular, the inclination angle θ1 of the first connecting portion 87 (the normal line at the reference point and the line connecting the reference point and the connecting portion) with the tip of each finger in the state of pinching the gripping object as the reference point. It is preferable that each finger is attached to the attachment member 10 so that the inclination angle θ2 of the eighth connection portion 200 is substantially equal to the angle formed by the eighth connection portion 200.

なお、リニアアクチュエータ３１を駆動して前記押し出したロッド３５を後方に引き込むと、上述とは逆の動作によって多関節指８０Ａ、８０Ｂ全体がそのまま第１接続部８７を中心にして一体に回転するとともに、単関節指８０Ｃの第４指部１８０も第８接続部２００を中心として回転することで、多関節指８０Ａ、８０Ｂと単関節指８０Ｃが開き、図５に示す状態に戻る。 When the linear actuator 31 is driven and the pushed-out rod 35 is pulled backward, the entire articulated fingers 80A and 80B rotate as a whole around the first connection portion 87 by the reverse operation to the above. The fourth finger part 180 of the single-joint finger 80C also rotates about the eighth connection part 200, so that the multi-joint fingers 80A and 80B and the single-joint finger 80C open, returning to the state shown in FIG.

なお、第１モードでは、図１１に示したように、多関節指８０Ａ、８０Ｂの先端部と単関節指８０Ｃの先端部で把持対象物をつまむだけではなく、図１３に示すように、多関節指８０Ａ、８０Ｂの中腹部や単関節指８０Ｃの中腹部で把持対象物を挟むように把持してもよい。すなわち、第１モードでは、多関節指８０Ａ、８０Ｂ全体が第１接続部８７を中心に回転するとともに単関節指８０Ｃが第８接続部２００を中心に回転する動作によって
、各指により把持対象物を把持する把持動作が行われることになる。 In the first mode, as shown in FIG. 11, not only the gripping object is pinched by the tip of the multi-joint fingers 80A and 80B and the tip of the single-joint finger 80C, but as shown in FIG. You may hold | grip so that a holding | grip target object may be pinched | interposed by the middle part of joint finger 80A, 80B or the middle part of single joint finger 80C. That is, in the first mode, the multi-joint fingers 80A and 80B as a whole rotate around the first connection portion 87, and the single joint finger 80C rotates around the eighth connection portion 200, thereby holding the object to be grasped by each finger. A gripping operation for gripping is performed.

（２）第２モード
次に、ハンド機構１での第２モードについて図１４、図１５に基づいて説明する。図１４は、図２と同様にハンド機構１の側面図であり、図１５は、多関節指８０Ａ、８０Ｂの構造が内側から把握しやすいように、単関節指８０Ｃに関連する構成の記載を省略して多関節指８０Ａ、８０Ｂの構成を示す斜視図である。第２モードは、上記第１モードに続いて行われる把持動作である。ここで、把持空間３００に把持対象物（図中、２点鎖線で示される）が配置された状態で、上述の第１モードが実行されて、第１指部８１が第１接続部を中心に内側に回転している過程で、その第１指部８１が把持対象物に当接した状態を想定する。この状態から更にリニアアクチュエータ３１を駆動してロッド３５を押し出すことで連結部材５０を第１接続部８７を中心に回転させると、第３接続部１１３が第４接続部１１５方向に向かって押し出される。ここで連結部材５０に接続されている第１駆動部１１１は、第２指部９１に第４接続部１１５において連結され、更に第１指部８１は、第４接続部１１５よりも内側の第２接続部９７において第２指部９１に連結されているので、駆動機構３０に連結した第１駆動部１１１の駆動力が、まず第２指部９１に伝わり、次に第１指部８１に伝わっていく。そして、第１指部８１、第２指部９１に、それぞれ第１接続部８７、第２接続部９７を中心とするトルクが生じることになる。このとき、第１指部８１は把持対象物が存在するためその回転は事実的に阻止されているので、結果として、駆動機構３０からの駆動力が付勢手段１４０の付勢力に打ち勝つと、図１４に示すように第２指部９１が第２接続部９７を中心に内側に回転していく。 (2) Second Mode Next, the second mode in the hand mechanism 1 will be described with reference to FIGS. 14 and 15. FIG. 14 is a side view of the hand mechanism 1 as in FIG. 2, and FIG. 15 describes a configuration related to the single joint finger 80 C so that the structure of the multi-joint fingers 80 A and 80 B can be easily grasped from the inside. It is a perspective view which omits and shows the structure of articulated fingers 80A and 80B. The second mode is a gripping operation performed following the first mode. Here, in the state where the gripping object (indicated by a two-dot chain line in the drawing) is arranged in the gripping space 300, the first mode described above is executed, and the first finger portion 81 is centered on the first connecting portion. Assuming that the first finger 81 is in contact with the object to be grasped in the process of rotating inwardly. If the linear actuator 31 is further driven from this state and the rod 35 is pushed out to rotate the connecting member 50 around the first connecting portion 87, the third connecting portion 113 is pushed out toward the fourth connecting portion 115. . Here, the first drive unit 111 connected to the connecting member 50 is connected to the second finger unit 91 at the fourth connection unit 115, and the first finger unit 81 is further connected to the inner side of the fourth connection unit 115. Since the second connecting portion 97 is connected to the second finger portion 91, the driving force of the first driving portion 111 connected to the driving mechanism 30 is first transmitted to the second finger portion 91 and then to the first finger portion 81. It will be transmitted. And the torque centering on the 1st connection part 87 and the 2nd connection part 97 will arise in the 1st finger part 81 and the 2nd finger part 91, respectively. At this time, the rotation of the first finger portion 81 is effectively prevented because there is an object to be grasped, and as a result, when the driving force from the driving mechanism 30 overcomes the urging force of the urging means 140, As shown in FIG. 14, the second finger portion 91 rotates inward about the second connection portion 97.

このとき図１４に示すように、第１指部８１に設けた静止している第６接続部１２３は、第２接続部９７を中心に回転する第４接続部１１５に対して近接した状態となるため、第２駆動部１２１が第２指部９１に対して後方に引き込められ、第６接続部１２３が相対的に第６接続部挿入凹部９３１内から抜け出た状態となる。これによって、第７接続部１２５が、後方に引き込められて第７接続部挿入凹部９３３内に入り込み、第３指部１０１は第２指部９１に対して第５接続部１０７を中心に内側に回転していく。そして図１４に示すように、第１指部８１に対して第２指部９１を内側に折り曲げた際、第４接続部１１５は第１指部８１の開口部分８５内から外側に向けて露出していく。 At this time, as shown in FIG. 14, the stationary sixth connection portion 123 provided on the first finger portion 81 is close to the fourth connection portion 115 rotating around the second connection portion 97. Therefore, the second drive unit 121 is retracted backward with respect to the second finger unit 91, and the sixth connection unit 123 is relatively removed from the sixth connection unit insertion recess 931. As a result, the seventh connection part 125 is retracted backward and enters the seventh connection part insertion recess 933, and the third finger part 101 is located inside the fifth finger part 107 with respect to the second finger part 91. Rotate to. As shown in FIG. 14, 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.

これによって第２指部９１と第３指部１０１が折れ曲がり、把持対象物に対してこれらの指部が巻き込んでいく形で把持対象物が把持される。換言すると、第１指部８１の先端側の第６接続部１２３において第２駆動部１２１を接続し、その第６接続部１２３の根元側の第２接続部９７において第２指部９１を第１指部８１に対して接続しているので、第１指部８１に対して第２指部９１が回転した際は、第２駆動部１２１が第３指部１０１を第５接続部１０７の内側の第７接続部１２５において引っ張り又は移動を規制し、その結果、第２指部９１と第３指部１０１は同時に内側に向かって回転し、折れ曲がり、把持対象物を巻き込むように把持する。つまり、第１指部８１に対して第２指部９１が回転した際は必ず同時に第３指部１０１が第２指部９１に対して回転することになる。 As a result, the second finger part 91 and the third finger part 101 are bent, and the gripping target object is gripped in such a manner that these finger parts are entangled with the gripping target object. In other words, the second drive unit 121 is connected at the sixth connection part 123 on the distal end side of the first finger part 81, and the second finger part 91 is connected at the second connection part 97 on the root side of the sixth connection part 123. Since the second finger unit 91 is rotated with respect to the first finger unit 81, the second driving unit 121 connects the third finger unit 101 to the fifth connection unit 107. The inner seventh connecting portion 125 restricts pulling or movement, and as a result, the second finger portion 91 and the third finger portion 101 simultaneously rotate inward, bend, and grip the object to be gripped. That is, whenever the second finger portion 91 rotates relative to the first finger portion 81, the third finger portion 101 always rotates relative to the second finger portion 91 at the same time.

なお、第２モードの実行中は、第１指部８１は回転しないため、連結部１９０で連結されている単関節指８０Ｃの第４指部１８０も回転しない。したがって、第２モードにおいては多関節指８０Ａ、８０Ｂを主とした、巻き込み動作による把持対象物の把持動作が行われることになる。ただし、把持対象物が比較的小さいときには、図１６に示すように、第１指部８１が把持対象物を第４指部１８０との間に挟んだ状態で、その回転動作が阻止される場合がある。このような場合には、第２指部９１、第３指部１０１による把持対象物の直接の巻き込みは生じず、多関節指８０Ａ、８０Ｂの第１指部８１と単関節指８０Ｃの第４指部１８０によって把持対象物が把持されることになる。 In addition, since the 1st finger part 81 does not rotate during execution of 2nd mode, the 4th finger part 180 of the single joint finger 80C connected with the connection part 190 does not rotate. Therefore, in the second mode, the grasping operation of the grasped object by the entrainment operation is performed mainly using the multi-joint fingers 80A and 80B. However, when the gripping object is relatively small, as shown in FIG. 16, when the first finger 81 sandwiches the gripping object between the fourth finger 180 and the rotation operation is prevented. There is. In such a case, the object to be grasped is not directly caught by the second finger part 91 and the third finger part 101, and the first finger part 81 of the multi-joint fingers 80A and 80B and the fourth of the single-joint finger 80C. The object to be grasped is grasped by the finger part 180.

ここで、第２モードにおいてリニアアクチュエータ３１によりロッド３５が引き込むように駆動すると、第１接続部８７を中心に連結部材５０が取付部材１０側に回転し、上述とは逆の動作によって第２接続部９７、第５接続部１０７を中心に第２指部９１、第３指部１０１が回転して、これらの指部による把持対象物の巻き込み状態が解消される。そして、第２指部９１、第３指部１０１が、第１モードから第２モードに移り変わる際に第１指部８１が把持対象物に当接したときの状態に戻ると、その後は、ハンド機構１の動作モードが切り替わり、上述した第１モードが実行される。そのため、多関節指８０Ａ、８０Ｂは指全体が、第１接続部８７を中心とした回転を行うとともに、単関節指８０Ｃが第８接続部２００を中心とした回転を行う。 Here, in the second mode, when the linear actuator 31 is driven so that the rod 35 is retracted, the connecting member 50 rotates toward the mounting member 10 around the first connecting portion 87, and the second connection is performed by an operation opposite to that described above. The second finger part 91 and the third finger part 101 rotate around the part 97 and the fifth connection part 107, and the caught state of the object to be grasped by these finger parts is eliminated. And when the 2nd finger part 91 and the 3rd finger part 101 return to the state when the 1st finger part 81 contact | abuts to a holding | grip target object when changing from 1st mode to 2nd mode, after that, hand The operation mode of the mechanism 1 is switched, and the first mode described above is executed. Therefore, the multi-joint fingers 80A and 80B rotate around the first connection portion 87, and the single joint finger 80C rotates around the eighth connection portion 200.

このようにハンド機構１では、第１指部８１に対して把持対象物が接触し、その回転を阻止しない限りは、第１モードによる把持動作が行われ、第１指部８１の回転が把持対象物によって阻止されると、第１モードから第２モードによる把持動作に切り替わる。そのため、把持空間３００に位置する把持対象物を少なくとも第１モードか第２モードによる把持動作で確実に把持することができる。また、上述の通り、多関節指８０Ａ、８０Ｂ、単関節指８０Ｃのそれぞれの回転面は互いに交差しないようにハンド機構１が形成されている。そのため、第１モードおよび第２モードにわたって、各指がどのように回転しても、指同士が干渉することはなく、以て、把持空間３００に存在しうる限りにおいて把持対象物を的確に把持することが可能となる。また、上述の通り第１モード及び第２モードにわたってバネ１８１の付勢力は付与され、ハンド機構１の指が閉じる方向の駆動力に対して補助が行われる。この付勢力は、構造の簡素な単関節指８０Ｃ側に付与されることで、ハンド機構１の構造をいたずらに複雑化することなく、また、ハンド機構１の制御性を悪化させることなく、効果的なリニアアクチュエータ３１の出力補助を実現し、ハンド機構１の小型化を促進し得るものである。 As described above, in the hand mechanism 1, the gripping operation in the first mode is performed and the rotation of the first finger unit 81 is gripped unless the object to be gripped contacts the first finger unit 81 and the rotation is prevented. When blocked by the object, the first mode is switched to the gripping operation in the second mode. Therefore, it is possible to reliably grip a gripping object positioned in the gripping space 300 by at least the gripping operation in the first mode or the second mode. Further, as described above, the hand mechanism 1 is formed so that the rotation surfaces of the multi-joint fingers 80A and 80B and the single-joint finger 80C do not intersect each other. Therefore, no matter how the fingers rotate over the first mode and the second mode, the fingers do not interfere with each other, so that the object to be grasped can be accurately grasped as long as it can exist in the grasping space 300. It becomes possible to do. Further, as described above, the urging force of the spring 181 is applied over the first mode and the second mode, and assistance is provided for the driving force in the direction in which the finger of the hand mechanism 1 is closed. This urging force is applied to the simple joint finger 80C side having a simple structure, so that the structure of the hand mechanism 1 is not complicated and the controllability of the hand mechanism 1 is not deteriorated. Thus, output assistance of the linear actuator 31 can be realized, and the hand mechanism 1 can be reduced in size.

ところで、ハンド機構１において、把持対象物が一方の多関節指８０Ａの第１指部８１に当接する位置と、他方の指８０Ｂの第１指部８１に当接する位置とが異なっている場合、両者の第３接続部１１３の位置は同一位置のまま、多関節指８０Ａと多関節指８０Ｂは、第２モードにおいてそれぞれ異なる独立した動作を行う。即ち、並列に配置した２組の多関節指８０Ａ、８０Ｂを同時に単一の駆動機構３０によって駆動するだけで、把持しようとする把持対象物の形状に応じて多関節指８０Ａ、８０Ｂそれぞれの第１指部８１、第２指部９１、第３指部１０１の屈曲状態を容易に異ならせることができ、以て、安定した把持対象物の把持が可能となる。 By the way, in the hand mechanism 1, when the position where the gripping object comes into contact with the first finger part 81 of one multi-joint finger 80 A is different from the position where it comes into contact with the first finger part 81 of the other finger 80 B, While the positions of the third connection portions 113 are the same, the multi-joint fingers 80A and the multi-joint fingers 80B perform different independent operations in the second mode. That is, the two articulated fingers 80A and 80B arranged in parallel are simply driven by the single drive mechanism 30 at the same time. The bent state of the first finger part 81, the second finger part 91, and the third finger part 101 can be easily changed, so that a stable object to be grasped can be grasped.

また、上述のハンド機構１では、第１指部８１と第２指部９１と第３指部１０１は何れも板材をＵ字状に折り曲げてその中央の底面部８２、９２、１０２を内側に向けて配置しているので、これら底面部８２、９２、１０２を把持対象物との当接面として直接機能させることができる。このため当接面となる部品を別途取り付ける必要がなく、構造の簡素化、軽量化が図れる。 In the hand mechanism 1 described above, the first finger portion 81, the second finger portion 91, and the third finger portion 101 are all bent in a U-shape so that the bottom surface portions 82, 92, 102 at the center thereof are inward. Therefore, the bottom surface portions 82, 92, 102 can directly function as contact surfaces with the object to be grasped. 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.

また、ハンド機構１においては、第２指部９１の第２接続部９７よりも根元側に突出させた部分に第４接続部１１５を設けたので、第２接続部９７、第４接続部１１５が高さ方向に重ならず、これによって第１指部８１、第２指部９１を接続した第２接続部９７近傍部分の高さ寸法の薄型化を図ることができる。同じように、第４接続部１１５の一部が第１指部８１の外側に開口する開口部分８５内に入り込むことで、第１指部８１の内部を第４接続部１１５の揺動スペースの一部として使用することになる。この結果、第１指部８１に対して第２指部９１を内側に折り曲げた際に第４接続部１１５が第１指部８１の開口部分８５内から外側に向けて突出する突き出し量（突き出し寸法）を小さくすることができる。これにより、第１指部８１、第２指部９１間の折り曲げ状態にかかわらず、第１指部８１、第２指部９１を接続した第２接続部９７近傍部分の高さ寸法の薄型化を図ること
ができる。 In the hand mechanism 1, since the fourth connection portion 115 is provided at a portion of the second finger portion 91 that protrudes to the base side from the second connection portion 97, the second connection portion 97 and the fourth connection portion 115 are provided. Therefore, the height dimension of the vicinity of the second connection part 97 connecting the first finger part 81 and the second finger part 91 can be reduced. Similarly, a part of the fourth connecting portion 115 enters the opening portion 85 that opens to the outside of the first finger portion 81, so that the inside of the first finger portion 81 can be used as the swinging space of the fourth connecting portion 115. Will be used as part. As a result, when the second finger portion 91 is bent inward with respect to the first finger portion 81, the fourth connection portion 115 protrudes outward from the inside of the opening portion 85 of the first finger portion 81 (protrusion). (Dimension) can be reduced. Thereby, regardless of the bent state between the first finger part 81 and the second finger part 91, the height dimension in the vicinity of the second connection part 97 connecting the first finger part 81 and the second finger part 91 is reduced. Can be achieved.

一方、第２接続部９７よりも先端側に突出させた部分に第６接続部１２３を設けているので、第２接続部９７、第６接続部１２３は高さ方向に重ならない。第６接続部１２３は第３指部１０１を駆動する第２駆動部１２１を連結するために第１指部８１に設けたものであるが、これによっても第１指部８１および第２指部９１を接続した第２接続部９７近傍部分の高さ寸法の薄型化を図ることができる。また、第２指部９１に設けた第６接続部挿入凹部９３１を第１指部８１の左右両側面部８３の間に配置したので、第６接続部１２３が第２指部９１から外側に向けて突出する突き出し量（突き出し寸法）を小さくできる。つまり、第１指部８１、第２指部９１間の折り曲げ状態にかかわらず、第１指部８１、第２指部９１を接続した第２接続部９７近傍部分の高さ寸法の薄型化を、この構成からも図ることができる。 On the other hand, since the sixth connection part 123 is provided in a portion protruding from the second connection part 97 toward the front end side, the second connection part 97 and the sixth connection part 123 do not overlap in the height direction. The sixth connecting portion 123 is provided on the first finger portion 81 in order to connect the second driving portion 121 that drives the third finger portion 101, and also by this, the first finger portion 81 and the second finger portion. It is possible to reduce the height dimension of the vicinity of the second connecting portion 97 to which 91 is connected. In addition, since the sixth connection portion insertion recess 931 provided in the second finger portion 91 is disposed between the left and right side surface portions 83 of the first finger portion 81, the sixth connection portion 123 faces outward from the second finger portion 91. Thus, the protruding amount (projecting dimension) can be reduced. That is, regardless of the bent state between the first finger part 81 and the second finger part 91, the height dimension of the vicinity of the second connection part 97 connecting the first finger part 81 and the second finger part 91 is reduced. This configuration can also be achieved.

なお、第１駆動部１１１、第２駆動部１２１は何れも棒状の平板なので、第２指部９１の両側面部９３の間に嵌り込む構成を採用しても、両側面部９３間の幅を小さくでき、第２指部９１を必要最小限の幅寸法にすることができる。 Since both the first drive unit 111 and the second drive unit 121 are rod-shaped flat plates, the width between the side surface portions 93 can be reduced even if a configuration of fitting between the side surface portions 93 of the second finger portion 91 is adopted. The second finger portion 91 can be made to have a minimum width dimension.

＜変形例１＞
上記実施例のハンド機構１では、第４接続部１１５の一部を第１指部８１の開口部分８５内に入り込ませたが、第４接続部１１５の全部を第１指部８１の開口部分８５内に入り込ませてもよい。また、連結部材５０以外の部材（例えばリニアガイド等）によってリニアアクチュエータ３１の駆動力を第３接続部１１３に伝達してもよい。 <Modification 1>
In the hand mechanism 1 of the above embodiment, a part of the fourth connection part 115 is inserted into the opening part 85 of the first finger part 81, but the entire fourth connection part 115 is an opening part of the first finger part 81. 85 may be included. Further, the driving force 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).

＜変形例２＞
また上記実施例のハンド機構１では、多関節指８０Ａと多関節指８０Ｂにおけるリンク機構は同一としているが、両多関節指におけるリンク機構の構成を異ならせてもよい。すなわち、第１接続部８７、第２接続部９７、第３接続部１１３、第４接続部１１５の何れかの位置を両多関節指８０Ａ、８０Ｂ間で異ならせてもよい。 <Modification 2>
In the hand mechanism 1 of the above embodiment, the link mechanisms of the multi-joint fingers 80A and the multi-joint fingers 80B are the same, but the configuration of the link mechanisms of both multi-joint fingers may be different. That is, the position of any of the first connection part 87, the second connection part 97, the third connection part 113, and the fourth connection part 115 may be different between the two multi-joint fingers 80A and 80B.

＜変形例３＞
また、上記実施例のハンド機構１において、多関節指及８０Ａと多関節指８０Ｂの先端部の、特に第１モードで把持対象物をつまみ動作によって把持する際に把持対象物に接触する部位に溝部を設け、単関節指８０Ｃの先端部の、特に第１モードで把持対象物をつまみ動作によって把持する際に把持対象物に接触する部位に、把持対象物との接触により変形可能な変形部を設けてもよい。溝部の形成は、つまみ動作によって把持対象物を滑らずに把持するために有効であるが、多関節指及８０Ａ及び多関節指８０Ｂの先端部と、単関節指８０Ｃの先端部の両方に溝部が形成されると、仮に溝部に把持対象物の一部が嵌まってしまった場合に、把持対象物を非常に不安定な状態でつまみ上げてしまう可能性がある。そこで、このような不安定なつまみ動作を回避するために、一方の指の先端部を把持対象物の形状にならって変形しうる変形部を形成することで、第１モードでの把持動作を確実なものとすることができる。したがって、溝部が形成されるのが単関節指８０Ｃの先端部であって、変形部が形成されるのが多関節指及８０Ａと多関節指８０Ｂの先端部であってもかまわない。 <Modification 3>
Further, in the hand mechanism 1 of the above-described embodiment, the tip of the multi-joint finger 80A and the multi-joint finger 80B, particularly in a portion that comes into contact with the gripping object when gripping the gripping object by the pinch operation in the first mode. A deformable portion that is provided with a groove and can be deformed by contact with the gripping object at a portion of the tip of the single-joint finger 80C that touches the gripping object when the gripping object is gripped by the pinch operation in the first mode. May be provided. The formation of the groove is effective for grasping the object to be grasped without slipping by the knob operation, but the groove is formed on both the tip of the multi-joint finger 80A and the multi-joint finger 80B and the tip of the single joint finger 80C. If a part of the object to be grasped is fitted in the groove, the object to be grasped may be picked up in a very unstable state. Therefore, in order to avoid such an unstable pinch operation, the gripping operation in the first mode is performed by forming a deformable portion that can deform the tip of one finger in accordance with the shape of the object to be gripped. It can be certain. Accordingly, the groove may be formed at the tip of the single joint finger 80C, and the deformed portion may be formed at the tip of the multi-joint finger 80A and the multi-joint finger 80B.

第２の実施例に係るハンド機構１について、図１及び図１７、１８に基づいて説明する。本実施例に係るハンド機構１は、図１に示すように、多関節指８０Ａ、８０Ｂの第１指部８１に吸着機構４００が設けられている。この吸着機構４００は、エアの吸引により吸着対象物を吸着し保持する吸着面４０３を有する吸着ノズル４０２が、支持部材４０１を介して第１指部８１に取り付けられている。なお、吸着ノズル４０２から吸入したエアを
ポンプ側に送るホースは、本実施例の図における記載を省略している。上記第１の実施例で述べたように、第１指部８１はその断面がＵ字形状に形成され、その内部の空間に第１駆動部１１１が嵌まり込んだ状態で、第２指部９１への駆動力伝達を行っている。そのため、第１指部８１の開口部分８５の上方の空間は、第１駆動部１１１のリンク動作に必要とされる空間である。そこで、この第１駆動部１１１のリンク動作を吸着機構４００が阻害しないように、図１に示すように、支持部材４０１は、第１指部８１の長手方向（すなわち、第１駆動部１１１の長手方向）に沿って延在する一対の側壁４０１ａが、先端側において接続壁４０１ｂで接続された構成を有する。そして、この接続壁４０１ｂにおいて、吸着ノズル４０２が支持されている。このように吸着ノズル４０２が保持されることで、第１指部８１の上方の空間を占有することなく、吸着機構４００を第１指部８１の甲側に固定することができる。 A hand mechanism 1 according to a second embodiment will be described with reference to FIGS. As shown in FIG. 1, the hand mechanism 1 according to the present embodiment is provided with a suction mechanism 400 on the first finger portion 81 of the multi-joint fingers 80A and 80B. In this suction mechanism 400, a suction nozzle 402 having a suction surface 403 that sucks and holds an object to be sucked by sucking air is attached to the first finger portion 81 via a support member 401. In addition, the hose which sends the air suck | inhaled from the suction nozzle 402 to the pump side is abbreviate | omitting description in the figure of a present Example. As described in the first embodiment, the first finger portion 81 has a U-shaped cross section, and the second finger portion is in a state where the first driving portion 111 is fitted in the internal space. Driving force transmission to 91 is performed. Therefore, the space above the opening portion 85 of the first finger unit 81 is a space required for the link operation of the first drive unit 111. Therefore, as shown in FIG. 1, the support member 401 has a longitudinal direction of the first finger portion 81 (that is, the first drive portion 111 of the first drive portion 111 so that the suction mechanism 400 does not hinder the link operation of the first drive portion 111. A pair of side walls 401a extending along the (longitudinal direction) has a configuration in which a connection wall 401b is connected on the distal end side. The suction nozzle 402 is supported on the connection wall 401b. By holding the suction nozzle 402 in this way, the suction mechanism 400 can be fixed to the back side of the first finger portion 81 without occupying the space above the first finger portion 81.

吸着機構４００は、吸着ノズル４０２からエアを吸入することで吸着対象物を吸着面４０３に接触した状態で保持することができる。したがって、図１に示すハンド機構１は、上述した第１モード及び第２モードによる把持対象物の把持動作に加えて、吸着機構４００による吸着対象物の保持も可能となる。このようにハンド機構１では、様々な態様で対象物を把持又は保持することができるため、例えば、工場等の製造現場において、製造ラインに適した状態で加工対象物の把持等が可能となり、また、その把持等の対象となる対象物の範囲を可及的に広く設定することができる。 The suction mechanism 400 can hold the suction object in contact with the suction surface 403 by sucking air from the suction nozzle 402. Therefore, the hand mechanism 1 shown in FIG. 1 can also hold the suction object by the suction mechanism 400 in addition to the gripping operation of the gripping object by the first mode and the second mode described above. As described above, since the hand mechanism 1 can hold or hold an object in various modes, for example, in a manufacturing site such as a factory, the object to be processed can be held in a state suitable for a production line. In addition, the range of the object to be gripped can be set as wide as possible.

なお、吸着機構４００は第１指部８１に固定されているが、第１指部８１は、第１モードでは多関節指８０Ａ、８０Ｂ全体が回転するときに第１接続部８７を中心として回転する指部であり、また、第２モードでは回転が阻止さる指部であるから、上述した把持動作を行うハンド機構１において、第２指部９１、第３指部１０１と比べてその動きは単純である。したがって、吸着機構４００を第１指部８１に取り付けることで、ハンド機構１において行われている把持動作、すなわち多関節指８０Ａ、８０Ｂの指部の動きに影響されにくい状態で吸着機構４００の姿勢を制御できることになり、ハンド機構１の利便性が向上する。なお、別法として吸着機構４００は、多関節指８０Ａ、８０Ｂにおいて、第１指部８１以外の指部に取り付けられてもよく、また、単関節指８０Ｃの第４指部１８０に取り付けられてもよい。 The suction mechanism 400 is fixed to the first finger 81, but the first finger 81 rotates around the first connecting portion 87 when the entire multi-joint fingers 80A and 80B rotate in the first mode. In the hand mechanism 1 that performs the gripping operation described above, the movement of the finger portion is lower than that of the second finger portion 91 and the third finger portion 101. Simple. Therefore, by attaching the suction mechanism 400 to the first finger portion 81, the posture of the suction mechanism 400 is hardly affected by the gripping operation performed in the hand mechanism 1, that is, the movement of the finger portions of the multi-joint fingers 80A and 80B. Therefore, the convenience of the hand mechanism 1 is improved. Alternatively, the suction mechanism 400 may be attached to a finger part other than the first finger part 81 in the multi-joint fingers 80A and 80B, or attached to the fourth finger part 180 of the single joint finger 80C. Also good.

また、吸着機構４００により吸着対象物を吸着するためには、吸着面４０３に吸着対象物を接触した状態でエアの吸入を行う必要がある。しかし、多関節指８０Ａ、８０Ｂに対する吸着機構４００の相対位置、特に、吸着面４０３の相対位置によっては、吸着面４０３と吸着対象物とを接触するために、ハンド機構１における各指の姿勢を、吸着対象物の吸着に適した状態とする必要がある。そこで、以下に、吸着機構４００による吸着対象物の吸着状態を例示する。 Further, in order to adsorb the object to be adsorbed by the adsorption mechanism 400, it is necessary to inhale air while the object to be adsorbed contacts the adsorption surface 403. However, depending on the relative position of the suction mechanism 400 with respect to the multi-joint fingers 80A and 80B, in particular, the relative position of the suction surface 403, the posture of each finger in the hand mechanism 1 is changed in order to contact the suction surface 403 and the suction target object. It is necessary to make the state suitable for the adsorption of the adsorption object. Therefore, the adsorption state of the adsorption object by the adsorption mechanism 400 will be exemplified below.

（第１の例）
ハンド機構１において第１モードが実行されている状態（把持空間３００が最も広く形成される図５に示す状態も含む）では、多関節指８０Ａ、８０Ｂは、指全体が第１接続部８７を中心に回転する。この状態において、吸着面４０３が多関節指８０Ａ、８０Ｂの先端部から吸着対象物側に突出しないように吸着機構４００が取り付けられている場合、第１モード中では多関節指８０Ａ、８０Ｂが吸着対象物と干渉して、吸着のために吸着面４０３を吸着対象物に接触させた状態とすることができない場合がある。また、吸着面４０３が多関節指８０Ａ、８０Ｂの先端部から吸着対象物側に突出している場合であっても、第１モードでは、多関節指８０Ａ、８０Ｂと単関節指８０Ｃが比較的広く開いているため、この単関節指８０Ｃが吸着対象物やその周囲の構造物と干渉して、吸着のために吸着面４０３を吸着対象物に接触させた状態とすることができない場合がある。 (First example)
In the state in which the first mode is executed in the hand mechanism 1 (including the state shown in FIG. 5 where the gripping space 300 is formed most widely), the multi-joint fingers 80A and 80B have the first connection portion 87 as a whole. Rotate to center. In this state, when the suction mechanism 400 is attached so that the suction surface 403 does not protrude from the tip of the multi-joint fingers 80A and 80B toward the suction target, the multi-joint fingers 80A and 80B are sucked in the first mode. In some cases, the suction surface 403 cannot be brought into contact with the suction target object due to the interference with the target object. Even in the case where the suction surface 403 protrudes from the tip of the multi-joint fingers 80A and 80B toward the suction target, the multi-joint fingers 80A and 80B and the single joint finger 80C are relatively wide in the first mode. Since it is open, the single joint finger 80C may interfere with the object to be adsorbed and surrounding structures, and the adsorbing surface 403 may not be brought into contact with the object to be adsorbed for adsorption.

このような場合においては、まず、第１モードによって第１指部８１が構造的に回転しうる限界まで第１指部８１を回転させる。その結果、第１指部８１が、把持対象物によってその回転が阻止された状態と同じように、回転ができない状態となるため、第２モードによる回転動作が開始される。そして、図１７に示すように、ハンド機構１によっては把持対象物を把持していないが第２モードの把持動作により、多関節指８０Ａ、８０Ｂ及び単関節指８０Ｃが折りたたまれた状態となり、吸着面４０３が、多関節指８０Ａ、８０Ｂから吸着対象物側に大きく突出した状態となる。このような状態であれば、吸着面４０３を吸着対象物に容易に接触させることができるため、吸着機構４００による吸着対象物の吸着保持が可能となる。 In such a case, first, the first finger 81 is rotated to the limit at which the first finger 81 can be structurally rotated in the first mode. As a result, the first finger 81 is in a state where it cannot be rotated in the same manner as in the state where the rotation of the first finger unit 81 is blocked by the grasped object, so that the rotation operation in the second mode is started. As shown in FIG. 17, the hand mechanism 1 does not grip the object to be gripped, but the second joint gripping operation causes the articulated fingers 80 A and 80 B and the single joint finger 80 C to be folded and attracted. The surface 403 protrudes greatly from the multi-joint fingers 80A and 80B toward the suction object side. In such a state, the suction surface 403 can be easily brought into contact with the suction target object, so that the suction mechanism 400 can hold the suction target object by suction.

なお、１つのハンド機構１に搭載された吸着機構４００（本実施例の場合は、２つの吸着機構４００）による吸着保持力が、吸着対象物の吸着保持に対して十分でない場合には、図１７に示すように、複数のハンド機構１を利用して、それらに搭載された吸着機構４００で吸着保持を行えばよい。 In addition, when the suction holding force by the suction mechanism 400 (two suction mechanisms 400 in this embodiment) mounted on one hand mechanism 1 is not sufficient for sucking and holding the suction target object, FIG. As shown in FIG. 17, a plurality of hand mechanisms 1 may be used to perform suction holding with a suction mechanism 400 mounted on them.

（第２の例）
第１モードが実行されている状態において、吸着面４０３が多関節指８０Ａ、８０Ｂの先端部から吸着対象物側に突出するように吸着機構４００が取り付けられている場合（図１８においては、吸着面４０３がδ突出している状態を示す）は、基本的には多関節指８０Ａ、８０Ｂの姿勢にかかわらず吸着面４０３を吸着対象物に接触させることができる。しかし、上述したように単関節指８０Ｃが開いた状態のままでは、単関節指８０Ｃが吸着対象物やその周囲の構造物と干渉する場合があるため、上記第１の例のように多関節指８０Ａ、８０Ｂと単関節指８０Ｃをともに折りたたむか、または、図１８に示すように、第１モードによってつまみ動作を行うときのように、多関節指８０Ａ、８０Ｂと単関節指８０Ｃを閉じ、両指の先端部間の距離を極力小さくした状態で吸着を行えばよい。これにより単関節指８０Ｃに邪魔されることなく、吸着機構４００による吸着保持を行うことができる。 (Second example)
In a state where the first mode is being executed, when the suction mechanism 400 is attached such that the suction surface 403 protrudes from the tip of the articulated fingers 80A and 80B toward the suction target object (in FIG. 18, in the suction mode) Basically, the surface 403 protrudes by δ), the suction surface 403 can be brought into contact with the suction object regardless of the postures of the multi-joint fingers 80A and 80B. However, if the single joint finger 80C is in the open state as described above, the single joint finger 80C may interfere with the object to be attracted or the surrounding structure. Fold the fingers 80A and 80B and the single joint finger 80C together, or close the multi-joint fingers 80A and 80B and the single joint finger 80C as shown in FIG. Suction may be performed with the distance between the tips of both fingers as small as possible. Thereby, the suction holding by the suction mechanism 400 can be performed without being obstructed by the single joint finger 80C.

１・・・ハンド、１０・・・取付部材、３０・・・駆動機構、３１・・・リニアアクチュエータ、５０・・・連結部材、８０Ａ、８０Ｂ・・・多関節指、８０Ｃ・・・単関節指、８１・・・第１指部、８２・・・底面部、８３・・・側面部、８７・・・第１接続部、９１・・・第２指部、９２・・・底面部、９３・・・側面部、９３ａ・・・甲側の辺、９３１・・・第６接続部挿入凹部、９７・・・第２接続部、１０１・・・第３指部、１０７・・・第５接続部、１１１・・・第１駆動部、１１３・・・第３接続部、１１５・・・第４接続部、１２１・・・第２駆動部、１２３・・・第６接続部、１２５・・・第７接続部、１８０・・・第４指部、１９０・・・連結部、２００・・・第８接続部、２０１・・・第９接続部、２０２・・・第１０接続部、３００・・・把持空間、４００・・・吸着機構、４０１・・・支持部材、４０２・・・吸着ノズル、４０３・・・吸着面 DESCRIPTION OF SYMBOLS 1 ... Hand, 10 ... Mounting member, 30 ... Drive mechanism, 31 ... Linear actuator, 50 ... Connection member, 80A, 80B ... Articulated finger, 80C ... Single joint Finger, 81... First finger portion, 82... Bottom surface portion, 83 .. side surface portion, 87... First connection portion, 91. 93 ... side face part, 93a ... side on the back side, 931 ... sixth connection part insertion recess, 97 ... second connection part, 101 ... third finger part, 107 ... first 5 connections, 111... 1st drive, 113... 3rd connection, 115... 4th connection, 121... 2nd drive, 123. ... 7th connecting part, 180 ... 4th finger part, 190 ... connecting part, 200 ... 8th connecting part, 201 ... 9th connecting part, 202 ... 1st Connecting portion, 300 ... gripping space, 400 ... suction mechanism, 401 ... support member, 402 ... suction nozzle, 403 ... suction surface

Claims

A mounting member;
An articulated finger including a plurality of fingers connected so that the fingers can rotate with each other via a connecting portion, and one of the plurality of fingers with respect to the attachment member on the base side A first multi-joint finger and a second multi-joint finger to which two fingers are rotatably attached;
A driving unit for transmitting a driving force from a driving actuator to the first multi-joint finger and the second multi-joint finger;
A single finger portion connected to the first multi-joint finger and the second multi-joint finger and connected to the attachment member so as to be rotatable around a predetermined connection portion. A single-joint finger that rotates around the predetermined connecting portion together with the first multi-joint finger and the second multi-joint by a driving force from the drive actuator;
A biasing force for rotating the single joint finger toward the first multi-joint finger and the second multi-joint finger around the predetermined connection portion is applied to the single joint finger separately from the drive force from the drive actuator. Energizing means to grant
Hand mechanism comprising.

The finger part rotatably attached to the attachment member in the first articulated finger and the finger part rotatably attached to the attachment member in the second articulated finger are connected to the unit via a connecting member. In a predetermined part located on the inner side of the mounting member from the predetermined connection part in the finger part forming the joint finger, the single finger is linked and linked.
The urging means is provided between the attachment member and the vicinity of the predetermined portion in a finger portion forming the single joint finger inside the attachment member.
The hand mechanism according to claim 1.

At least a part of the connecting member does not pass through the grasping space where the grasped object between the first articulated finger and the second articulated finger and the single articulated finger is located, and the first articulated finger A finger part rotatably attached to the attachment member and a finger part rotatably attached to the attachment member in the second articulated finger are connected to the single joint finger,
The hand mechanism according to claim 2.

The hand mechanism is
When a driving force is applied from the drive actuator via the drive unit, the first multi-joint finger and the second multi-joint finger rotate in the same direction through the connection portion with the attachment member. A first mode to
When rotation of the first predetermined finger part included in the first multi-joint finger and the second predetermined finger part included in the second multi-joint finger in the first mode is prevented, the first multi-joint finger A finger part other than the first predetermined finger part included in the first predetermined finger part is rotated relative to the first predetermined finger part, and a finger part other than the second predetermined finger part included in the second articulated finger is 2 is capable of executing the second mode of rotating with respect to the predetermined finger part,
In the first mode, the single-joint finger is in a direction opposite to the rotation direction of the first multi-joint finger and the second multi-joint finger, and the tip of the first multi-joint finger and the single joint finger And the distance between the tip of the second articulated finger and the tip of the single articulated finger are both reduced in the direction of narrowing,
In the second mode, simultaneously with the rotation stop of the first predetermined finger portion and the second predetermined finger portion, the rotation of the single joint finger around the predetermined connection portion is stopped.
The hand mechanism according to any one of claims 1 to 3.

During the execution of the first mode and the second mode, the urging force of the urging means is always such that the single articulated finger is centered on the predetermined connection portion and the first multi-joint finger and the second multi-finger. The urging force to rotate the joint finger side,
The hand mechanism according to claim 4.