JPS6216796B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a manipulator hand that is made smaller and lighter overall by downsizing the grip.

Devices that have the function of grasping and moving objects, such as master-slave manipulators and industrial robots, require a grip on the hand to grasp the object, and a grip with at least two fingers is required. The mechanism is such that it is possible to arbitrarily grasp an object by moving one of the finger parts relative to the other finger part. Conventionally, a screw mechanism, a parallel link mechanism, or the like is used as means for relative movement of the fingers. On the other hand, one of the conditions required of the manipulator is that the tip of the manipulator, that is, the hand portion, be light in weight. This is because the output that drives each axis of the arm must be increased, and as the output of the drive unit increases, the manipulator also becomes larger, which leads to reduced work in narrow spaces. . In addition, with master-slave type manipulators that operate the manipulator while monitoring the working status, if the grip or arm is large, it becomes difficult to accurately grasp the working status, so it is necessary to install multiple monitor TVs. This requires observation from multiple directions, which increases costs and requires securing a large space to install them.

Therefore, to eliminate such problems,
The best solution is to reduce the size and weight of the entire manipulator, especially the grip. Therefore, an object of the present invention is to provide a hand for a manipulator whose grip is small and lightweight. a rotating shaft; first and second finger portions that are attached to the rotating tube and the rotating shaft, respectively, rotate together with the rotating shaft, and cooperate with each other to grip an article through the rotational movement; The apparatus is characterized in that it includes a driving means that is provided and rotates the rotating cylinder and the rotating shaft independently.

Hereinafter, the present invention will be explained in detail based on an embodiment shown in the drawings. In FIG. 1 showing the cross-sectional structure of the manipulator hand of the present invention and FIG. 2 showing the cross-sectional structure in the direction of arrow A-A, a support 2 is fixed to the arm portion 1 of the manipulator; A casing 4 serving as a hand portion is rotatably attached via a pair of bearings 3a, 3b. In order to transmit rotational motion to the casing 4, a pulley shaft 7 integrally formed with a pulley 6 around which a wire rope 5 for transmitting power from a drive unit (not shown) is wound is attached to the casing 4 by nuts 8a and 8b. Fixed. Of course, the means for fixing the pulley shaft 7 and the casing 4 is not limited to the nuts 8a and 8b, but a key or the like may also be used. On the other hand, a bevel gear 9 is formed at the rear end of the tip of the casing 4, and the casing 4 is connected to the casing 4 via a bearing 10.
A rotary cylinder 11 is rotatably supported by a rotating cylinder 11, and a rotating shaft 14, which has a bevel gear 12 formed at its rear end and is rotatably fitted coaxially with the rotating cylinder 11 via a bearing 13, is provided. There is.

Further, at the tip of the rotating barrel 11, there is a first finger portion 17 that projects radially outward from the rotating barrel 11 and can rotate integrally with the rotating barrel 11 via a lever 16 that is fixed to the rotating barrel 11 with a nut 15. A nut 1 is also provided at the tip of the rotating shaft 14.
A second finger portion 20 is provided which can rotate integrally with the rotary shaft 14 via a lever 19 fixed to the rotary shaft 14 by a lever 19, and these first finger portions 1
The lengths of the levers 16 and 19 are set so that the turning radii of the levers 7 and the second finger portion 20 are equal. Further, as a driving means for independently rotating the rotating cylinder 11 and the rotating shaft 14, the pulley shaft 7 is provided with two wire ropes 21a and 21b, respectively, which transmit power from a driving section (not shown). A pair of pulleys 22a, 22b, which are wrapped around each other, are integrally connected to bearings 24a, 24 with spur gears 23a, 23b.
It is rotatably attached via b. Between the spur gear 23a and the bevel gear 12, there is a spur gear 25a that meshes with the spur gear 24a, and a bevel gear 2 that is integrated with the spur gear 25a and meshes with the bevel gear 12.
6a is rotatably attached to an idle shaft 27a fixed to the casing 4 via a bearing 28a, and transmits the power received from the wire 21a to the second finger 20. make a rotational movement. Also, between the other spur gear 23b and the bevel gear 9, a spur gear 25b that meshes with the spur gear 23b and a bevel gear 26b that is integrated therewith and meshes with the bevel gear 9 are fixed to the casing 4. The bearing 28b is attached to the idle shaft 27b.
The first finger 17 is rotatably attached to the first finger 17 by transmitting the power received from the wire 21b to the first finger 17. A cushion material 29 is attached to the first finger section 17 and the second finger section 20 so that the object can be held without damaging the object, and a cap 30 is attached to the tip of the cushion material 29 to prevent the cushion material 29 from falling. is fitted. In this embodiment, only one (pulley shaft 7) of the two rotation shafts necessary for orienting the tip of the casing 4 forming the grip part in a fixed three-dimensional direction is described, but the other One can be easily realized by providing it on the arm portion 1.

Also, among the members constituting this embodiment, the idle shafts 27a, 27b, spur gears 25a, 25b, bevel gears 26a, 26b, etc. are omitted, and the spur gear 23 is omitted.
It is also possible to use bevel gears instead of a and 23b and to directly engage the bevel gears 9 and 12, respectively. In this case, the distance from the pulley shaft 7, which is the fulcrum, to the first finger portion 17 and second finger portion 20, which are the points of action, is shortened, the moment around the pulley shaft 7 can be reduced, and the drive portion can be Can be made small. However, on the other hand, bevel gear 9,1
2 to mesh the spur gears 23a and 23b,
The pitch circle diameter of these bevel gears 9 and 12 increases, and there is a risk that the casing 4, which is the hand portion, becomes larger, so it is better to select one of them in balance with the whole.

According to the above configuration, the entire casing 4, which is the hand portion, rotates around the axis of the pulley shaft 7 by the power transmitted from the wire rope 5 to the pulley shaft 7. Also, the wire rope 21a
When power is applied to the pulley 22a, this power is transmitted to the spur gear 23a, which is integrated with the pulley 22a, and then this spur gear 23a
A spur gear 25a meshing with the bevel gear 26a integrated with the spur gear 25a meshing with the
The direction of rotation is changed by 90 degrees from this bevel gear 26a.
Power is transmitted to a rotating shaft 14 that is integrated with a bevel gear 13 that meshes with the rotating shaft 14. The second finger portion 20 rotates integrally with this rotating shaft 14. Also, when rotating the first finger portion 17, the wire rope 2
First finger portion 17 that can be implemented by driving 1b
And the rotation direction of the second finger part 20 is the wire rope 21
The direction of movement of a and 21b can be easily changed by rotating forward or backward. Moreover, since the first finger part 17 and the second finger part 20 rotate around the same axis,
Even when rotating the held object 180 degrees, the first finger 1
7 and the second finger section 20, and there is no need to rotate the entire hand as in the past.

As explained above, in the present invention, the grip part performs a pivoting motion by rotating the double-structured shaft, and there is no need for a special device such as a large protruding screw mechanism around the finger part. , since the first finger and the second finger can rotate independently, it is not only possible to hold the object at any position on the rotation trajectory of the first and second finger, but also because both fingers are the same. Since they rotate around the axis of the fingers, by rotating them in synchronization, it is possible to rotate the object held between them, and since it is possible to make movements equivalent to the rotation of the wrist with these fingers, it is possible to rotate the wrist. No additional mechanism is required, and the grip becomes smaller and lighter. Therefore, the working status can be monitored using a small number of monitor televisions, and since the moment of inertia of the grip portion is also small, there is no need for a large, high-output driving device. Therefore, the entire manipulator can be made smaller.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing the internal structure of the manipulator hand of the present invention, and Fig. 2 is an A of Fig. 1 showing the state in which the casing is rotated about the pulley shaft.
- It is a sectional view in the direction of arrow A. In the drawings, 1 is an arm part, 4 is a casing, 6 is a pulley, 7 is a pulley shaft, 11 is a rotating cylinder, 14 is a rotating shaft, 17 is a first finger part, 20 is a second finger part, 22
a and 22b are pulleys, and 23a and 23b are spur gears.

Claims (1)

[Claims] 1. A rotary cylinder rotatably supported by a casing, a rotary shaft coaxially and rotatably supported within the rotary cylinder, and a rotary shaft that is attached to the rotary cylinder and the rotary shaft, respectively, and rotates integrally with the rotary cylinder and the rotary shaft. The first and second finger portions cooperate with each other to clamp the article through rotational motion, and a driving means is provided in the casing and rotates the rotating tube and the rotating shaft independently. A manipulator hand featuring: