JPS62228391A - Human resemblance type hand-palm mechanism - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a human-like palm mechanism that can be used as an alternative palm mechanism for various manual tasks performed by humans. Specifically, robots,
This invention relates to a human-like palm mechanism for use as an end factor for prosthetic hands and various manipulators.

[Prior art] Since the degree of freedom of the human upper limb is concentrated in the palm, when 7 cut units are placed in the freely displaceable units to move the joints, the weight of the palm increases significantly. However, they either cannot withstand practical use or become extremely sturdy and large.

Therefore, the inventors developed a palm structure in which the actuator was not placed at each degree of freedom position, but was placed on the trunk side, and a pulley-wire mechanism was used as the power transmission system. It is proposed as Sho Go-207795.

However, humans! ! It is desirable for the F palm to have as much commonality in function, appearance, etc. as possible with the palm of a human who performs a wide variety of tasks, so that control is easy and each degree of freedom can perform the actions of other degrees of freedom. It is necessary to minimize the influence of That is, it is necessary to have a mechanism that can prevent other joints from bending and stretching when one joint is bent by tensioning the wire.

[Problems to be solved by the invention *The purpose of the invention is to create a structure that has as much functional commonality as the human palm, especially the fingers, while preventing the movements of each degree of freedom from interfering with each other as much as possible. A human-like model with a structure that can be opened and closed? 'It is to provide a mechanism.

[Means for Solving the Problems] In order to achieve the object L, the human-like model X mechanism of the present invention constitutes a bending/extending finger by sequentially connecting a plurality of finger pieces rotatably by a connecting shaft. , on the pulley provided on the proximal end of each finger,
A wire pulled by an actuator provided on the trunk side is wound around the joints between each finger piece by driving the actuator, and the proximal end members of the plurality of flexion/extension fingers are connected to the substrate. A guide is provided which is rotatably supported by a support shaft in the direction of opening and closing between the flexion and extension fingers, and on the connection axis of the joint of each flexion and extension finger, a wire for bending and extending the finger piece on the distal side thereof is passed. established,
A wire for bending and extending each joint is guided through a narrow wire passing gap arranged parallel to the support axis on the proximal end member of the E-extensor finger, and the wire is placed on the actuator mounting base slidably mounted on the substrate. A wire passing gap is provided opposite to the wire passing gap, and the wires passed through both wire passing gaps are connected to the actuator provided on the actuator mounting base, and the base end member and the seven-piece machine mounting base are connected to each other. It is characterized by being connected by a link.

[Function] The present invention is a palm mechanism in which an actuator is placed on the trunk side and 58 joints are flexed and extended by wires, and each flexing and extending finger can be rotated relative to a board in a direction in which they open and close. The wires for bending and extending each joint can be connected to the actuator through the wire passing gap on the proximal end member of the bending/extending finger and the actuator mounting base. Since the base end member and the actuator mount are connected by a link, the interlocking movement of opening and closing the bending/extending fingers and the movement of bending each bending/extending finger do not interfere with each other.

[Example] Hereinafter, an example of the present invention will be described in detail based on circulation.

1 and 2 show an example of the structure of the flexion and extension fingers in the human-like palm mechanism of the present invention, in which a plurality of finger pieces 2, 3, 4 are sequentially connected to the base end member 1 of the 2 flexion and extension fingers. 5a, 5b,
13.7, they are rotatably connected.

Each of the fingers 2, 3.4 has a connecting shaft 5 on its base end side.
a, 13.7 are provided with pulleys 8, 9.10 fixed to the fingers, and to these pulleys 8, 9.10 rotating about the connecting shafts 5a, 6.7, the trunk Wires 11, 12, .
13 is wound around the finger, and by driving the actuator, I'A m between each finger is bent and extended.

On the connecting shafts 5a, 5b, 8 of the joints of the flexing and extending fingers, wires 12.
13 is connected td15a, 5b, 8 (7) Center of rotation is a
i, the guides 14a, 14b,
+5 is provided. The guide 15 provided on the connecting shaft 8 is provided with a cut groove 16 in approximately half of the connecting shaft 6 fixed to the finger piece 2 on the side of the tip finger piece 4, and a wire opening in the cut groove 16 in the remaining half. It is constructed by drilling an insertion hole 17 and fixing a low-friction contact pin 18 to the opening edge of the insertion hole 17 with the wire 13 coming into contact with the connection shaft e passing through the center of rotation.

Guides 14a, 14b provided on the connecting shafts 5a, 5b
Although such a configuration can be adopted for
These guides 14a, 14b, and 15 can be configured as appropriate so that the wire always passes through the center of rotation of the connecting shaft.

In addition, in the figure, +9. - indicates a small pulley that guides the wire 12.13 to the center position.

As can be seen from FIGS. 3 to 5, in the above-mentioned bending/extending structure, a plurality (4 trees) of the above-mentioned bending/stretching members are attached to the base plate 20 of the palm. By the support shaft 21 whose axis line is orthogonal to the shafts 5a and 5b,
It is rotatably supported in the direction of opening and closing between each flexion and extension finger.

When the proximal end member l is made rotatable around the support shaft 21 in this way, the actuator on the trunk side is connected to the pulley 8, 9.10 provided on the proximal end side of each finger piece 2, 3.4. Since the wires 11, 12, and 13 are wound around the base member 1, it is necessary to prevent the wires from expanding and contracting as the proximal member 1 rotates.

In order to solve this problem, a large number of small pulleys are provided on the proximal end member 1, and each wire 11° 12. The wire is guided into a narrow wire passage gap 25 between pulley rows 23 and 24 arranged in the same direction.

That is, the wire 11 for bending the finger piece 2 has one leading end connected to a small pulley 31 provided on the base end member l.
．． 33, and the other lead-out end of the wire 11 is wound around small pulleys 32, 34, and then passed through the narrow wire passing gap 25 between the rows of bobbins 23, 24.
It leads to 5. Furthermore, both lead-out ends of the wire 12 for bending the finger piece 3 are wound around small pulleys 35 and 38 provided on the proximal end member 1 and guided into the wire passage gap 25, and the wire 13 One leading end of the small pulley 37.
38, 39, 40, and the other leading end of the wire 13 is connected to the small pulleys 37, 38, .
41 and then led to the wire passing gap 25.

On the other hand, an actuator mounting base 45 is mounted on the substrate 20 so as to be slidable along a groove 46 in correspondence with each bending finger, and on this actuator mounting base 45, the above-mentioned A wire passing gap 50 is provided opposite to the wire passing gap 25, each wire passing through the wire passing gap 25 is also inserted through this wire passing gap 50, and an actuator (motor) is provided on each actuator mounting base 45. It is wrapped around 51, 52, and 53. In addition, the base end member 1 and the 7 cutter mounting base 4
5 are rotatably connected by a link 55 so that the mutual spacing can be kept constant.

The actuator (motor) 57 provided on the substrate 20 is
A wire 59 is wound between the output shaft and a pulley 58 arranged on the same axis as the support shaft 21 on the base end member l, and the bending finger is driven to rotate around the support shaft 21. be.

The hand'X mechanism described in detail above is a palm mechanism in which seven cutuators are placed on the trunk side and the joints are flexed and extended by wires. rotatably supported, thereby making it more similar in appearance and function to a human upper limb,
The wire for bending and extending each joint is passed through the wire passage gap 25.5 on the proximal member 1 on the bending and extending side and on the actuator mounting base 45.
0 to the actuators 51, 52, and 53,
Link 5 between the base end member 1 and the actuator mounting base 45
5, the movement of opening and closing the bending/extending fingers and the movement of bending each bending/extending finger do not interfere with each other.

[Effects of the Invention] As detailed above, the human-like palm mechanism of the tree invention is driven by a built-in wire drive system, and by making it possible to open and close the gaps between the fingers, Since the positions and number of degrees of freedom of the parts are made similar, it is possible to make the palm part as similar as possible to the human palm part in terms of appearance and function. Having the same degree of freedom and similar shape as a human hand means that when controlling the palm mechanism remotely, it can be controlled in one-to-one correspondence with the operating side. Therefore, control can be performed extremely easily.

[Brief explanation of drawings]

1 and 2 are a plan view and a side view of the main part of the bent finger in the embodiment of the wooden invention, FIG. 3 is a plan view of the main part of the palm mechanism, FIG. 4 is a side view of the same, and FIG. 4 is a sectional view taken along line A-A in FIG. 4. FIG. 1-4...Finger piece, 5a, 5b, 13.7*e Connecting shaft, 8-10 shoe/Pulley, 11-13...Wire. 14.15 --Guide, 20-@board, 25.
50 Life/Wire passing gap, 45...Actuator mounting base, 51.52.53--Ac unit, 55...Link.

Claims (1)

[Claims] 1. A plurality of finger pieces are sequentially connected rotatably by a connecting shaft to form a bending and extending finger, and a wire pulled by an actuator provided on the trunk side is wound around a pulley provided on the base end side of each finger piece. in which the proximal end members of the plurality of flexion fingers are rotated relative to the substrate in a direction to open and close the flexion and extension fingers by means of a support shaft. A guide is provided on the connecting axis of each flexion/extension finger joint, through which a wire for flexing/extending each joint is passed. The wire is guided through a narrow wire passing gap arranged parallel to the support shaft on the proximal end member, and a wire passing gap opposite to the wire passing gap is provided on the actuator mounting base slidably mounted on the substrate. A human-like palm mechanism characterized in that the wires passed through the wire passage gaps are respectively connected to actuators provided on an actuator mount, and the base end member and the actuator mount are connected by a link.