JP7194946B2 - robot hand - Google Patents

Description

The present invention relates to a robot hand.

2. Description of the Related Art Conventionally, there has been known a robot hand that is attached to a robot device such as an industrial robot arm and performs a predetermined work by gripping and releasing an object. In recent years, multi-functional robot hands have been proposed that can perform a variety of tasks, such as holding tools to assemble parts, or holding minute parts and arranging them with high precision. (See Patent Document 1, for example).

However, there are various shapes and sizes of objects to be grasped by the robot hand, and depending on the arrangement of the fingers of the robot hand, it may be difficult to grasp the object. In the robot hand device described in Patent Document 1, three fingers 2 are arranged at equal intervals (rotational symmetry) at an angle of 120° (see FIG. 1 of Patent Document 1). In this robot hand device, when an object is placed in the center of the three fingers 2, the object is gripped so as to be evenly wrapped from three directions, so stable gripping is possible. .

However, for example, in the case of an elongated or rectangular parallelepiped object, if an attempt is made to pinch the outer surfaces that are in a parallel positional relationship, one of the three fingers 2 may be placed on the outer surface. Even if it is brought into contact with one side from the vertical direction, the other two fingers 2 are brought into contact obliquely with the outer surface on the opposite side. Therefore, it is difficult to grasp the object, and even if the object can be grasped, there are problems such as the grasping being unstable or requiring a large grasping force.

In addition, the work performed by the robot hand is not limited to gripping, but may be, for example, a work of lifting the object by hooking a finger on a ring-shaped hanging portion attached to the object. If the position of the finger 2 is fixed as in the robot hand device described in Patent Document 1, none of the three fingers 2 will be in a suitable direction for hooking the finger on the annular hanging portion, and the robot will not be able to New work such as adjusting the position or angle of the device or object is required.

JP 2010-110853 A

Accordingly, it is an object of the present invention to provide a robot hand that can easily perform various operations on objects of various shapes.

The above problems are solved by the present invention described below. That is, a first aspect of the present invention has a plurality of finger portions that protrude from the support portion and open and close by moving the tip portion in a direction that intersects with the direction of protrusion,
A motion vector of the tips when the plurality of fingers are closed is directed toward one central point when viewed from the projecting direction, and
In the robot hand, at least one of the finger portions is a rotating finger portion capable of rotating about a line passing through the center point in the projecting direction as a central axis.

In the first aspect of the present invention, the device has three or more fingers, at least two of which are the rotating fingers,
The rotation directions of the two rotation fingers are opposite to each other, and the center of the line connecting the corresponding points of the tips of the two rotation fingers and the one of the fingers It is preferable that a line connecting the center of the tip of any finger other than the rotating finger passes through the center point when viewed from the projecting direction.

On the other hand, a second aspect of the present invention has one or more fingers that protrude from the support and whose tip moves in a direction that intersects the direction of protrusion,
at least one of the finger portions is a rotating finger portion capable of first rotating about a predetermined line in the projecting direction as a center axis, and
One end is fixed so as to be rotatable about the central axis, and the other end has a link portion connected to the vicinity of the end opposite to the tip portion of the rotating finger portion, and the link portion extends in the middle thereof. and the robot hand has two link members connected by a connecting portion that enables a second rotation along the first rotation direction.

In the second aspect of the present invention, a restricting member is provided for restricting further rotation of the first link member in a predetermined direction in the first link member on the central shaft side of the two link members. ,
until the first link member is restricted from the first rotation by the restriction member, the two link members are aligned and perform the first rotation;
When the first rotation of the first link member is restricted by the restriction member, the second link member of the two link members on the side of the rotation finger portion is positioned at the connecting portion. It is preferable to perform the second rotation about the axis.

In this case, two or more of the fingers may be provided, two of which may be the rotating fingers, and the first rotating directions thereof may be opposite to each other. Further, in the two rotating finger portions, after the first link member is restricted in the first rotation by the restricting member, the two link members are connected to the second link member. The second link member may rotate the second link member until the moving directions of the tips of the rotating finger portions become parallel.

Furthermore, in this case, when three or more of the finger portions are provided and the moving directions of the tip portions of the two rotating finger portions are parallel,
It is preferable that the tips of any one of the fingers other than the rotating fingers move in a direction opposite to the moving direction of the tips of the two rotating fingers.

Further, in this case, the motion vectors of the tip portions of all the finger portions in a state where the rotation of the first link member is not restricted by the restriction member are aligned with one center when viewed from the projecting direction. towards the point,
It is preferable that all of the central axes of the pivoting fingers pass through the central point, that is, both the first aspect and the second aspect of the present invention are provided.

In both the first aspect and the second aspect of the present invention, it is desirable that the movement of the tips of the fingers be vertical to the projecting direction.

ADVANTAGE OF THE INVENTION According to the 1st aspect and 2nd aspect of this invention, the robot hand which can perform a wide range of work with respect to various objects can be provided.

1 is a perspective view of a robot hand according to an embodiment which is an example of the present invention; FIG. 1 is a top view of a robot hand according to an embodiment that is an example of the present invention; FIG. FIG. 3 is a vertical cross-sectional view of the robot hand according to the embodiment as an example of the present invention, and is a cross-sectional view taken along the line AA in FIG. 2; FIG. 4 is a schematic plan view schematically showing finger portions of a reference example in which tip portions of three finger portions are not positioned on concentric circles and rotation centers are not aligned; FIG. 4 is a schematic plan view schematically showing the finger portion of the embodiment; FIG. 10 is a schematic plan view schematically showing a state in which the rotating finger portion rotates and approaches in the finger portion of the present embodiment. FIG. 10 is a schematic plan view schematically showing a state in which the rotating finger part is rotated and moved away from the finger part of the present embodiment. FIG. 3 is a vertical cross-sectional view of the robot hand according to the embodiment that is an example of the present invention, and is a cross-sectional view taken along the line BB in FIG. 2; 1 is an enlarged perspective view of only a gear unit in an embodiment that is an example of the present invention; FIG. FIG. 10 is a cross-sectional view along EE in FIG. 9 of the gear unit in the embodiment that is an example of the present invention; FIG. 3 is a top view showing only the gear group of the gear unit in the embodiment that is an example of the present invention; FIG. 9 is a horizontal enlarged cross-sectional view of the robot hand according to the embodiment which is an example of the present invention, and is an enlarged cross-sectional view taken along line NN in FIG. 8; Schematic representation of a state in which the rotating fingers rotate, approach and interfere when the structure from the central axis O to the tip portions 11b and 11c of the fingers of the present embodiment is replaced with simple linear links. It is a schematic plan view showing. In the finger of the reference example shown in FIG. 4, the two pivoting fingers are moved until both vectors in the directions of movement of the tips of the two pivoting fingers are opposite to the vectors in the directions of movement of the tips of the remaining fingers. It is a schematic plan view which shows typically the state which approached the part. In the finger of this embodiment, the two pivoting fingers are brought closer together until both vectors in the direction of movement of the tips of the pivoting fingers are opposite to the vectors in the directions of movement of the tips of the remaining fingers. It is a schematic plan view which shows a state typically. FIG. 10 is a diagram for explaining the second rotation of the link portion in the present embodiment, and is a schematic plan view of only the target portion extracted and viewed from below. FIG. 17 is a schematic side view of the configuration of FIG. 16 viewed from the lateral direction; 17 is a schematic plan view showing only the link portion and its peripheral portion in FIG. 16, with the drive link removed; FIG. FIG. 19 is a schematic plan view showing a state in which the first link member is rotated from the state in FIG. 18; FIG. 17 is a schematic plan view extracting only the link portion and its peripheral portion in FIG. 16; From the state of FIG. 20, the rotation (revolution) of the first planetary gear 426 or the second planetary gear 427 and the rotation shaft 24 further proceeds, and the second link member 27 performs the second rotation. and FIG. 11 is a schematic plan view showing a state in which it is folded. FIG. 21 is a schematic plan view mainly showing only a link portion extracted from the configuration shown in FIG. 20; FIG. 4 is a top plan view of the robot hand of the present embodiment, in which only the finger portion and its rotation mechanism are extracted; From the state shown in FIG. 23, the two pivoting fingers are moved closer together until both vectors in the direction of movement of the tips of the pivoting fingers are opposed to the vectors in the directions of movement of the tips of the remaining fingers. It is a plan view showing. FIG. 4 is a schematic diagram for explaining the structure of a finger portion according to the present embodiment; FIG. 11 is a perspective view showing a gear group and its peripheral members of a modified gear unit that can implement the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The embodiments described below have both the configurations of the first aspect of the present invention and the second aspect of the present invention.
FIG. 1 is a perspective view of a robot hand 1 according to an embodiment, which is an example of the present invention, and FIG. 2 is a top view of the robot hand 1. FIG. 3 is a vertical cross-sectional view of the robot hand 1, which is a cross-sectional view taken along line AA in FIG.

In the description of the present embodiment, terms such as up and down, or upward and downward, refer to the vertical relationship in FIG. 1, and do not necessarily correspond to the vertical relationship in the direction of gravity.
The robot hand 1 includes three finger portions 10a, 10b, 10c (first finger portion 10a, second finger portion 10b, third finger portion 10c) and a support portion 20 that supports these finger portions 10a, 10b, 10c. , a first drive section 30 and a second drive section 40 for driving the fingers 10a, 10b, and 10c.

The support portion 20 includes a support base 21 fixed to the casing 50, a shaft 22 which is rotatably fixed to the support base 21, and a shaft 22 which rises vertically from the support base 21, and the shaft 22 is inserted to form three fingers. and a support ring 23 to which the base ends of the portions 10a, 10b, 10c are connected.

The fingers 10a, 10b, and 10c protrude upward (projection direction X) from the support portion 20, and tip portions 11a, 11b, and 11c for mainly gripping an object are provided at their tips. This projecting direction X is parallel to the axis of the shaft 22 (central axis O). The direction in which each of the finger portions 10a, 10b, and 10c protrudes may form an angle with respect to the direction of protrusion X, and may, for example, widen or narrow upward. It suffices if the average of the directions in which the . That is, in the present invention, the protruding direction of a plurality of fingers means the average (sum of vectors) of the protruding directions of the fingers.

The first drive unit 30 includes a first motor 31 fixed to the casing 50 , a pulley 32 attached to the lower end of the shaft 22 , and a drive unit suspended between them to transmit the rotational driving force of the first motor 31 to the pulley 32 . and a passed endless belt 33 .
A screw groove (not shown) forming a ball screw is formed on the outer circumference of the shaft 22 and is screwed with an inner screw-like screw groove (not shown) provided on the inner circumference of the support ring 23 . . The support ring 23 is restricted from rotating about the shaft 22, and moves vertically (in the axial direction of the shaft 22) when the shaft 22 rotates.

The vertical movement of the support ring 23 results in vertical movement of the base end portions of the finger portions 10a, 10b and 10c. 11c moves in the horizontal direction, and the tips 11a, 11b, and 11c move toward the center point C in FIG. direction, opening direction). That is, the first driving section 30 is responsible for the opening and closing operations of the finger sections 10a, 10b, and 10c. In addition, the configuration for converting the movement of the distal end portions 11a, 11b, and 11c into horizontal movement and the movement thereof will be described in detail later.

In the fully open state and fully closed state associated with the opening and closing operations of the three finger portions 10a, 10b, 10c, the positions of the respective tip portions 11a, 11b, 11c are concentric circles centered on the central axis O in plan view shown in FIG. located above. Among the three fingers 10a, 10b, and 10c, the first finger 10a is fixed without moving in the circumferential direction around the central axis O, and the second finger 10b and the third finger 10b are fixed. 10c is provided so as to be rotatable in the circumferential direction around the central axis O by the second driving section 40. As shown in FIG. That is, the second finger portion 10b and the third finger portion 10c correspond to the "rotating finger portion" according to the present invention.

In FIG. 2, tip portions 11a, 11b, and 11c are positioned at equal intervals (rotational symmetry) with an angle of 120°. In the present embodiment, these three tips 11a, 11b, and 11c are positioned on concentric circles about the central axis O, and the two tips 11b and 11c approach and move away from each other. , it is rotatable.

FIG. 4 schematically shows the fingers of the reference example in which the three tips are not positioned on the concentric circles of the center point C1 viewed from the first finger 110a and the rotation centers do not match. It is a schematic plan view. The first finger portion 110a is fixed without moving in the circumferential direction around the center point C1. In addition, the rotatable second finger portion 110b and the third finger portion 110c have rotation centers C2 and C3, respectively, which do not coincide with each other and none of them coincide with the center point C1. . In addition, in FIG. 4, each of the tip portions 111a, 111b, and 111c is schematically shown in a round shape (the same applies to subsequent schematic plan views).

As shown in FIG. 4, in this example, the rotation centers C2 and C3 of the second finger portion 110b and the third finger portion 110c are arranged in opposite directions with respect to the center point C1 viewed from the first finger portion 110a. is shifted by a distance d from .
In FIG. 4, arrows V _111a , V _111b , and V _111c indicate the moving directions of the tips 111a, 111b, and 111c when the fingers are closed. These arrows V _111a , V _111b , and V _111c can be regarded as vectors of motion of the tip portions 111a, 111b, and 111c, respectively (these vectors are described as “vectors V _111a , V _111b , and V _111c ”). . Also, the extension of the tip portions 111a, 111b, and 111c in the moving direction is represented by a dashed line in the figure. Thus, in this example, the motion vectors V _111a , V _111b , and V _111c of the tips 111a, 111b, and 111c do not point toward one central point, and the tips 111a and 111b, 111c , it can be seen that the grasping force for the object to be grasped is not effectively utilized.

In other words, since the tip portions 111a, 111b, and 111c access the object to be gripped from the deviated directions, the grip force is not effectively utilized. Also, when any one of the three tips 111a, 111b, and 111c first contacts the object to be gripped, the object moves in the direction of the vector of the contacting tip. As a result, especially when one of the tip portions 111b and 111c comes into contact first, the object moves in a direction deviating from the center point C1, which should be the gripping center position. As a result, gripping becomes more difficult, gripping force becomes more difficult to act, and gripping stability decreases.

Even when the second finger portion 110b and the third finger portion 110c are rotated about the rotation centers C2 and C3, the vectors V _111a , V _111b , and V _111c are However, the deviation as described above still occurs, which inevitably lowers the gripping force and gripping stability. In particular, the second finger portion 110b and the third finger portion 110c are rotated in a direction in which the distance between the tip portion 111b and the tip portion 111c is shortened (the angle formed by the vector V _111a and the vector V _111c is decreased). Then, the influence of the deviation as described above becomes more pronounced.

A decrease in gripping force and gripping stability due to the shift in the direction of the vector of the tip portion becomes more pronounced as the distance d between the center point C1 and the rotation centers C2 and C3 increases. Conversely, this means that the smaller the value of d is, the more the grip force and grip stability are improved. In this embodiment, the distance d is zero, that is, the center point C1 and the rotation centers C2 and C3 are all coincident.

FIG. 5 shows a schematic plan view schematically showing the finger portion of the present embodiment. As shown in FIG. 5, in the present embodiment, the motion vectors V _11a , V _11b , and V _11c of the tips 11a, 11b, and 11c when the three fingers 10a, 10b, and 10c close are toward center point C. In addition, the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portion, are rotatable about the line in the projecting direction X passing through the center point C as the central axis O. As shown in FIG. Therefore, even if the second finger portion 10b and the third finger portion 10c are rotated to any position, the motion vector V11a of the tip portions _11a , 11b, and 11c when the finger portions 10a, 10b, and 10c are closed is , V _11b , V _11c are directed to one central point C.

Therefore, according to the aspect of the present embodiment, all the distal end portions 11a, 11b, and 11c move toward the central axis O, so that the gripping force is effectively utilized for the object positioned near the central axis O. . Also, when one of the three tips 11a, 11b, and 11c first contacts the object to be gripped, the object moves in the direction of the vector of the contacting tip. In this case, the object moves toward the center point C, which should be the gripping center position, and the gripping force acts effectively and the gripping stability is high. In particular, when trying to grip a small-sized object, it is also possible to grip it without missing anything.

FIG. 6 is a schematic plan view schematically showing a state in which the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portion, are rotated and approached in the finger portion of the present embodiment. As shown in FIG. 6, even if the second finger 10b and the third finger 10c are rotated closer together, of course, the movement of the tips 11a, 11b, 11c when the fingers 10a, 10b, 10c are closed The vectors V _11a , V _11b , and V _11c are directed toward one central point C, and gripping force effectively acts on an object located near the central axis O. FIG.

Further, when the shape of the object to be gripped is elongated, rectangular parallelepiped, or the like, when sandwiching the outer surfaces that are in a parallel positional relationship, the motion vector V11a of the tip portion _11a and the tip Since the motion vectors V _11b and V _11c of the portions 11b and 11c are close to facing each other, the gripping force is not wasted and the gripping force can be effectively gripped.

On the other hand, FIG. 7 is a schematic plan view schematically showing a state in which the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portion, are rotated away from each other in the finger portion of the present embodiment. be. As shown in FIG. 7, even if the second finger 10b and the third finger 10c rotate away from each other, the movement of the tips 11a, 11b, and 11c when the fingers 10a, 10b, and 10c close will of course be different. The vectors V _11a , V _11b , and V _11c are directed toward one central point C, and gripping force effectively acts on an object located near the central axis O. FIG.

Further, for example, when grasping the end of a long object (in this case, when grasping the object with the robot hand 1 of the present embodiment, the end of the object is brought into contact with the tip portion 11a). and the longitudinal direction of the object is positioned between the second finger portion 10b and the third finger portion 10c, and then the side surface around the end portion is brought into contact with the tip portions 11b and 11c to grasp the object. ), etc., depending on the shape of the object to be grasped, it may be better for the vectors V _11b and V _11c of the motions of the tips 11b and 11c to have angles. In the case of an object, the gripping force is not wasted and can be effectively gripped.

In this embodiment, the rotating directions of the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portions, are opposite to each other. Therefore, the distance between the second finger portion 10b and the third finger portion 10c can be quickly adjusted to a position according to the size and shape of the object to be gripped.

Further, as shown in FIG. 5, the center point of the line connecting the corresponding points (Yb and Yc in the figure) of the tip portions 11b and 11c of the second finger portion 10b and the third finger portion 10c constituting the rotating finger portion A line L connecting P and the center of the tip portion 11a of the first finger portion 10a fixed in the rotation direction passes through the center point C. As shown in FIG. Therefore, the positional relationship of the second finger portion 10b and the third finger portion 10c with respect to the first finger portion 10a becomes equal, and the three finger portions 10a, 10b, and 10c grasp the object so as to evenly wrap it, or An object can be gripped in a well-balanced manner at any position, such as gripping with the first finger portion 10a and the second finger portion 10b and the third finger portion 10c.

In the present invention, the "corresponding points" in the tip portions (11b, 11c) refer to the correspondence between the center positions of the tip portions, the positions of the centers of gravity, the positions closest to the central axis O, etc. It corresponds to a position symmetrical with respect to the extension line L of the motion vector V11a of the tip portion _11a .

A specific device configuration of the present embodiment, which realizes the movements of the finger portions 10a, 10b, and 10c of the robot hand 1 as described above, will be described.
FIG. 8 is a vertical cross-sectional view of the robot hand 1 according to the present embodiment, and is a cross-sectional view taken along line BB in FIG.

The second drive unit 40 includes a second motor 41 fixed to the casing 50 , a gear unit 42 that rotates the second finger 10 b and the third finger 10 c , and an input pulley 44 that rotates the second motor 41 . and an input pulley 44 for inputting rotation to the gear unit 42 . Gear unit 42 is also fixed to casing 50 .

FIG. 9 is an enlarged perspective view of only the gear unit 42 taken out from the second driving section 40. As shown in FIG. 10 is a cross-sectional view of the gear unit 42 taken along line EE in FIG. 9, and FIG. 11 is a top view showing only the gear group of the gear unit 42 (as seen from the projecting direction X).
The gear unit 42 includes a rotating sun gear 421, a stationary sun gear 422, a transmission gear 423, a stationary internal gear 424, a rotating internal gear 425, a first planetary gear 426, a second planetary gear 427, Consists of These are assembled in a gear unit case 428 to form an integrated gear unit 42 .

The rotating sun gear 421 and the fixed sun gear 422 are external gears having the same shape and the same number of external teeth when viewed from the top, and are concentrically stacked about the central axis O of the robot hand 1 . However, while the fixed sun gear 422 is fixed and does not rotate, the rotating sun gear 421 can rotate independently of this. Note that the rotating sun gear 421 has a greater thickness (height in the direction of the central axis O) than the fixed sun gear 422 .

The fixed internal gear 424 and the rotating internal gear 425 are internal gears having the same shape and the same number of internal teeth in a top view, which are concentrically stacked. However, while the fixed internal gear 424 is fixed and does not rotate, the rotating internal gear 425 is rotatable independently of this. Note that the rotating internal gear 425 has a greater thickness (height in the direction of the central axis O) than the fixed internal gear 424 .

Rotating sun gear 421 is positioned downward in the direction of central axis O (on the side opposite to projecting direction X; the same applies hereinafter), and the outer teeth on the lower side face the inner teeth of fixed internal gear 424, ) faces the lower internal tooth of the rotary internal gear 425 . Also, the upper internal teeth of the rotating internal gear 425 face the external teeth of the fixed sun gear 422 .

A first planetary gear 426 is interposed between the rotating sun gear 421 and the fixed internal gear 424 in a state of meshing with both gears. A rotatable transmission gear 423 having a fixed shaft is interposed between the rotating sun gear 421 and the rotating internal gear 425 while meshing with both gears. A second planetary gear 427 is interposed between the rotating internal gear 425 and the fixed sun gear 422 while meshing with both gears.

The input pulley 44 is arranged at an end portion 429 arranged coaxially with the shaft 22 above the shaft 22 and inputs rotation to the rotating sun gear 421 via the shaft portion 429 . Here, a case where rotation in the direction of arrow F (clockwise) is input from the input pulley 44 to the rotating sun gear 421 will be described as an example. In FIG. 11, the rotating sun gear 421 is hidden behind the fixed sun gear 422, and only its tip is visible.

The rotation in the direction of arrow F input to the rotating sun gear 421 is transmitted to the first planetary gear 426 to rotate the first planetary gear 426 in the reverse direction (counterclockwise), that is, in the direction of the arrow G. Then, the first planetary gear 426 rotates around the inner periphery of the fixed internal gear 424 and moves (revolves) in the arrow H direction (clockwise).

In addition, the rotation in the direction of arrow F input to the rotating sun gear 421 is also transmitted to the transmission gear 423, causing the transmission gear 423 to rotate in the reverse direction (counterclockwise), that is, in the direction of arrow I. Then, the transmission gear 423 rotates on its own axis and transmits the rotation to the rotating internal gear 425, causing the rotating internal gear 425 to rotate in the arrow J direction (counterclockwise).

Further, the rotation in the direction of arrow J transmitted to the rotary internal gear 425 is transmitted to the second planetary gear 427, causing the second planetary gear 427 to rotate in the same direction (counterclockwise), that is, in the direction of arrow K. Then, the second planetary gear 427 goes around the outer circumference of the fixed sun gear 422 while rotating, and moves (revolves) in the direction of arrow M (counterclockwise).

As described above, when rotation in the direction of arrow F (clockwise) is input to the rotating sun gear 421 from the second motor 41 via the input pulley 44, the first planetary gear 426 rotates in the direction of arrow H ( clockwise), the second planetary gear 427 revolves in the direction of arrow M (counterclockwise), and both gears move closer to each other.

On the other hand, when the rotating sun gear 421 is rotated in the opposite direction (counterclockwise direction) to the direction of the arrow F, all the gears rotate in the directions opposite to the rotation directions described above. Finally, the first planetary gear 426 revolves in the direction of arrow M (counterclockwise) and the second planetary gear 427 revolves in the direction of arrow H (clockwise), so that both gears move away from each other. Moving.

FIG. 12 shows an enlarged cross-sectional view of the robot hand 1 immediately below the gear unit 42 (enlarged cross section taken along line NN in FIG. 8).
A first rotating shaft 24b (see FIGS. 8, 11 and 12; not shown in FIGS. 9 and 10) is rotatably fitted and attached to the first planetary gear 426. As shown in FIG. As the first planetary gear 426 revolves in the arrow H or arrow M direction, the first rotating shaft 24b also rotates and rotates about the central axis O as an axis. This rotational motion is transmitted to the second finger portion 10b via the link portion 25b.

The link portion 25b includes a rotating ring portion 25b1 that is rotatably fixed to the shaft 22, and a first rotating shaft 24b that is rotatably inserted in the middle of the link portion 25b. 10b (specifically, a finger link member to be described later) and a rotary link portion 25b2 joined thereto. As a result, the revolution movement of the first planetary gear 426 becomes the rotation movement of the second finger portion 10b.

A second rotating shaft 24c (see FIGS. 9 to 12, not shown in FIG. 8) is rotatably fitted and attached to the second planetary gear 427. As shown in FIG. As the second planetary gear 427 revolves in the arrow M or arrow H direction, the second rotating shaft 24c also rotates and rotates about the central axis O as an axis. This rotational motion is transmitted to the third finger portion 10c via the link portion 25c, which will be described later, and becomes the rotational motion of the third finger portion 10c.

Like the link portion 25b, the link portion 25c also has a rotating ring portion and a rotating link portion 25c2. Therefore, it does not appear in FIG. The rotating ring portion of the link portion 25c is rotatably fixed to the shaft 22 independently of the rotating link portion 25b1. A rotating ring portion of the link portion 25c is integrated with the rotating link portion 25c2, and the third finger portion 10c (more specifically, a finger link member to be described later) is joined to the rotating link portion 25c2. . As a result, the revolution movement of the second planetary gear 427 becomes the rotation movement of the third finger portion 10c.

The rotating ring portions (not shown and 25c2) of the link portion 25b and the link portion 25c constitute a part of the support ring 23 or fixed ring 51 (see FIG. 25) which will be described later. The rotating ring portion (not shown and 25c2), which may be part of either the support ring 23 or the fixed ring 51, is configured to be rotatably connected to another portion of the support ring 23 or the fixed ring 51. As shown in FIG. Therefore, when the rotating ring portion (not shown and 25c2) constitutes a part of the support ring 23, the rotating ring portion (not shown and 25c2) moves up and down as the support ring 23 moves up and down.

As described above, the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portion, are provided so as to be rotatable in the circumferential direction around the central axis O. As shown in FIG. Therefore, as shown in FIG. 6, when the second finger portion 10b and the third finger portion 10c rotate and approach each other, the vectors V _11b and V _11c of the motions of the tip portions 11b and 11c become the motion vectors of the tip portion 11a. can be approximated to the opposite state of vector V _11a of .

However, if the structure from the central axis O of both fingers to the tips 11b and 11c is simply a linear link (the state of the fingers 10b and 10c in FIGS. 4 to 6 and FIG. 13, which are schematic diagrams), Since interference occurs as indicated by 13, they cannot be brought closer until they are in a facing state (parallel state in which the directions of the vectors are opposite).

FIG. 13 shows the second finger portion 10b constituting the rotating finger portion when the structure from the central axis O to the tip portions 11b and 11c of the finger portion of the present embodiment is replaced with a simple linear link. and a schematic plan view schematically showing a state in which the third finger portion 10c rotates and approaches. If the second finger portion 10b and the third finger portion 10c are too close to each other, any part of the second finger portion 10b and the third finger portion 10c will interfere with each other. There is a limit that the portion 10c cannot be brought closer.

On the other hand, FIG. 14 shows that, in the finger of the reference example shown in FIG. FIG. 11 is a schematic plan view schematically showing a state in which the second finger 110b and the third finger 110c are brought closer to each other until they face the moving direction vector of the tip 111a of the first finger 110a.

In this way, the rotation centers C2 and C3 of the second finger portion 110b and the third finger portion 110c, which constitute the rotation finger portion, are arranged in opposite directions to the center point C1 viewed from the first finger portion 110a. Since the second finger portion 110b and the third finger portion 110c are out of alignment with each other, no interference occurs. Therefore, in this reference example, as shown in FIG. 14, the second finger portion 110b and the third finger portion 110c are divided into a motion vector V _111a of the tip portion 111a and a motion vector V of the tip portions 111b and 111c. It can be seen that V _111b and V _111c can be brought close to each other until they are in the opposite state (parallel state with opposite vector directions).

Therefore, in the present embodiment, a link portion composed of two link members is interposed between the second finger portion 10b and the third finger portion 10c, which constitute the rotating finger portion, and the central axis O. Thus, the motion vectors V _11b and V _11c of the tip portions 11b and 11c are realized to be opposed to the motion vector V _11a of the tip portion 11a.

FIG. 15 shows that, in the finger according to the present embodiment, both vectors in the movement directions of the tips 11b and 11c of the second finger 10b and the third finger 10c, which constitute the rotating finger, correspond to the first finger 10a. is a schematic plan view schematically showing a state in which the second finger portion 10b and the third finger portion 10c are brought close to each other until they face the vector in the moving direction of the tip portion 11a.

In FIG. 15, the end portion of the link portion 25b on the side opposite to the center point C (center axis O) is located on the side opposite to the tip portions 11b and 11c of the second finger portion 10b and the third finger portion 10c. Although they are connected to the vicinity of the end portions, illustration of the configuration of intermediate finger link portions (to be described later) is schematically omitted, and only the tip portions 11b and 11c are illustrated. Also, the above-described rotating ring portion 25b1 formed at the connecting portion between the link portion 25b and the center point C (the center axis O) is omitted from the illustration, and the above-described rotating link portions 25b2 and 25c2 (reference numeral 25c2 is 12) are shown as link portions 25b and 25c.

As shown in FIG. 15, in the robot hand 1 of the present embodiment, one end is rotatably fixed about a central axis O (center point C), and the other end is a rotating finger portion 10b (specifically, a rotating finger portion 10b). It has link portions 25b and 25c connected to the end near the end opposite to the tip portion 11b. In addition, the link portions 25b and 25c are rotated along the above-described rotation directions (arrow M and arrow H, the "first rotation direction" referred to in the present invention) of the respective link portions 25b and 25c. It has first link members 26b, 26c and second link members 27b, 27c connected by connecting portions 28b, 28c that enable second rotation (double arrows R, S).

As described above, in the present embodiment, the first link members 26b and 26c of the link portions 25b and 25c are brought close to each other to the extent that interference does not occur between the second finger portion 10b and the third finger portion 10c. and the arrow H direction (first rotation direction). Simultaneously, or before and after, the second link members 27b and 27c are rotated in directions of the arrow R and the arrow S (second rotation) with the coupling portions 28b and 28c as the axes so as to approach each other. move.

As described above, in the present embodiment, the second finger portion 10b and the third finger portion 10c are divided into the motion vector V _11a of the tip portion 11a and the motion vectors V _11b and V of the tip portions 11b and 11c. _11c and 11c can be brought close to each other until they are in a facing state (parallel state in which the direction of the vector is reversed).

The above-described movements of the second finger portion 10b and the third finger portion 10c that constitute the rotating finger portion will be described in detail below with reference to FIGS. to explain. In the following description, the suffixes b and c for distinguishing between the two are omitted in order to describe the common configuration of the second finger portion 10b and the third finger portion 10c.

FIG. 16 is a diagram for explaining the second rotation of the link portion 25, and is a schematic plan view of only the target portion extracted and viewed from below. 17 is a schematic side view of the configuration of FIG. 16 viewed from the lateral direction. As shown in FIGS. 16 and 17, the link portion 25 includes a first link member 26 whose one end (corresponding to the rotating ring portion 25b1 in FIG. 12) is rotatably fixed to the shaft 22; It has a second link member 27 rotatably connected to the link member 26 by a connecting portion 28 . The second link member 27 is connected to the finger portion 10 (more precisely, the vicinity of the end opposite to the tip portion 11).

One end of the drive link 29 is rotatably connected to the second link member 27 by a connecting portion 291 . The other end of the drive link 29 is rotatably connected to the shaft 22 at a connecting portion 292 . Further, the rotating shaft 24 (the already-described first rotating shaft 24b or second rotating shaft 24c) extends vertically from a connecting portion 293 in the middle of the drive link 29 . The rotating shaft 24 is configured to rotate (revolve) together with the first planetary gear 426 or the second planetary gear 427 .

FIG. 18 is a schematic plan view showing only the link portion 25 and its peripheral portion, with the drive link 29 removed. The first link member 26 is provided with a protrusion 261 protruding downward, and is engaged with a longitudinally elongated opening 522 formed at one end of the lock link 52 . The other end of the lock link 52 is rotatably connected to the casing 50 at a connecting portion 521 (not shown).

When the first link member 26 rotates in the direction of the arrow T, as shown in FIG. 19, the rotation is restricted when the projection 261 reaches the end of the elongated opening 522 of the lock link 52 . It has become so. Therefore, the first rotation of the first link member 26 in the arrow T direction is restricted. Until that stage, the first link member 26 and the second link member 27 are arranged in a straight line to perform the first rotation. The following description is based on this assumption.
19 is a schematic plan view showing a state in which the first link member 26 is rotated in the arrow T direction from the state shown in FIG.

FIG. 20 is a schematic plan view of only the link portion 25 and its peripheral portion. 16 and 17, the drive link 29 is shown, but the lock link 52 is hidden in the shadows and is not shown. This state represents a state in which rotation in the direction of arrow T has progressed from the state of FIG.

In FIG. 21, the first planetary gear 426 or the second planetary gear 427 and the rotation (revolution) of the rotation shaft 24 further proceed from the state of FIG. It is a schematic plan view which shows the state which rotated. Even if the first rotation of the first link member 26 is restricted by the action of the lock link 52, the rotation of the connection point with the rotation shaft 24 continues, and the second link rotates about the connecting portion 28 as an axis. A second rotation of member 27 is caused.

In this embodiment, the first rotation and the second rotation of the link portion 25 are realized as described above.
FIG. 22 is a schematic plan view mainly showing only the link portion 25 extracted from the configuration shown in FIG.

In order to realize the rotation described above, as shown in FIG. 22, the first link member 26 has an elongated hole through which the rotation shaft 24 penetrates in order to allow the rotation shaft 24 to move. An opening 262 is provided. Also, the second rotation of the second link member 27 is completed at a predetermined position (the state shown in FIG. 15), and the connection point 291 with the drive link 29 can be appropriately moved. A connecting portion of the link member 27 is an elongated opening 271 .

FIG. 23 is a top plan view of the robot hand 1 of the present embodiment, in which only the finger portion and its rotation mechanism are extracted. Also, FIG. 24 illustrates the movement of the two pivoting fingers from the state shown in FIG. It is a top view which shows the state which approached the part.

In FIGS. 23 and 24, the lock links 52b and 52c are shown, but the drive link 29 is hidden in the shadows and is not shown. Also, with respect to the link portions 25b and 25c, only a part of the second link members 27b and 27c are shown, but the first link members 26b and 26c are hidden behind the shadows and are not shown.

In FIG. 23, the first finger portion 10a, the second finger portion 10b and the third finger portion 10c are positioned at equal intervals of 120° (rotational symmetry) with the center axis O as the center. From this state, as described above, the movement of the first planetary gear 426 and the second planetary gear 427 in the gear unit 42 is controlled by the link portions 25b and 25c via the first rotating shaft 24b and the second rotating shaft 24c. , and the second finger portion 10b and the third finger portion 10c move in the direction of arrow T (directions of arrows M and H in FIG. 15).

The lock links 52b and 52c act to restrict the rotation of the first link members 26b and 26c (not shown in FIG. 23). The rotation of the moving shaft 24c causes the second link members 27b and 27c to rotate in the arrow U direction as shown in FIG. Finally, as shown in FIG. 24, the second finger portion 10b and the third finger portion 10c are aligned in parallel and completely opposed to the first finger portion 10a.

In the state shown in FIG. 24, the vector V11a of the movement of the tip _11a and the vectors V11b and V11c of the movements of the tips _11b and _11c are opposed to each other (parallel with opposite directions of the vectors). there is

Next, the opening and closing operation of the finger portion according to the present embodiment will be described.
In this embodiment, the movement of the tips 11a, 11b, 11c due to the opening and closing of the three finger parts 10a, 10b, 10c is a movement in the direction perpendicular to the projecting direction (arrow X direction). If an attempt is made to simply connect the links to form the fingers, when the fingers are closed, the tips of the fingers draw arcuate trajectories and protrude. When actually operating the robot hand 1, it is necessary to be conscious of the position of the tip of the finger because of the trajectory of the movement of the tip of the finger, which leads to difficulty in operation.

In the present embodiment, the movement of the support ring 23 (see FIG. 3) in the vertical direction (protruding direction X, center axis O) is parallel to the horizontal direction of the tips 11a, 11b, and 11c of the fingers 10a, 10b, and 10c. is converted into the movement of
FIG. 25 is a schematic diagram for explaining the structure of finger portions 10a, 10b, and 10c in this embodiment. In FIG. 25, two of the three fingers 10a, 10b, and 10c are illustrated, but since there is no difference in the opening/closing mechanism of the fingers for each finger, symbols a, b, and c are omitted. Therefore, the description with reference to FIG. 25 is common to the three finger portions 10a, 10b, and 10c, except for the description that touches on the differences among the finger portions.

The finger portion 10 includes a first finger link portion 12, a first auxiliary finger link portion 13, a second finger link portion 14, a second auxiliary finger link portion 15, and a third finger link portion 16. It is configured. 25, illustration of the tip portions 11a, 11b, and 11c is omitted.
The support ring 23 described with reference to FIG. 3 is fitted on the shaft 22 so as to be vertically movable, and a fixed ring 51 is positioned at the upper end thereof. The fixed ring 51 rotatably supports the shaft 22 with respect to the casing 50 .

The first finger link portion 12 has one end (base end portion of the finger portion) rotatably connected to the lower connection portion 231 of the support ring 23, extends obliquely upward, and the other end is the third finger link portion. 16 is rotatably connected to a connecting portion 161 at the lower end of the . One end of the first auxiliary finger link portion 13 is rotatably connected to the lower connection portion 511 of the fixed ring 51, extends obliquely downward, and the other end extends in the longitudinal direction of the first finger link portion 12. It is rotatably connected to the central connecting portion 121 .

In addition, in the second finger portion 10b and the third finger portion 10c that constitute the rotating finger portion, the first finger link portion 12 and the first auxiliary finger link portion 13 are directly connected to the support ring 23 and the fixed ring 51. Instead, it is connected to the support ring 23 and the fixed ring 51 via the link portions 25b and 25c that play a part of the horizontal rotation mechanism of the second finger portion 10b and the third finger portion 10c. . At this time, only one of the first finger link portion 12 and the first auxiliary finger link portion 13 is configured to follow the horizontal rotation by the link portions 25b and 25c, while the other is configured to follow the horizontal rotation by the link portions 25b and 25c. It is sufficient if a free link that has been provided is intervening. In FIG. 25, the existence of the link portions 25b and 25c is omitted, and the structure of the opening/closing mechanism of the finger portion 10 is focused on.

On the back side of the first finger link part 12 and the first auxiliary finger link part 13, the second finger link part 14 and the second auxiliary finger link part 15 are located slightly above the first finger link part 12 and the first auxiliary finger link portion 13 . That is, the second finger link portion 14 has one end (base end portion of the finger portion) rotatably connected above the support ring 23 , extends obliquely upward, and the other end connected to the third finger link portion 16 . It is rotatably connected to a position slightly above the lower end. One end of the second auxiliary finger link portion 15 is rotatably connected to the upper portion of the fixed ring 51, extends obliquely downward, and the other end is rotatable about the longitudinal center of the second finger link portion 14. It is connected to the. In the second finger portion 10b and the third finger portion 10c, the link portions 25b, 25c, etc. are interposed in the same manner as the first finger link portion 12 and the first auxiliary finger link portion 13. FIG.

The lengths of the first finger link portion 12 and the second finger link portion 14 are equal, and the lengths are half of that, and the first auxiliary finger link portion 13 and the second auxiliary finger link portion 15 are also equal. In addition, in the height direction (protruding direction X), the distance between the connecting portions 231 and 232, the distance between the connecting portions 511 and 512, and the distance between the connecting portions 161 and 162 are all equal.

When the shaft 22 is rotated by the first motor 31, the support ring 23 moves up or down depending on the direction of rotation. Each link of the finger 10 is moved accordingly, which translates into an opening and closing motion of the finger 10 .

First, when the support ring 23 moves upward (in the direction of the arrow V1), the distance between the support ring 23 and the fixed ring 51 approaches, and the first finger link portion 12, the first auxiliary finger link portion 13, and the second finger link portion 14 move. and the second auxiliary finger link portion 15 moves horizontally. Then, the connecting portions 161 and 162 of the first finger link portion 12 and the second finger link portion 14 to the third finger link portion 16 move so as to protrude outward, and the third finger link portion 16 moves horizontally. Move in the opening direction (arrow W1 direction).

Further, when the rotation direction of the first motor 31 is reversed and the support ring 23 moves downward (in the direction of arrow V2), the distance between the support ring 23 and the fixed ring 51 increases, and the first finger link portion 12 and the first finger link portion 12 move away from each other. The auxiliary finger link portion 13 and the second finger link portion 14 and the second auxiliary finger link portion 15 move vertically. Then, the connecting portions 161 and 162 of the first finger link portion 12 and the second finger link portion 14 to the third finger link portion 16 move toward the shaft 22, and the third finger link portion 16 moves horizontally. Move in the closing direction (arrow W2 direction).

In the present embodiment, as described above, the finger portion 10 does not protrude in the protruding direction X, but moves in the horizontal direction (arrows W1 and W2) to perform the opening/closing operation. Therefore, when an object is to be gripped, the positions of the tips of the fingers 10 do not change, and the gripping operation can be performed easily and safely.

Although the robot hand of the present invention has been described above with reference to preferred embodiments, the robot hand of the present invention is not limited to the configurations of the above embodiments. For example, in the above-described embodiment, gears using planetary gears are used as a mechanism for realizing horizontal rotation of the second finger portion 10b and the third finger portion 10c that constitute the rotating finger portions of the robot hand 1. Although the unit 42 is used as an example, any mechanism may be employed as long as it can rotate the second finger portion 10b and the third finger portion 10c in the horizontal direction.
A modified example that achieves the horizontal rotational movement of the second finger portion 10b and the third finger portion 10c by using a gear unit that utilizes a combination of bevel gears will be described below.

FIG. 26 is a perspective view showing a gear group and its peripheral members of a modified gear unit that can implement the present invention. In the gear unit 6 of the modified example, an input gear 61 to which rotation from a motor is input, a first bevel gear 62, and a third bevel gear 64 are arranged on the same axis in this order from the bottom. . This axis coincides with the central axis O, for example, when applied to the robot hand 1 of the embodiment.
In this figure, the vertical direction on the drawing is used as it is in the following description, but it is completely irrelevant to the vertical relationship when it is incorporated in an actual robot hand.

The first bevel gear 62 and the third bevel gear 64 are arranged so that the bevel tooth sides face each other. The input gear 61 and the first bevel gear 62 are fixed to a cylindrical hollow shaft 65 and rotate together. The hollow shaft 65 has an upper end located directly below the third bevel gear 64 . Also, the third bevel gear 64 is fixed to a through shaft 66 passing through the hollow shaft 65 and rotates together.

Between the first bevel gear 62 and the third bevel gear 64 is a second bevel gear 63 with its axis of rotation oriented horizontally so that both the first bevel gear 62 and the third bevel gear 64 and gears are arranged in mesh. Therefore, the second bevel gear 63 is configured to rotate together with the first bevel gear 62 and transmit the rotation to the third bevel gear 64 as well.

A lower leg portion 671 of the first rotary link portion 67 is fixed to the upper end of the hollow shaft 65 so as to extend radially from the peripheral surface of the hollow shaft 65 , and the first rotary link portion 67 extends from the hollow shaft 65 . go around with The upper leg portion 673 of the first rotating link portion 67 is rotatably connected to the upper end of the penetrating shaft 66 . A vertical link 672 connects between the lower leg portion 671 and the upper leg portion 673 of the first rotating link portion 67, and a fixed portion 674 protrudes outward in the rotational direction slightly upward in the vertical direction. It is fixed in a protruding state so as to

Slightly above the third bevel gear 64 on the through shaft 66 is the lower leg 681 of the second pivot link 68 , and at the upper end of the through shaft 66 is the second pivot link 68 . Upper legs 683 are each secured to extend radially from the circumference of through shaft 66 . Therefore, the second pivot link 68 rotates together with the through shaft 66 . A lower leg portion 681 and an upper leg portion 683 of the second rotating link portion 68 are connected by a vertical link 682, and a fixed portion 684 protrudes outward in the rotation direction around the center in the vertical direction. It is fixed in a protruding state so as to The fixed portion 674 and the fixed portion 684 have the same position in the height direction.

Rotation in the direction of the arrow Y input to the input gear 61 is transmitted to the first bevel gear 62 and the first rotary link portion 67 via the hollow shaft 65, and these are also rotated in the direction of the arrow Y. Therefore, the fixed portion 674 is rotated in the arrow Y direction.
The rotation of the first bevel gear 62 in the arrow Y direction is transmitted to the second bevel gear 63 with which the gears mesh, and the second bevel gear 63 is rotated in the arrow Q direction.

The rotation of the second bevel gear 63 in the direction of the arrow Q is transmitted to the third bevel gear 64 with which the gears mesh, and the third bevel gear 64 is rotated in the direction of the arrow Z.
Rotation of the third bevel gear 64 in the direction of arrow Z is transmitted through a through shaft 66 to a second pivot link 68, which is also rotated in the direction of arrow Z. As shown in FIG. Therefore, the fixed portion 684 is rotated in the arrow Z direction.

As described above, when rotation in the direction of the arrow Y (counterclockwise when viewed from above) is input to the input gear 61, the fixed portion 674 rotates in the direction of the arrow Y (counterclockwise when viewed from above). The parts 684 rotate in the direction of the arrow Z (clockwise when viewed from above), and move away from each other.

On the other hand, when the rotation of the input gear 61 in the direction opposite to the arrow Y direction (clockwise when viewed from above) is input, all the gears rotate in the direction opposite to the rotation direction described above. Rotate. Finally, the fixing portion 674 is rotated in the direction opposite to the direction of arrow Y (clockwise when viewed from above), and the fixing portion 684 is rotated in the direction opposite to the direction of arrow Z (counterclockwise when viewed from above). Rotate and move so that both are closer to each other.

By connecting the second finger portion 10b and the third finger portion 10c to the fixing portion 674 and the fixing portion 684 with or without a link or the like, the second finger portion 10b and the third finger portion 10c are connected to each other. A horizontal pivoting motion can be realized.
Of course, a configuration other than a configuration using planetary gears or bevel gears may be used.

In the above-described embodiment, the gear unit 42 as the rotating mechanism is positioned above the driving mechanisms such as the second motor 41 and the second driving section 40. However, the position of the gear unit 42 is Alternatively, they may be placed below these drive mechanisms. There is no limit to the arrangement as long as the desired drive mechanism can be designed. However, by locating the gear unit 42 above these drive mechanisms as in the present embodiment, the space inside the device can be effectively utilized, and the central axis O of the device of the robot hand 1 can be used. This is preferable in that the length in the direction can be shortened.

Also, in the above-described embodiment, an example in which the number of finger portions is three has been described, but the present invention is not limited to this, and the number may be two or four or more. In any case, as long as the number of rotating fingers is one or more, the distance from the other fingers can be moved closer or farther away. Work such as gripping can be optimized. Furthermore, the number of rotating fingers may be three or more, and for example, all the fingers may be rotating fingers. By appropriately controlling the horizontal rotation position of each finger, it is possible to optimize operations such as gripping objects of various shapes. Furthermore, as described in the present embodiment, a pair of fingers may be included that rotate so as to approach and move away from each other, and the horizontal rotation position of each finger may be freely adjusted. I don't mind if it's possible.

By the way, as for the second aspect of the present invention having two link members connected by a connecting portion, which has been described with reference to FIGS. 15 to 22, the number of finger portions may be one. Since the closing direction of the fingers can be finely adjusted not only by the first rotation but also by the second rotation, for example, an operation of lifting the object by hooking the finger on a ring-shaped hanging portion attached to the object. Thus, even when the robot hand is used for applications where workability is affected by a slight difference in the orientation of the fingers, the work can be easily performed.

Further, in the above embodiment, an example having both configurations of the first aspect of the present invention and the second aspect of the present invention has been described. Even with the configuration of the second aspect of the invention alone, it is preferable because the actions and effects based on the respective inventions are exhibited.
For example, even if only the configuration of the first aspect of the present invention does not have two link members connected by a connecting portion (that is, does not correspond to the second aspect of the present invention), FIGS. , the object can be grasped well.

On the other hand, for example, if the rotational axis of the rotational finger portion does not coincide with the center of the opening/closing operation of the other finger portion (that is, it does not correspond to the first aspect of the present invention), the configurations shown in FIGS. Even in the case of , workability can be improved because the direction of the fingers can be appropriately finely adjusted according to the object and work content.
Of course, it is more preferable to have both the configurations of the first aspect of the present invention and the second aspect of the present invention.

Furthermore, in the above-described embodiment, the tip of the finger 10 moves in a direction perpendicular to the projecting direction X, but the finger 10 draws an arc during the closing motion. Even in the case of the configuration in which the projection is projected in the projecting direction X, the effects peculiar to the present invention can be obtained. In other words, the opening and closing operation of the finger may be any operation in which the tip portion moves in a direction intersecting the projecting direction of the finger (the direction of the arrow X). Needless to say, the movement of the tip of the finger 10 is preferably a movement in a direction perpendicular to the projecting direction X. As shown in FIG.

Further, although specific examples of the mechanism for realizing the second aspect of the present invention have been described with reference to FIGS. 16 to 22, the present invention is not limited to this. Any mechanism may be adopted as long as it can realize the second aspect of the present invention. For example, although the lock links 52, 52b, 52c are used as the restricting members, any configuration may be used as long as the rotation of the first link members 26b, 26c can be restricted. regulating member may be used.

In addition, those skilled in the art can appropriately modify the robot hand of the present invention according to conventionally known knowledge. As long as the configuration of the present invention is still provided even with such modification, it is, of course, included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1... Robot hand 10... Finger part 10a... 1st finger part 10b... 2nd finger part (rotating finger part) 10c... 3rd finger part (rotating finger part) 11a, 11b, 11c... Tip Part 12... First finger link part 13... First auxiliary finger link part 14... Second finger link part 15... Second auxiliary finger link part 16... Third finger link part 161, 162... Connection part , 20... Support part 21... Support base 22... Shaft 23... Support ring 231, 232... Connection part 24... Rotating shaft 24b... First rotating shaft 24c... Second rotating shaft 25 ... link part 25b... link part 25b1... rotating ring part 25b2... rotating link part 25c... link part 25c... two rotating link parts 26b, 26c... first link member 261... convex part, 262... opening 27b, 27c... second link member 271... opening 28b, 28c... connecting part 29... driving link 291... connecting part 292... connecting part 30... first driving part 31 1st motor 32 pulley 33 endless belt 40 second drive unit 41 second motor 42 gear unit 421 rotating sun gear 422 fixed sun gear 423 transmission gear 424 ... Fixed internal gear 425 ... Rotating internal gear 426 ... First planetary gear 427 ... Second planetary gear 428 ... Gear unit case 429 ... Shaft 43 ... Endless belt 44 ... Input pulley 50 ... DESCRIPTION OF SYMBOLS Casing 51... Fixed ring 511, 512... Connection part 52, 52b, 52c... Lock link (restriction member) 521... Connection part 522... Opening 6... Gear unit 61... Input gear 62... First bevel gear, 63... second bevel gear, 64... third bevel gear, 65... hollow shaft, 66... penetrating shaft, 67... first rotating link portion, 671... lower leg portion, 672... vertical link , 673 Upper leg portion 674 Fixed portion 68 Second rotating link portion 681 Lower leg portion 682 Vertical link 683 Upper leg portion 684 Fixed portion 110a First finger portion , 110b... second finger part, 110c... third finger part, 111a, 111b, 111c... tip part

Claims (4)

having a plurality of fingers that protrude from the support and whose tips move in a direction that intersects the direction of protrusion;
a shaft rotatably fixed to the support;
a drive source that rotates the shaft;
a stationary ring provided at one end of the shaft and rotatably supporting the shaft;
a support ring to which base ends of the fingers are connected and which moves along the axial direction of the shaft as the shaft rotates;
Each of the plurality of finger portions includes a first finger link portion, a first auxiliary finger link portion, a second finger link portion, a second auxiliary finger link portion, and a third finger link portion. is,
The third finger link portion extends parallel to the axial direction of the shaft,
One end of the first finger link portion is rotatably connected to the support ring on the side closer to the shaft than the third finger link portion, and the other end is rotatably connected to one end of the third finger link portion. is,
One end of the first auxiliary finger link portion is rotatably connected to the fixed ring on the side closer to the shaft than the third finger link portion, and the other end is centered in the longitudinal direction of the first finger link portion. rotatably connected,
One end of the second finger link portion is rotatably connected to the support ring on the side closer to the shaft than the third finger link portion, and the other end is rotatable near one end of the third finger link portion. connected to
One end of the second auxiliary finger link portion is rotatably connected to the fixed ring on the side closer to the shaft than the third finger link portion, and the other end is centered in the longitudinal direction of the second finger link portion. rotatably connected,
The robotic hand, wherein a motion vector of the tip when the fingers close is directed toward a central point. The first finger link portion and the second finger link portion are equal in length,
2. The robot hand according to claim 1, wherein the first auxiliary finger link portion and the second auxiliary finger link portion have the same length. a connection portion with the first finger link portion and a connection portion with the second finger link portion of the support ring are arranged in the axial direction of the shaft;
a connecting portion of the third finger link portion connected to the first finger link portion and a connecting portion connected to the second finger link portion are arranged in parallel with the axial direction of the shaft;
a portion of the stationary ring connected to the first auxiliary finger link portion and a portion of the fixed ring connected to the second auxiliary finger link portion are aligned in the axial direction of the shaft;
3. The distance between the two connection portions of the support ring, the distance between the two connection portions of the third finger link portion, and the distance between the two connection portions of the fixed ring are equal. The robot hand according to claim 1 or 2. The plurality of finger portions consist of three or more finger portions,
Of the motions of the other ends of the third finger link portions of the plurality of finger portions, the vectors of the motions in the direction of approaching each other are directed toward the axis of the shaft when viewed from the projecting direction. The robot hand according to any one of claims 1 to 3.

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