JP6737466B2 - Finger mechanism and robot hand equipped with the finger mechanism - Google Patents

Description

The present invention relates to a finger mechanism that is provided at a distal end portion of a hand robot or the like and that works on an object, and a robot hand including the finger mechanism.

Conventionally, in this type of invention, as described in Patent Document 1, for example, a first actuator (8) which is a drive source, and a rotational movement of the first actuator (8) are linear movements in a horizontal direction. A ball screw (8a) for converting into a ball screw, a slide member (8b) screwed on the ball screw to move in the horizontal direction, a second actuator (9) which is a drive source supported by the slide member, and a second There is a gripping robot apparatus provided with three sets of finger mechanisms having a worm gear (9a) for transmitting the rotational force of the actuator (9) and a gripping lever (10) which is engaged with the worm gear (9a) and rotates.
This gripping robot device grips an object to be gripped by using a first actuator (8) and a second actuator (9) as drive sources and changing the intervals and angles of a plurality of gripping levers (10).

JP, 2009-50968, A

By the way, in the conventional gripping robot apparatus as described above, for example, when an abnormality occurs on the drive source side such as a power failure, a wire breakage, an emergency stop, or a failure of the drive source in the state of gripping an object to be grasped, at that time, The distance and angle of the grip lever (10) are maintained, and it becomes difficult to open and close the grip lever (10) unless the power is restored. The numerical value in the parentheses is the code described in Patent Document 1.

In view of such a problem, the present invention has the following configurations.
A motor that is a drive source and a torque that can transmit a rotating force applied from the motor side to the input rotating body to the output rotating body and lock the output rotating body when the rotating force is applied to the output rotating body from the output side. A directional power transmission mechanism and an operating unit that operates by the rotational force of the output rotating body, and an auxiliary drive source is detachably connected to the drive source side rotation shaft of the one-way power transmission mechanism. A finger mechanism comprising a rotational force input unit for inputting a rotational force from a drive source.

Since the present invention is configured as described above, even if the operation is stopped due to an abnormality on the drive source side, the operation can be easily restored.

It is a schematic diagram showing an example of a robot hand provided with a finger mechanism concerning the present invention. It is a schematic structure figure showing an example of a finger mechanism concerning the present invention. It is a principal part enlarged view of the same finger mechanism. It is a principal part enlarged view which shows the state which connected the auxiliary drive source to the finger mechanism of FIG. It is a schematic structure figure showing other examples of a finger mechanism concerning the present invention. FIG. 6 is an enlarged view of an essential part showing a state in which an auxiliary drive source is connected to the finger mechanism of FIG. 5.

A first feature of the finger mechanism in the present embodiment is that a motor that is a drive source and a rotational force that is applied from the motor side to the input rotary body can be transmitted to the output rotary body and that the output side rotates to the output rotary body. Is provided with a unidirectional power transmission mechanism that locks the output rotary body, and an operating unit that operates by the rotational force of the output rotary body, and the rotary shaft on the drive source side of the unidirectional power transmission mechanism. Is provided with a rotational force input section for detachably connecting the auxiliary drive source and inputting a rotational force from the auxiliary drive source (see FIGS. 2 to 6 ).
Here, the "auxiliary drive source" includes a mode in which the rotation input section is rotated by an electric motor, a mode in which the rotation input section is manually rotated, and the like.
Further, the "rotation shaft on the drive source side of the one-way power transmission mechanism" includes the rotation shaft of the motor and the rotation shaft on the drive source side of the one-way power transmission mechanism itself.
Moreover, the said rotation input part may be single and may be plural.
Further, the finger mechanism includes a mode in which the auxiliary drive source is not attached and a mode in which the auxiliary drive source is attached in advance.

The second feature is a gear in which the rotational force input section is fixed to the rotary shaft, as a mode for facilitating the input of rotational force (see FIGS. 2 to 6 ).

In a third specific aspect, in a preferred specific mode, the rotary shaft is a rotary shaft of the motor (see FIGS. 2 to 6 ).

A fourth feature is that the motor and the one-way power transmission mechanism are arranged in parallel and configured to transmit a rotational force by a plurality of gears, as an aspect capable of shortening the entire mechanism. The rotational force input unit is provided in at least one of the plurality of gears (see FIGS. 2 to 4 ).

A fifth feature is that the motor and the one-way power transmission mechanism are connected in series so that the entire mechanism can be made slimmer, and the motor and the one-way power transmission mechanism are connected to a rotation shaft closer to the drive source than the one-way power transmission mechanism. The gear is fixed, and a part of the gear is exposed to serve as the rotational force input portion (see FIGS. 5 to 6).

The sixth feature is that, as a concrete mode with good convenience, the auxiliary drive source is mounted in advance so as to input a rotational force to the rotational force input section (see FIGS. 4 and 6 ).

A seventh feature is, as a specific mode with excellent operability, the operation part is rotatable to a base end side link supporting the motor and the one-way power transmission mechanism, and to a front end side of the base end side link. And a feed screw mechanism that is supported by the base link and that receives a rotational force from the output rotor to the feed screw, and one end side is pivotally supported by the nut portion of the feed screw mechanism. And a working link having the other end pivotally supported about the rotation axis of the distal end side link, and the distal end side link is pivoted with respect to the proximal end side link by advancing and retracting the nut portion as the feed screw rotates. (See FIGS. 2 to 6).

The eighth feature is that, as a preferable usage mode of the finger mechanism, at least one finger mechanism is provided to configure a robot hand (see FIGS. 1 and 2 ).

<First embodiment>
Next, specific embodiments having the above characteristics will be described in detail with reference to the drawings.

FIG. 1 shows a robot hand 1 including a plurality of finger mechanisms according to the present invention.
This robot hand 1 is provided with a plurality of finger bodies 10 protruding in substantially the same direction on a palm body 20 and spaced at predetermined intervals.

Each finger body 10 has a finger-shaped hollow node portion 10a, 10b connected to the front and back, a rotation axis a for inversion and abduction between the palm body 20 and the node portion 10a, and a palm body. 20 and a rotary shaft b that bends or extends between the joint 10a and a rotary shaft c that bends or extends between the joint 10a and the joint 10b. The finger mechanism 30 provided for each of b and c performs movements such as bending, extension, adduction and abduction like a human hand.

The nodes 10a and 10b may be made of an elastic material such as elastic synthetic resin or rubber. As another example of the nodes 10a and 10b, it is possible to adopt a mode in which a tubular body made of a hard material such as metal is connected to the front and rear via a rotary shaft.

Next, among the plurality of finger mechanisms corresponding to the rotation axes a, b, and c, as a particularly preferable mode, the finger mechanism 30 corresponding to the rotation axis c will be described in detail.
Note that the finger mechanism corresponding to each of the other rotation axes a (or b) may have the same configuration as the finger mechanism 30, but may have a configuration other than the finger mechanism 30.

As shown in FIGS. 2 to 4, the finger mechanism 30 adjusts the speed of a motor 31, which is a drive source, a rotation detector 32 that detects a rotation angle of the motor 31, and a rotational force transmitted from the motor 31. The speed control unit 33, the one-way power transmission mechanism 34 that transfers the rotational force transmitted from the speed control unit 33 in only one direction, and the operation unit 35 that operates by the rotational force on the output side of the one-way power transmission mechanism 34. The auxiliary drive source 40 is connected to a rotary shaft 31a that transmits rotational force on the drive source side of the one-way power transmission mechanism 34 (between the speed governor 33 and the motor 31 in the illustrated example). It has a torque input unit 31b1 for inputting torque from the auxiliary drive source 40.

The motor 31 may be an electric motor capable of controlling a bidirectional rotation angle. For example, a brushless motor is used, and the rotation angle (or rotation amount) is controlled by a control unit (not shown).
An output gear 31b is provided on one end side (output side) of the rotary shaft 31a of the motor 31, and the other end side is connected to the rotation detection unit 32.

According to the illustrated example, the output gear 31b is a spur gear, and a part of its outer peripheral portion is exposed as a rotational force input portion 31b1 to which the auxiliary drive source 40 is connected.
The skin portion 11 of the node portion 10a is provided with an opening (not shown) through which the auxiliary drive source 40 is connected.

The rotation detector 32 is a rotary encoder. As another example of the rotation detector 32, a rotation angle sensor using a Hall element, a rotation angle sensor using a variable resistor, or the like can be used. The output of this rotation detection unit 32 is transmitted to a control unit (not shown).

According to a preferred example of the present embodiment, the speed adjusting unit 33 uses a planetary gear mechanism (not shown) that coaxially transmits the rotational force.
The speed control unit 33 appropriately reduces the rotational force input by the input gear 33a by the planetary gear mechanism, and transmits the rotational force to the one-way power transmission mechanism 34 described later.
The input gear 33a is a spur gear that meshes with the output gear 31b of the motor 31.
As another example of the speed adjusting unit 33, a gear mechanism other than the planetary gear mechanism or another speed reducing mechanism may be used.

The one-way power transmission mechanism 34 can transmit the rotational force applied from the speed governor 33 to the input rotary body (not shown) to the output rotary body 34a, and when the rotary force is applied to the output rotary body 34a from the output side. Is a mechanism for locking the output rotating body 34a, which is connected in series with the speed governor 33 and arranged in parallel with the motor 31.
The output gear 34b is coaxially fixed to the output rotating body 34a.
For the one-way power transmission mechanism 34, for example, the invention disclosed in the republished patent WO 2013/133162 can be used.
Alternatively, the invention disclosed in the republished patent WO2013/164969 can be used as a mechanism in which the speed governor 33 and the one-way power transmission mechanism 34 are integrated.

Note that as another example of the one-way power transmission mechanism 34, a worm gear mechanism, a slide screw mechanism, or a mechanism in which these mechanisms are appropriately combined can be used.

The operating unit 35 includes a base end side link 35a, a tip end side link 35b rotatably connected to the tip end side of the base end side link 35a, a feed screw mechanism 35c supported by the base end side link 35a, The feed screw mechanism 35c and the operation link 35d pivotally supported between the tip side link 35b are provided, and the tip side link 35b is rotated with respect to the base end side link 35a to bend and extend between the nodes 10a and 10b. Let

The base end side link 35a is a member extending in the longitudinal direction within the node portion 10a, and supports the motor 31, the rotation detection portion 32, the speed adjusting portion 33, the one-way power transmission mechanism 34, and the like.
The base end side link 35a is made of, for example, a hard material such as metal in a tubular shape or a frame shape, and exposes the rotational force input portion 31b1 to the outside.

The tip end side link 35b is a member extending in the longitudinal direction within the node portion 10b, and the base end side thereof is rotatably supported by the tip end side of the base end side link 35a via a rotary shaft 35b1. ..
The tip end side of the tip end side link 35b is joined to the inner surface of the skin portion 11 on the tip end side of the node portion 10b via an extension member 36 and an elastic member 37.
As another example, the extending member 36 and the elastic member 37 may be omitted, and the tip side of the tip side link 35b may be extended and directly joined to the inner surface of the skin portion 11.

The feed screw mechanism 35c includes a feed screw 35c1 rotatably supported by the base end side link 35a, a spur gear-shaped input gear 35c2 fixed to the input end of the feed screw 35c1, and meshed with the output gear 34b. The feed screw 35c1 is provided with a nut portion 35c3 screwed to the output side, and the feed screw 35c1 is rotated by the rotational force transmitted from the one-way power transmission mechanism 34.
The feed screw mechanism 35c includes a ball screw mechanism, a slide screw mechanism, and the like.

The operation link 35d has one end rotatably supported on the nut portion 35c3 and the other end rotatably supported on the tip end link 35b.

The auxiliary drive source 40 is provided independently of the robot hand 1, and includes a motor 41, a battery 42 serving as a power source of the motor 41, a control circuit (not shown) for controlling the motor 41, and an operation. A switch (not shown) and the like are integrally provided.
The motor 41 may be a brushless motor or other electric motors like the motor 31.
A rotary shaft 41a of the motor 41 is provided with a spur gear-shaped output gear 41b.

The auxiliary drive source 40 configured as described above can be attached to the base end side link 35a so as to mesh the output gear 41b with the rotational force input portion 31b1, and can also be detached from the base end side link 35a. The means for making the auxiliary drive source 40 attachable to and detachable from the base end side link 35a may be, for example, screwing or fitting.

Next, the characteristic effect of the finger mechanism 30 having the above-described configuration will be described in detail.
When the rotating shaft 31a of the motor 31 rotates in one direction under the control of a control unit (not shown), the rotational force is transmitted to the operating unit via the output gear 31b, the input gear 33a, the speed adjusting unit 33, and the one-way power transmission mechanism 34. 35 is transmitted to the lead screw mechanism 35c.
Then, when the nut portion 35c3 moves to, for example, the input side (downward according to FIG. 2) by the rotation of the feed screw 35c1 in one direction in the feed screw mechanism 35c, the distal end is moved by the operation link 35d pivotally supported by the feed screw mechanism 35c. The side link 35b is pulled, the tip side link 35b rotates about the rotating shaft 35b1 as a fulcrum, and the bending movement occurs between the joints 10a and 10b.
Further, when the nut portion 35c3 is moved to the output side (upward in FIG. 2) by the rotation of the motor 31 in the reverse direction, the joint portions 10a and 10b perform an extension movement due to the action opposite to the above.

Therefore, if a gripping target (not shown) is arranged between the plurality of finger bodies 10 in the robot hand 1 and at least one finger body 10 is bent and moved by the finger mechanism 30 or the like, these plurality of finger bodies 10 are bent. The object to be gripped can be gripped by 10.

When the rotation of the rotary shaft 31a stops due to an abnormality on the drive source side such as a power failure, a wire break, an emergency stop, or a failure of the motor 31 during the gripping operation by the bending motion of the finger body 10, one-way power transmission is performed. Due to the functions of the mechanism 34 and the like, the bent state at that time is maintained, and even if an external force is applied to the node portion 10b, the extension operation of the finger body 10 cannot be performed.
In such a case, if the auxiliary drive source 40 is attached to the finger body 10 and an operation switch (not shown) of the auxiliary drive source 40 is operated to rotate the output gear 41b of the auxiliary drive source 40, this rotation is performed. The finger mechanism 30 can be operated by the force to bend or extend the finger body 10.

Therefore, according to the robot hand 1 having the above configuration, even if the operation is stopped due to an abnormality on the drive source side, the operation can be easily restored by using the auxiliary drive source 40.
Moreover, each joint can be flexed and extended individually, including adjustment of the force of gripping the object even in the event of a power failure or failure.

<Second embodiment>
Next, another embodiment will be described. In the embodiment described below, the finger mechanism 30 of the robot hand 1 is changed to the finger mechanism 50. Therefore, the changed portion will be mainly described in detail, and the same portions as the robot hand 1 will be duplicated. The detailed description will be omitted.

The finger mechanism 50 shown in FIGS. 5 to 6 is provided in the same manner as the finger mechanism 30 described above, corresponding to the rotation axis c or the rotation axes a and b in the finger body 10.
The finger mechanism 50 includes a motor 51 that is a drive source, a rotation detector 52 that detects a rotation angle of the motor 51, a speed governor 53 that speed-adjusts the rotational force transmitted from the motor 51, and a speed governor. A unidirectional power transmission mechanism 54 that transmits the rotational force transmitted from 53 in only one direction is connected in series, and an operating portion 35 that operates by the rotational force on the output side of the unidirectional power transmission mechanism 54 is connected thereto. Are connected in parallel, and a plurality of gears 51a, 54a are provided on a rotary shaft (not shown) that transmits a rotational force on the drive source side of the one-way power transmission mechanism 54, and these gears 51a, 54a are exposed. The part is used as the rotational force input part.

The motor 51 is a brushless motor similar to the motor 31, and the output side portion of its casing is cut out to expose the outer peripheral portion of a gear 51a fixed to a rotating shaft (not shown). The exposed portion of the gear 51a functions as a rotational force input unit.

The rotation detection unit 52 is composed of an encoder or the like like the rotation detection unit 32, detects the rotation angle of the motor 51, and transmits the detection signal to a control unit (not shown).

The speed adjusting unit 53 is configured by a planetary gear mechanism like the speed adjusting unit 33. The speed adjusting portion 53 is formed by cutting out the input and output side portions of the casing that covers the planetary gear mechanism. The notch on the input side is continuous with the notch of the casing of the motor 51.
The notch on the output side exposes the outer peripheral portion of the gear 54a fixed to the output-side rotating shaft (not shown) of the speed governor 53. The outer peripheral portion of the gear 54a functions as a rotational force input unit.

The one-way power transmission mechanism 54, like the one-way power transmission mechanism 34, can transmit the rotational force transmitted from the speed governor 53 to the output rotary body 54b, and the rotational force from the output side to the output rotary body 54b. Is a mechanism that locks the output rotary body 54b when a force is applied.
An output gear 54c is coaxially fixed to the output rotating body 54b.

Since the operating portion 35 of the finger mechanism 50 is configured in substantially the same manner as the operating portion 35 of the finger mechanism 30, the same reference numerals as those of the finger mechanism 30 are used and duplicated detailed description will be omitted.

Then, the auxiliary drive source 60 is detachably connected to the finger mechanism 50 having the above-described configuration, if necessary.

The auxiliary drive source 60 is provided independently of the robot hand 1, and has a plurality (two in the illustrated example) of motors 61 and 62, a battery 63 that serves as a power source for these motors 61 and 62, and a motor 61, A control circuit (not shown) for controlling 62 and an operation switch (not shown) are integrally provided.
Each of the motors 61 and 62 can be a brushless motor or other electric motors like the motors 31 and 41.
Rotating shafts 61a and 62a of the motors 61 and 62 are provided with spur gear-shaped output gears 61b and 62b, respectively.

The auxiliary drive source 60 configured as described above can be attached to the base end side link 35a by engaging the output gears 61b and 62b with the exposed parts (rotational force input parts) of the gears 51a and 54a. It is also possible to separate from 35a. The means for making the auxiliary drive source 60 attachable to and detachable from the base end side link 35a may be, for example, screwing or fitting.

Therefore, according to the finger mechanism 50 shown in FIGS. 5 and 6, even if the operation is stopped due to an abnormality on the drive source side, the operation can be easily restored by using the auxiliary drive source 60.
Moreover, since the finger mechanism 50 is provided with the plurality of gears 51a and 54a having the rotational force input portion, a relatively large rotational force can be input from the outside.
Further, depending on the usage situation, it is possible to use only one of the gears 51a (or 54a) as the rotational force input section.

In a preferred embodiment, the finger mechanism 30 or the finger mechanism 50 is provided on each of the plurality of finger bodies 10 of the robot hand 1, but as another example, only some of the finger bodies 10 of the plurality of finger bodies 10 are provided. Alternatively, the finger mechanism 30 or the finger mechanism 50 may be provided.
That is, even if only one finger 10 among the plurality of fingers 10 is bent and the other fingers 10 are not bent, it is possible to grip the object to be gripped by these fingers 10. ..

Further, the auxiliary drive sources 40 and 60 of the above-described embodiment are configured to electrically rotate the gears 41b and 61b, but as another example of the auxiliary drive source, the gears may be manually rotated. is there.
Further, as another example, the rotational force input portion 31b1 (or the outer peripheral portions of the gears 51a and 54a) may be exposed to the outside so that it can be rotated by hand.

Further, the operating unit 35 of the above-described embodiment is a mechanism that bends and extends between the proximal end side link 35a and the distal end side link 35b, but the operating unit 35 operates by the rotational force of the output rotary bodies 34a and 54b. As another example, a bending extension motion such as a mechanism for rotating the fingertip side of the finger body 10 by a rotational force of the output rotating bodies 34a, 54b, a mechanism for expanding and contracting or sliding the fingertip side of the finger body 10, and the like. It is possible to use a mechanism for performing operations other than.

In addition, according to the above-described embodiment, the auxiliary drive sources 40 and 60 are separated from the rotational force input portion 31b1 (or the outer peripheral portions of the gears 51a and 54a) and are configured separately from the finger body 10, but another example. As an example, the auxiliary drive sources 40 and 60 are connected in advance so as to input the rotational force to the rotational force input unit 31b1 (or the outer peripheral portions of the gears 51a and 54a) (see FIGS. 4 and 6). It is also possible. In this case, the motors 41, 61, 62 of the auxiliary drive sources 40, 60 are configured so that the output shaft can freely rotate in the non-energized state.

Further, the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention.

1: Robot hand 10: Finger body 10a, 10b: Knot part 20: Palm body 31, 41, 51, 61, 62: Motor 31a: Rotating shaft 31b1: Rotating force input unit 34, 54: One-way power transmission mechanism 35: Operating unit 40, 60: auxiliary drive source

Claims (8)

A motor that is a drive source and a torque that can transmit a rotating force applied from the motor side to the input rotating body to the output rotating body and lock the output rotating body when the rotating force is applied to the output rotating body from the output side. A directional power transmission mechanism, and an operating unit that operates by the rotational force of the output rotating body,
A rotating force input unit for detachably connecting an auxiliary driving source and inputting a rotating force from the auxiliary driving source is provided on a rotation shaft on the driving source side of the one-way power transmission mechanism. And finger mechanism. The finger mechanism according to claim 1, wherein the torque input unit is a gear fixed to the rotation shaft. The finger mechanism according to claim 1, wherein the rotation shaft is a rotation shaft of the motor. The motor and the one-way power transmission mechanism are arranged in parallel and configured to transmit a rotational force by a plurality of gears,
The finger mechanism according to claim 1, wherein at least one gear of the plurality of gears is provided with the rotational force input portion. The motor and the one-way power transmission mechanism are connected in series, and a gear is fixed to a rotation shaft closer to a drive source than the one-way power transmission mechanism, and a part of the gear is exposed to input the rotational force. The finger mechanism according to claim 1, wherein the finger mechanism is a part. The finger mechanism according to claim 1, wherein the auxiliary drive source is mounted in advance so as to input a rotational force to the rotational force input unit. The operation portion is supported by a base end side link supporting the motor and the one-way power transmission mechanism, a tip end side link rotatably connected to a tip end side of the base end side link, and a base end side link. And a feed screw mechanism in which a rotational force is input to the feed screw from the output rotating body, and one end side is pivotally supported by the nut portion of the feed screw mechanism and the other end side is pivotally supported about the rotation axis of the tip side link. 7. The operating link described above is provided, and the distal end side link is rotated with respect to the proximal end side link by advancing and retracting the nut portion in accordance with the rotation of the feed screw. Finger mechanism. A robot hand comprising at least one finger mechanism according to claim 1.

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