JPH07285089A - Pentadactylic hand arm mechanism - Google Patents

Pentadactylic hand arm mechanism

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Publication number
JPH07285089A
JPH07285089A JP6075991A JP7599194A JPH07285089A JP H07285089 A JPH07285089 A JP H07285089A JP 6075991 A JP6075991 A JP 6075991A JP 7599194 A JP7599194 A JP 7599194A JP H07285089 A JPH07285089 A JP H07285089A
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Japan
Prior art keywords
member
finger
mechanism
fluid pressure
pressure cylinder
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
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JP6075991A
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Japanese (ja)
Inventor
Etsuo Nagaoka
悦雄 永岡
Original Assignee
Mitsubishi Heavy Ind Ltd
三菱重工業株式会社
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Priority to JP6075991A priority Critical patent/JPH07285089A/en
Publication of JPH07285089A publication Critical patent/JPH07285089A/en
Application status is Withdrawn legal-status Critical

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Abstract

PURPOSE:To make those of miniaturization, simplification, lightweightiness, high outputtingness, high responsiveness and high precisiveness promotable and also such operations as complicated gripping, turnover lifting and so on smoothly performable. CONSTITUTION:A finger mechanismic part 1 and a wrist mechanismic part 2 are controlled and thereby they are operated in the three-dimensional directions, whereby the gripping of complex-form objects and complicated operations are carried out. In addition, an elbow mechanismic part 3 and a shoulder mechanismic part 4 both are operated into wide-angle flexion, minute angle flexion, turning and wide-angle rotation, thereby operating them in the three-dimensional directions, and thus such operations as lifting, reversing, transferring and so forth are carried out.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、原子力発電所内の保守、補修ロボット等に適用される5指手腕機構に関するものである。 The present invention relates to a maintenance of the nuclear power plant, the present invention relates to 5 finger skills mechanism to be applied to the repair robot or the like.

【0002】 [0002]

【従来の技術】従来、原子力発電所内の保守、補修ロボットの手腕機構部には、電動モータ等を使用した関節部が多い。 Conventionally, the maintenance of the nuclear power plant, the ability mechanism portion of the repair robot, there are many joints using an electric motor or the like. また指手機構部には、電動モータの回転をワイヤー等を介して伝えて操作していた。 Also finger hand mechanism, the rotation of the electric motor has been operated transmitted through a wire or the like.

【0003】 [0003]

【発明が解決しようとする課題】前記従来のように電動モータを使用する場合は、出力/重量が小さくて、単純な動作(旋回等)しかできない。 When using the electric motor as the conventional [0005] The output / weight is small, a simple operation (turning, etc.) can only. また減速機等を必要とするため、手腕部の各関節部が大型化、複雑化する上に重量が増大して、手腕部としては不適当であった。 Also requires a reduction gear, size each joint of the skills section, the weight on the complexity of is increased, it was unsuitable as a skills section. また指手機構部をワイヤー等により操作しているので、単純な動作しかできない。 In addition, since the finger hand mechanism is operated by a wire, etc., it can not be only a simple operation. またワイヤーの伸び等により応答性が悪くて、誤差を生じ易い上に、操作が複雑化していた。 The bad responsiveness by elongation or the like of the wire, on susceptible to error, operation is complicated.

【0004】本発明は前記の問題点に鑑み提案するものであり、その目的とする処は、小型化、簡素化、軽量化、高出力化、高応答性化、高精度化を達成できて、複雑な把持、反転、揚重等の作業を円滑に行うことができる5指手腕機構を提供しようとする点にある。 [0004] The present invention proposes view of the problems described above, processing is an object of the present invention, miniaturization, simplification, weight reduction, high output, high response of, and achieved a higher accuracy there complex gripping, inversion, the points to be provide 5 finger skill mechanism which can smoothly perform work such as Agekasane.

【0005】 [0005]

【課題を解決するための手段】上記の目的を達成するために、本発明は、指手機構部と、手首機構部と、肘機構部と、肩機構部とよりなり、前記指手機構部を、手部材に連結した親指第3指部材と同親指第3指部材に連結した親指第2指部材と同親指第2指部材に連結した親指第1指部材と上記親指第3指部材をすりこぎ揺動させる4 To achieve the above object of the Invention The present invention includes a finger the hand mechanism, and the wrist mechanism, and elbow mechanism becomes more shoulder mechanism, said finger hand mechanism and the first finger member and the thumb third finger members thumb coupled to the thumb second finger member and the second finger member thumb coupled to the third finger member third finger members of the same thumb thumb linked hand member 4 to pestle swing
個の流体圧シリンダと上記親指第1、2指部材を屈曲させる1個の流体圧シリンダとを有する親指機構部と、手部材に連結した第3指部材と同第3指部材に連結した第2指部材と同第2指部材に連結した第1指部材と上記第3指部材を広角度屈曲及び微小角度屈曲させる2個の球面座付流体圧シリンダ及びそれに対峙した1個の2連ピストン付流体圧シリンダと上記第2指部材を広角度屈曲させる2連ピストン付流体圧シリンダ及びそれに対峙した1個の流体圧シリンダとを有する3個の指機構部と、 A thumb mechanism having a one fluid pressure cylinder for bending the number of the fluid pressure cylinder and the thumb first and second finger member, first and connected to the third finger member of the same third finger member connected to the hand member the first finger member and the third finger member wide-angle bends and small angle two spherical seat with a fluid pressure cylinder to be bent and one twin piston facing it coupled to two finger members and the second finger member and three finger mechanism and a biasing fluid pressure cylinder and the one fluid pressure cylinder that faces the second finger member fluid pressure cylinder and its attached duplicate piston to wide angle bend,
手部材に連結した小指用手部材と同小指用手部材に連結した第3指部材と同第3指部材に連結した第2指部材と同第2指部材に連結した第1指部材と上記小指用手部材を微小角度屈曲させる1個の短ストローク流体圧シリンダと上記第3指部材を広角度屈曲及び微小角度屈曲させる2個の球面座付流体圧シリンダ及びそれに対峙した1 The first finger member and the coupled to the second finger member of the same second finger member connected to the third finger member of the same third finger member connected to the little finger hand member and the little finger hand member connected to the hand member the little finger hand member facing the one and a short-stroke hydraulic cylinder and the third two spherical seat with a fluid pressure cylinder for the finger member is wide angle bends and small angle bend it to small angle bends 1
個の2連ピストン付流体圧シリンダと上記第2指部材を広角度屈曲させる2連ピストン付流体圧シリンダ及びそれに対峙した1個の流体圧シリンダとを有する小指機構部とにより構成し、前記手首機構部を、手部材側のコ字状ヒンジに連結した円筒状自在部材と同円筒状自在部材に嵌挿した手首関節部材と同手首関節部材に遊嵌した両リンク状自在部材及び片リンク状自在部材と同角リンク状自在部材に連結した前腕部材と同前腕部材を両方向対称に微小角度旋回、広角度屈曲・旋回させる2個の球面座付流体圧シリンダ及びそれに対峙した3個の流体圧シリンダとにより構成し、前記肘機構部を、前記手首機構部に広角度回転可能に連結した繭状ピストン付流体圧シリンダと対峙した2個の流体圧シリンダと同各流体圧シリンダを1方向の Constituted by the little finger mechanism having a number of one of the fluid pressure cylinder of the hydraulic cylinder and the second finger member with duplicate pistons and facing the fluid pressure cylinder and it with twin pistons to wide angle bend, the wrist the mechanism, both links and loosely fitted to the wrist joint member and the wrist joint member fitted inserted in the cylindrical movable member and the cylindrical movable member connected to the U-shaped hinge hand member side shaped movable member and migraine link shape freely member with a small angle pivot forearm member and the forearm member connected to the corner link-shaped movable member in both directions symmetrically, was opposed to the fluid pressure cylinder and it with two spherical seat for wide angle bend and swing three fluid pressure constituted by a cylinder, said elbow mechanism, the wrist mechanism in a wide angle rotatably linked cocoon-shaped piston with a fluid pressure cylinder and two that faces the fluid pressure cylinder and the respective fluid pressure cylinder in one direction 角度屈曲を可能に連結した半円盤状自在部材とにより構成し、前記肩機構部を、肩口部材の肩口関節部材と同肩口関節部材に連結した上腕部材の上腕肩関節部材と同上腕肩関節部材に旋回可能に取付けた円盤状自在部材と同円盤状自在部材を片方向は広角度屈曲、逆方向は微小角度屈曲させる2個ずつが対峙した4 Constituted by a semi-disc-shaped movable member connected the angle bendable, said shoulder mechanism, the upper arm shoulder joint members and the upper arm shoulder joint members of the upper arm member connected to the shoulder joint members and the shoulder joint members of the shoulder member pivotally mounted disk-shaped movable member and the one-way to the disc-shaped movable member is wide angle bends, 4 twos reverse direction causes the small angle bend is confronted
個の流体圧シリンダと同関節部を水平方向に旋回させる2個の流体圧シリンダと同関節部を広角度回転させる2 2 to the two hydraulic cylinders and the joint pivoting the number of hydraulic cylinders and the joint horizontally rotate wide angle
個の並設した半円環状流体圧シリンダ及び繭状ピストンとにより構成している。 It is constituted by a number of juxtaposed the semicircular annular fluid pressure cylinder and the cocoon-shaped piston.

【0006】 [0006]

【作用】本発明の5指手腕機構は前記のように構成されており、指手機構部と手首機構部とを制御することにより、3次元方向に動作させて、複雑な形状の物体の把持、及び複雑な作業を行う。 [Action] 5 finger skill mechanism of the present invention is constituted as described above, by controlling the finger hand mechanism and wrist mechanism, is operated in three-dimensional directions, the gripping of objects of complex shape , and perform a complex task. また肘機構部と肩機構部との広角度屈曲、微小角度屈曲、旋回、広角度回転させることにより、3次元方向に動作させて、揚重、反転、移設等の作業を行う。 The wide angle bend between the elbow mechanism portion and the shoulder mechanism, small angle bending, turning, by rotating a wide angle, by operating the three-dimensional direction to perform Agekasane, inverted, the work of relocation like.

【0007】 [0007]

【実施例】次に本発明の5指手腕機構を図1〜図13に示す一実施例により説明する。 EXAMPLES will be illustrated by an example showing the fifth finger skill mechanism in FIGS. 1 13 of the present invention. なお図1〜図5は、左側の指手機構部と手首機構部と肘機構部と肩機構部とを示しているが、ロボットに適用するときには、左右双腕とする。 Note Figures 1-5, there is shown a left finger hand mechanism and wrist mechanism and elbow mechanism portion and the shoulder mechanism, when applied to the robot, the left and right double arm. 図1、図2の1が指手機構部、2が手首機構部、 1, 1 is the finger hand mechanism of FIG. 2, 2 wrist mechanism,
3が肘機構部、4が肩機構部である。 3 elbow mechanism portion, 4 is a shoulder mechanism.

【0008】先ず指手機構部1を説明すると、図5、図6の親指第1指部材1−20(外側部材は図示せず、以下同様)は、親指第2指部材1−22に旋回可能に取付けられ、親指第1指部材1−20側に設けられた関節部ヒンジ1−21と親指第3指部材1−23側に設けられた関節部ヒンジ1−24とが1個の流体圧シリンダ1− [0008] First will be described a finger hand mechanism unit 1, FIG. 5, the first finger member 1-20 thumb 6 (outer member not shown, hereinafter the same) is pivoted thumb second finger member 1-22 It can mounted, thumb joints hinge 1-24 and is one of the fluid provided in the joint hinge 1-21 and thumb third finger members 1-23 side provided on the first finger member 1-20 side pressure cylinder 1
25により連結されて、親指第1指部材1−20及び親指第2指部材1−22が旋回可能になっている。 Are connected by a 25, thumb first finger member 1-20 and thumb second finger members 1-22 is in pivotable.

【0009】この親指第2指部材1−22は、関節部ヒンジ1−24により親指第3部材1−23に微小角度旋回可能に取付けられている。 [0009] The thumb second finger member 1-22 is mounted for small angle pivoted thumb third member 1-23 by joint hinges 1-24. 親指第3指部材1−23の他端部は、支持部材1−29により手部材1−13側に固定された球面軸受1−28で手部材1−13にすりこぎ揺動可能に支持され、親指第2指部材1−22側に設けられた関節部ヒンジ1−24と球面軸受1−28側に設けられた手部材側ヒンジ1−27とが四角錘状稜線に沿い配設された4個の球面座付流体圧シリンダ1−26 The other end of the thumb the third finger member 1-23, pestle is swingably supported by the hand member 1-13 in the spherical bearing 1-28 fixed to the hand member 1-13 side by the support member 1-29 , and hand member side hinge 1-27 provided in the joint portion hinge 1-24 and spherical bearing 1-28 side provided thumb second finger member 1-22 side is arranged along the square pyramid shape ridge with four spherical seat fluid pressure cylinder 1-26
a〜1−26dにより連結されて、すりこぎ揺動可能になっている。 Are connected by A~1-26d, it is enabled pestle swing.

【0010】他の4指の第1指部材1−1(外側部材は図示している、以下同様)は、第2指部材1−3に旋回可能に取付けられ、第1指部材1−1の先端部に設けたられたT字状ヒンジ1−2と第2指部材1−3に設けられた関節部ヒンジ1−4とが1個の流体圧シリンダ1− [0010] The first finger members 1-1 of the other four-finger (the outer member is illustrated, the same applies hereinafter) is pivotally attached to the second finger member 1-3, the first finger member 1-1 fluid pressure cylinder T-shaped hinge 1-2 was When provided at the distal end portion of and the articulation hinge 1-4 provided in the second finger member 1-3 1 1
8により連結されて、旋回可能になっている。 8 are connected by, and is pivotable. 第2指部材1−3は、第3指部材1−5に広角度の旋回を可能に取付けられ、上記T字状ヒンジ1−2と第3指部材1− The second finger member 1-3, the third finger member 1-5 mounted for pivoting of the wide angle, the T-shaped hinges 1-2 and third finger members 1-
5の関節部に設けられたリング状自在部材1−6とが1 5 of rings provided on the joint freely member 1-6 and the 1
個の流体圧シリンダ1−9により連結されて、旋回可能になっている。 It is connected by pieces of a fluid pressure cylinder 1-9, and is pivotable.

【0011】第3指部材1−5の他端部は、手部材1− [0011] The other end of the third finger member 1-5, hand member 1-
13側に取付けられたすり割状開口球面軸受1−12内に設けられた球状体自在部材1−7に広角度の旋回を可能に取付けられ、上記リング状自在部材1−6と球状体部材1−7とが1個の2連ピストン1−10d、1−1 13 can be mounted pivoting of wide angle spherical body freely member 1-7 provided attached slitting shaped opening spherical bearing within 1-12 side, the ring-shaped movable member 1-6 and the spherical member 1-7 and is one twin piston 1-10d, 1-1
0cを有する流体圧シリンダ1−10aにより連結されて、旋回可能になっている。 It is connected by a fluid pressure cylinder 1-10a having 0c, which is pivotable.

【0012】球状体部材1−7は、すり割状開口球面軸受1−12内に微小角度の揺動及び広角度の旋回を可能に設けられて、上記流体圧シリンダ1−10aに対峙状態に配設され、球状体自在部材1−7と手部材1−13 [0012] Spherical member 1-7 is provided to allow the pivoting of the swing and wide angle small angle to the slitting like opening spherical bearing within 1-12, in confronting state to the fluid pressure cylinder 1-10a is arranged, spheroids freely member 1-7 and the hand member 1-13
に設けられた手部材側ヒンジ1−14とが2個の球面座付流体圧シリンダ1−11a、1−11bにより連結されて、揺動、旋回可能になっている。 The provided hand member side hinge 1-14 and the two spherical seat with a fluid pressure cylinder 1-11a, are connected by 1-11B, rocking, and is pivotable.

【0013】また小指用手部材1−18は、手部材1− [0013] The hand member 1-18 for the little finger, hand member 1-
13のヒンジ1−19に微小旋回可能に取付けられ、小指用手部材1−18側に設けられた手部材側ヒンジ1− It mounted on hinges 1-19 of 13 minutely pivotable hand provided little finger hand member 1-18 member hinge 1-
15と手部材1−13に設けられたヒンジ1−16とが1個の短ストローク流体圧シリンダ1−17により連結されている。 And 15 and hand members 1-13 hinge 1-16 provided are connected by one of the short stroke hydraulic cylinder 1-17. その他の小指機構部は、上記と同様に構成されている。 Other little finger mechanism is configured in the same manner as described above.

【0014】次に手首機構部2を説明すると、手部材1 [0014] Next will be described the wrist mechanism portion 2, the hand member 1
−13の前腕部材7側には、コ字状ヒンジ2−1が設けられ、同コ字状ヒンジ2−1には、円筒状自在部材2− The forearm member 7 side -13, is provided a U-shaped hinge 2-1, the same U-shaped hinge 2-1, the cylindrical movable member 2
2が旋回可能に取付けられ、同円筒状自在部材2−2には、手首関節部材2−3が回転可能に嵌挿されて、円筒状自在部材2ー2の旋回中心軸線と手首関節部材2−3 2 is mounted pivotably, in the cylindrical movable member 2-2, wrist joint member 2-3 is fitted rotatably is cylindrical movable member 2-2 pivot axis line and the wrist joint member 2 -3
の回転中心軸線とが直交している。 A central axis of rotation are orthogonal.

【0015】また手首関節部材2−3の両側部には、各2個の両リンク状自在部材2−4bと片リンク状自在部材2−4aとが広角度の回転を可能に係合され、手首関節部材2−3が補強部材7−3の先端部に形成した関節部分を介して前腕部材7−1に連結されている。 [0015] On both sides of the wrist joint member 2-3, the two and both links shaped movable member 2-4b and single link-shaped movable member 2-4a is engaged to enable rotation of the wide angle, wrist joint member 2-3 is connected to the forearm member 7-1 through the joint portion formed on the distal end portion of the reinforcing member 7-3. そしてこれらの自在部材2−4a、2−4bと手部材1−13 And these free members 2-4a, 2-4b and hand members 1-13
側のヒンジ1−30a、1−30bとが2個の球面座付流体圧シリンダ2−6a、2−6bにより連結されて、 Side hinge 1-30a, 1-30b and the two spherical seat with a fluid pressure cylinder 2-6a, are connected by 2-6B,
指手機構部1と手首機構部2との微小角度の揺動と広角度の旋回とが可能になっている。 And pivoting the swing and wide angle small angle between the finger hand mechanism unit 1 and the wrist mechanism portion 2 is enabled. またこれらの自在部材2−4a、2−4bと前腕補強部材7−3側のヒンジ7 Also these universal members 2-4a, 2-4b and forearm reinforcement member 7-3 side hinge 7
−4a、7−4b、7−5とが3個の流体圧シリンダ2 -4a, 7-4b, 7-5 and the three hydraulic cylinders 2
−5a、2−5b、2ー7により連結されて、両方向対称に微小角度の旋回と広角度の屈曲とが可能になっている。 -5a, 2-5b, are connected by a 2-7, which enables the bending of the pivot and wide angle small angle in both directions symmetrically.

【0016】次に肘機構部3を説明すると、前腕部材7 [0016] Next will be described an elbow mechanism portion 3, the forearm member 7
−1の肘機構部3側は、前腕肘部材7−2に設けられた軸部材7−6にベアリングを介して同心回転可能に取付けられ、同前腕肘部材7−2の外周端面には、半円環状流体圧シリンダ3−1が取付けられ、同半円環状流体圧シリンダ3−1の繭状ピストン3−2が前腕肘部材7− The elbow mechanism 3 side -1, concentric rotatably mounted to the shaft member 7-6 provided on the forearm elbow member 7-2 through the bearings, the outer peripheral end surface of the forearm elbow member 7-2, attached semicircular annular fluid pressure cylinder 3-1, cocoon-shaped piston 3-2 of the semicircular annular fluid pressure cylinder 3-1 forearm elbow member 7-
2に配設された扇状補強部材7−7に固定されて、広角度の回転が可能になっている。 2 is fixed to the fan-shaped reinforcing member 7-7 arranged in, which enables rotation of the wide angle. なお前腕肘部材7−2の回転は、モータ等により行ってもよい。 Note the rotation of the forearm elbow member 7-2 may be performed by a motor or the like.

【0017】前腕肘部材7−2の上腕部材6−1側には、前腕肘関節部材7−8が設けられ、同前腕肘関節部材7−8が上腕関節部材6−3にベアリングを介して旋回可能に取付けられている。 [0017] the upper arm member 6-1 side of the forearm elbow member 7-2, provided forearm elbow member 7-8, the forearm elbow joint member 7-8 via the bearings on the upper arm joint member 6-3 pivotally attached. また半円盤状自在部材3− The semi-disk-like movable member 3-
3と前腕肘部材7−2側のヒンジ7−4と上腕部材6− 3 and the forearm elbow member 7-2 side hinge 7-4 and the upper arm member 6
1の補強部材6−2側のヒンジ6−4(図示せず)とが対峙状態に配設した2個の流体圧シリンダ3−4a、3 Two hydraulic cylinders 3-4a to one of the reinforcing members 6-2 hinge 6-4 (not shown) is disposed in opposed state, 3
−4bにより連結されて、1方向の広角度屈曲が可能になっている。 Are connected by -4b, it has become possible in one direction of wide angle bends.

【0018】次に肩機構部4を説明すると、上腕部材6 [0018] Next will be described a shoulder mechanism portion 4, the upper arm member 6
−1の肩口部材5−1側には、上腕肩関節部材6−6が設けられ、同上腕肩関節部材6−6が肩口関節部材5− The shoulder member 5-1 side -1, upper arm shoulder joint member 6-6 is provided, the upper arm shoulder joint members 6-6 shoulder joint member 5
3内にベアリングを介して旋回可能に取付けられ、同上腕肩関節部材6−6の外周部には、円盤状自在部材4− Within 3 via a bearing pivotally mounted to the outer peripheral portion of the upper arm shoulder joint members 6-6, disc-shaped movable member 4
1がベアリングを介して旋回可能に取付けられている。 1 is pivotally mounted via a bearing.
また同円盤状自在部材4−1の周方向3箇所には、上腕補強部材6−2側のヒンジ6−5が設けられ、肩口部材5ー1側には、肩口部材側ヒンジ5−2が設けられ、これらのヒンジ6−5、ヒンジ5−2が2個ずつを対峙状態に配設した4個の流体圧シリンダ4−2a、4−2 Also in the circumferential direction 3 places of the disk-shaped universal member 4-1 is provided hinge 6-5 of the upper arm reinforcing member 6-2 side, the shoulder members 5 - 1 side, the shoulder member hinge 5-2 provided, four hydraulic cylinders 4-2a which is arranged these hinges 6-5, the hinge 5-2 two on opposed state, 4-2
b、4−3a、4−3bにより連結されて、片方向には広角度の旋回、逆方向には微小角度の旋回が可能になっている。 b, 4-3a, are connected by 4-3b, unidirectional in the wide-angle turns, in the opposite direction has become possible pivoting of the small angle.

【0019】肩口部材5−1の上下部には、軸部材5− [0019] The upper and lower portions of the shoulder member 5-1, the shaft member 5
4a、5−4bが円筒状肩関節部材4−4の端部に設けられた軸受部材4−5a、4−5bにベアリングを介して水平方向への旋回を可能に取付けられいる。 4a, 5-4B the bearing member 4-5a provided on the end portion of the cylindrical shoulder joint members 4-4, are mounted for a pivoting in the horizontal direction via a bearing 4-5B. また肩口関節部材5−3の前後両側部に設けられたヒンジ5−5 The hinge 5-5 provided on front and rear sides of the shoulder joint members 5-3
a、5−5bと肩関節部材4−4に設けられたヒンジ4 a, a hinge 4 provided 5-5b and shoulder joint members 4-4
−7a、4−7bとが2個の流体圧シリンダ4−6a、 -7a, 4-7b and the two hydraulic cylinders 4-6a,
4−6bにより連結されて、旋回可能になっている。 Are connected by 4-6B, it has become pivotable.

【0020】肩関節部材4−4は、肩部材4−12にベアリングを介して回転可能に取付けられ、同肩関節部材4−4の下部側には、2個の半円環状流体圧シリンダ4 The shoulder joint member 4-4 is rotatably mounted via a bearing on the shoulder member 4-12, the lower side of the shoulder joint members 4-4, two semicircular annular fluid pressure cylinder 4
−10と2個の半円環状流体圧シリンダ4−8とが並設状態に取付けられ、同各流体圧シリンダ4−10の繭状ピストン4−11と同各流体圧シリンダ4−8の繭状ピストン4−9とが結合されて、広角度の回転が可能になっている。 -10 and two semicircular annular fluid pressure cylinder 4-8 and is attached to the parallel arrangement state, cocoon cocoon-shaped piston 4-11 the same respective hydraulic cylinders 4-8 the respective hydraulic cylinders 4-10 Jo piston 4-9 and is coupled, which enables rotation of the wide angle. なお肩部材4−12は、胴本体(図示せず) Incidentally shoulder member 4-12, cylinder body (not shown)
に取付けられている。 It is attached to.

【0021】本発明の5指手腕機構は前記のように構成されており、指手機構部1と手首機構部2とを制御し、 [0021] 5 finger skill mechanism of the present invention is constituted as described above, by controlling the finger hand mechanism unit 1 and the wrist mechanism 2,
これらの3次元方向への組み合わせ動作により、複雑な形状の物体の把持、及び複雑な作業を行う。 The combination operation to the three-dimensional direction, the gripping of an object having a complicated shape, and complex tasks performed. また肘機構部3と肩機構部4との広角度屈曲、微小角度屈曲、旋回、広角度回転させ、これらの組み合わせ動作により、 The wide angle bend between the elbow mechanism 3 and the shoulder mechanism 4, a small angle bend, pivot, rotate wide angle, a combination thereof operation,
揚重、反転、移設等の作業を行う。 Agekasane, inverted, the work of relocation like are performed.

【0022】 [0022]

【発明の効果】本発明の5指手腕機構は前記のように指手機構部と手首機構部とを制御することにより、3次元方向に動作させて、複雑な形状の物体の把持、及び複雑な作業を行う。 5 finger skill mechanism of the present invention exhibits by controlling the Yubite mechanism portion and the wrist mechanism as described above, by operating the three-dimensional directions, the gripping of objects of complex shape, and complexity perform do not work. また肘機構部と肩機構部との広角度屈曲、微小角度屈曲、旋回、広角度回転させることにより、3次元方向に動作させて、揚重、反転、移設等の作業を行うので、出力/重量を大きくでき上に、減速機やワイヤーを不要にでき、5指手腕機構の小型化、簡素化、軽量化、高出力化、高応答性化、高精度化を達成できて、複雑な把持、反転、揚重等の作業を円滑に行うことができる。 The wide angle bend between the elbow mechanism portion and the shoulder mechanism, small angle bending, turning, by rotating a wide angle, by operating the three-dimensional directions, Agekasane, inversion, since the operations of relocation or the like, an output / on it can increase the weight, a reduction gear or a wire can be eliminated, 5 compact finger skill mechanisms, simplification, weight reduction, high output, high response of, and achieved a higher precision, complex gripping , inversion, it is possible to smoothly carry out the work, such as Agekasane.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の5指手腕機構の一実施例を示す正面図である。 1 is a front view showing an embodiment of a fifth finger skill mechanism of the present invention.

【図2】同5指手腕機構の左側面図である。 FIG. 2 is a left side view of the 5 finger skills mechanism.

【図3】同5指手腕機構の指機構部の縦断側面図である。 3 is a vertical sectional side view of the finger mechanism of the fifth finger skill mechanism.

【図4】同5指手腕機構の指手機構部の横断平面図である。 4 is a cross-sectional plan view of the finger the hand mechanism of the fifth finger skill mechanism.

【図5】同5指手腕機構の指手機構部の縦断側面図である。 5 is a vertical sectional side view of the finger the hand mechanism of the fifth finger skill mechanism.

【図6】同5指手腕機構の横断平面図である。 6 is a cross-sectional plan view of the fifth finger skill mechanism.

【図7】同5指手腕機構の肘機構部の縦断側面図である。 7 is a vertical sectional side view of the elbow mechanism section of the fifth finger skill mechanism.

【図8】同5指手腕機構の肘機構部の肘関節部の縦断正面図である。 8 is a vertical sectional front view of the elbow joint of the elbow mechanism section of the fifth finger skill mechanism.

【図9】同5指手腕機構の肘機構部の前腕の縦断正面図である。 9 is a vertical sectional front view of the forearm elbow mechanism section of the fifth finger skill mechanism.

【図10】同5指手腕機構の肩機構部の縦断側面図である。 10 is a vertical sectional side view of the shoulder mechanism section of the fifth finger skill mechanism.

【図11】同5指手腕機構の肩機構部の縦断底面図である。 11 is a longitudinal sectional bottom view of the shoulder mechanism section of the fifth finger skill mechanism.

【図12】同5指手腕機構の肩機構部の肩口の縦断正面図である。 FIG. 12 is a longitudinal front view of the shoulder of the shoulder mechanism portion of the 5 finger skills mechanism.

【図13】同5指手腕機構の肩機構部の肩口の縦断正面図である。 13 is a vertical sectional front view of the shoulder of the shoulder mechanism section of the fifth finger skill mechanism.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 指手機構部 1−1 第1指部材 1−2 T字状ヒンジ 1−3 第2指部材 1−4 関節部ヒンジ 1−5 第3指部材 1−6 リンク状自在部材 1−7 球状体自在部材 1−8 流体圧シリンダ 1−9 〃 1−10 〃 1−10a 〃 1−10d 2連ピストン 1−10c 〃 1−11a 球面座付流体圧シリンダ 1−11b 〃 1−12 すり割状開口球面軸受 1−13 手部材 1−14 手部材側ヒンジ 1−15 〃 1−16 〃 1−17 短ストローク流体圧シリンダ 1−18 小指用手部材 1−19 手部材用ヒンジ 1−20 親指第1指部材 1−21 関節部ヒンジ 1−22 親指第2指部材 1−23 親指第3指部材 1−24 関節部ヒンジ 1−25 流体圧シリンダ 1−26a 球面座付流体圧シリンダ 1−26b 〃 1−26c 〃 1−26d 〃 1 finger hand mechanism unit 1-1 first finger member 1-2 T-shaped hinge 1-3 second finger member 1-4 joint hinge 1-5 third finger members 1-6 links shaped movable member 1-7 spherical body freely member 1-8 hydraulic cylinder 1-9 〃 1-10 〃 1-10a 〃 1-10D 2 consecutive pistons 1-10c 〃 1-11a with spherical seat fluid pressure cylinder 1-11b 〃 1-12 slitting shape opening spherical bearing 1-13 hand member 1-14 hand member side hinge 1-15 〃 1-16 〃 1-17 short-stroke hydraulic cylinders 1-18 little finger hand member 1-19 hand member hinge 1-20 thumb first 1 finger member 1-21 joint hinge 1-22 thumb second finger member 1-23 thumb third finger members 1-24 joint hinge 1-25 hydraulic cylinder 1-26a spherical seat with a fluid pressure cylinder 1-26b 〃 1-26c 〃 1-26d 〃 1−27 手部材側ヒンジ 1−28 球面軸受 1−29 支持部材 2 手首機構部 2−1 コ字状ヒンジ 2−2 円筒状自在部材 2−3 手首関節部材 2−4a 片リンク状自在部材 2−4b 両リンク状自在部材 2−5a 流体圧シリンダ 2−5b 〃 2−6a 球面座付流体圧シリンダ 2−6b 〃 1−30a 手部材側ヒンジ 1−30b 〃 7−1 前腕部材 7−3 前腕補強部材 7−4a 前腕補強部材側ヒンジ 7−4b 〃 7−5 〃 3 肘機構部 3−1 半円環状流体圧シリンダ 3−2 繭状ピストン 3−3 半円盤状自在部材 3−4a 流体圧シリンダ 3−4b 〃 6−1 上腕部材 6−2 上腕部材の補強部材 6−3 上腕関節部材 7−1 前腕部材 7−2 前腕肘部材 7−6 軸部材 7−7 扇状補強部材 7−8 前腕肘関節部材 4 肩機構部 4 1-27 hand member side hinge 1-28 spherical bearing 1-29 supporting member 2 wrist mechanism 2-1 U-shaped hinge 2-2 cylindrical movable member 2-3 wrist joint member 2-4a piece link-shaped movable member 2 -4b both links shaped movable member 2-5a fluid pressure cylinder 2-5b 〃 2-6a spherical seat with a fluid pressure cylinder 2-6b 〃 1-30a hand member side hinge 1-30b 〃 7-1 forearm member 7-3 forearm reinforcing member 7-4a forearm reinforcing member hinge 7-4b 〃 7-5 〃 3 elbow mechanism 3-1 semicircular annular fluid pressure cylinder 3-2 cocoon shaped piston 3-3 half disc-shaped movable member 3-4a fluid pressure cylinder 3-4b 〃 6-1 reinforcing member 6-3 humeral articulation member 7-1 forearm member 7-2 forearm elbow member 7-6 shaft member 7-7 sectorial reinforcing members 7-8 forearm brachial member 6-2 brachial member elbow joint member 4 shoulder mechanism section 4 1 円盤状自在部材 4−2a 流体圧シリンダ 4−2b 〃 4−3a 〃 4−3b 〃 4−4 円筒状肩関節部材 4−5a 軸受部材 4−5b 〃 4−6a 流体圧シリンダ 4−6b 〃 4−7a 肩関節部材のヒンジ 4−7b 〃 4−8 肩部材側の半円環状流体圧シリンダ 4−9 繭状ピストン 4−10 肩部材側の半円環状流体圧シリンダ 4−11 繭状ピストン 4−12 肩部材 5−1 肩口部材 5−2 肩口部材側ヒンジ 5−3 肩口関節部材 5−4a 軸部材 5−4b 〃 5−5a 肩口関節部材のヒンジ 5−5b 〃 6−5 上腕補強部材側ヒンジ 6−6 上腕肩関節部材 1 disc-shaped movable member 4-2a fluid pressure cylinder 4-2b 〃 4-3a 〃 4-3b 〃 4-4 cylindrical shoulder joint members 4-5a bearing member 4-5b 〃 4-6a fluid pressure cylinder 4-6b 〃 4-7a shoulder joint member of the hinge 4-7b 〃 4-8 shoulder member side of the semicircular annular fluid pressure cylinder 4-9 cocoon shaped piston 4-10 shoulder member side of the semicircular annular fluid pressure cylinder 4-11 cocoon shaped piston 4-12 shoulder member 5-1 shoulder member 5-2 shoulder mouth member-side hinge 5-3 shoulder joint members 5-4a shaft member 5-4b 〃 5-5a hinge shoulder joint members 5-5b 〃 6-5 brachial reinforcing member side hinge 6-6 upper arm shoulder joint member

Claims (1)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 指手機構部と、手首機構部と、肘機構部と、肩機構部とよりなり、 前記指手機構部を、手部材に連結した親指第3指部材と同親指第3指部材に連結した親指第2指部材と同親指第2指部材に連結した親指第1指部材と上記親指第3指部材をすりこぎ揺動させる4個の流体圧シリンダと上記親指第1、2指部材を屈曲させる1個の流体圧シリンダとを有する親指機構部と、手部材に連結した第3指部材と同第3指部材に連結した第2指部材と同第2指部材に連結した第1指部材と上記第3指部材を広角度屈曲及び微小角度屈曲させる2個の球面座付流体圧シリンダ及びそれに対峙した1個の2連ピストン付流体圧シリンダと上記第2指部材を広角度屈曲させる2連ピストン付流体圧シリンダ及びそれに対峙した1個の流体圧シリ And 1. A finger hand mechanism, and the wrist mechanism, and elbow mechanism becomes more shoulder mechanism, said finger hand mechanism, thumb third finger member and the thumb third linked hand member four hydraulic cylinders and the thumb first to pestle swing the first finger member and the thumb third finger members thumb coupled to the second finger member second finger member of the same thumb thumb coupled to the finger member, connecting a thumb mechanism, the second finger member of the same second finger member connected to the third finger member of the same third finger member connected to the hand member having a one fluid pressure cylinder for bending the forefinger member a first finger member and the third finger member wide-angle bends and small angle bent to two spherical seat with a fluid pressure cylinder and the fluid pressure cylinder and the second finger members one with twin piston facing thereto was fluid pressure cylinder with twin pistons to wide angle bends and one of the fluid pressure silica which faces thereto ダとを有する3個の指機構部と、手部材に連結した小指用手部材と同小指用手部材に連結した第3指部材と同第3指部材に連結した第2指部材と同第2指部材に連結した第1 And the three fingers mechanism with da, the second finger member coupled to the third finger member of the same third finger member connected to the little finger hand member and the little finger hand member connected to the hand member first first coupled to 2 finger member
    指部材と上記小指用手部材を微小角度屈曲させる1個の短ストローク流体圧シリンダと上記第3指部材を広角度屈曲及び微小角度屈曲させる2個の球面座付流体圧シリンダ及びそれに対峙した1個の2連ピストン付流体圧シリンダと上記第2指部材を広角度屈曲させる2連ピストン付流体圧シリンダ及びそれに対峙した1個の流体圧シリンダとを有する小指機構部とにより構成し、 前記手首機構部を、手部材側のコ字状ヒンジに連結した円筒状自在部材と同円筒状自在部材に嵌挿した手首関節部材と同手首関節部材に遊嵌した両リンク状自在部材及び片リンク状自在部材と同角リンク状自在部材に連結した前腕部材と同前腕部材を両方向対称に微小角度旋回、 A finger member and said little finger hand member facing the one and a short-stroke hydraulic cylinder and the third two spherical seat with a fluid pressure cylinder for the finger member is wide angle bends and small angle bend it to small angle bends 1 constituted by the little finger mechanism having a number of one of the fluid pressure cylinder of the hydraulic cylinder and the second finger member with duplicate pistons and facing the fluid pressure cylinder and it with twin pistons to wide angle bend, the wrist the mechanism, both links and loosely fitted to the wrist joint member and the wrist joint member fitted inserted in the cylindrical movable member and the cylindrical movable member connected to the U-shaped hinge hand member side shaped movable member and migraine link shape freely member with a small angle pivot forearm member and the forearm member connected to the corner link-shaped movable member in both directions symmetrically,
    広角度屈曲・旋回させる2個の球面座付流体圧シリンダ及びそれに対峙した3個の流体圧シリンダとにより構成し、 前記肘機構部を、前記手首機構部に広角度回転可能に連結した繭状ピストン付流体圧シリンダと対峙した2個の流体圧シリンダと同各流体圧シリンダを1方向の広角度屈曲を可能に連結した半円盤状自在部材とにより構成し、 前記肩機構部を、肩口部材の肩口関節部材と同肩口関節部材に連結した上腕部材の上腕肩関節部材と同上腕肩関節部材に旋回可能に取付けた円盤状自在部材と同円盤状自在部材を片方向は広角度屈曲、逆方向は微小角度屈曲させる2個ずつが対峙した4個の流体圧シリンダと同関節部を水平方向に旋回させる2個の流体圧シリンダと同関節部を広角度回転させる2個の並設した半円環状流体圧シリン Constituted by the two three fluid pressure cylinder that is opposite to the fluid pressure cylinder and it with spherical seat for wide angle bend and swing, the elbow mechanism, cocoon shape with linked to a wide angle rotating the wrist mechanism constituted by a semi-disc-shaped movable member two hydraulic cylinders and the respective fluid pressure cylinder which is opposed to the piston with the fluid pressure cylinder and linked in one direction wide angle bend, the shoulder mechanism, the shoulder member the the shoulder joint members and the disc-shaped movable member and the disc-shaped movable member pivotally attached to the upper arm shoulder joint members and the upper arm shoulder joint members of the upper arm member connected to the shoulder joint members unidirectional wide angle bend, reverse direction was two parallel rotating wide angle two hydraulic cylinders and the joint pivoting the four hydraulic cylinder and the joint of two each for small angle bend is facing the horizontal half an annular fluid pressure cylinder 及び繭状ピストンとにより構成し、たことを特徴とする5指手腕機構。 And 5 finger ability mechanism, characterized in that constructed, was a cocoon-shaped piston.
JP6075991A 1994-04-14 1994-04-14 Pentadactylic hand arm mechanism Withdrawn JPH07285089A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6075991A JPH07285089A (en) 1994-04-14 1994-04-14 Pentadactylic hand arm mechanism

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JPH07285089A true JPH07285089A (en) 1995-10-31

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