JPS62282885A - Robot hand - 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] 3. Detailed description of the invention [Purpose of the invention] (Industrial application field) The present invention relates to a hand drive mechanism for a robot.

(Prior Art) Generally, a robot hand that uses an electric motor uses a speed reducer, which has the disadvantage that the palm is larger than the fingers. For example, as shown in Fig. 3, a screw type reducer and a rack and pinion are used (Japanese Patent Application Laid-Open No. 61-4630), because the screw rotation support mechanism, finger slide mechanism, pinion support mechanism, etc. are arranged in a complicated manner. The palm becomes larger. Alternatively, as shown in Figure 4, there is a method in which gears are fixed to the output shaft of a reducer and one of the gears is driven to open and close the fingers, but this also results in a thicker palm. Increase in size.

(Problems to be Solved by the Invention) Conventional electric robot hands have the disadvantage that the palm is larger than the fingers, making it heavier and having poor workability. Therefore, the object of the present invention is to provide a robot hand having a compact and lightweight palm even though it is electric.

[Structure of the invention]

(Means for Solving Problem C) This invention uses a harmonic drive reducer as the reducer, and usually fixes the flex spline which is the output shaft, and conversely supports the circular spline rotatably and connects it with the command. This is achieved by fixing the link that drives the link and the gear that drives the second link.

(Function) According to this means, since the speed reducer, the finger drive link, and the gear for driving the second finger can be integrated, the support structure of each can be greatly simplified.

(Example) FIG. 1 is a sectional view showing the main part of the present invention, and FIG. 2 is a plan view. An output shaft 23 of a harmonic drive is fixed to an output shaft 22 of the motor 21 .

Usually, the flexspline 24 which becomes the output shaft is supported by the support 25.
Instead, a circular spline 26 is rotatably supported on a bearing 27, and at the same time a drive link 29 of the first finger 28 is coaxially fixed. A first gear 30 is integrally formed on this drive link and meshes with a gear 33 that is integrally formed on the drive link 32 of the second finger 31 . Note that 34 and 35 are support links, 36 and 37 are rotation support shafts, and 38 and 39 are support frames 40 that support the rotation support shafts, which are circular spline supports. As described above, the main point of the present invention is that the reduction gear and the drive link are integrated by coaxially fixing the finger drive link using the circular spline of the harmonic drive reduction gear as an output.

In this configuration, the drive link and the support body may be integrated,
The drive link and gear may be separate and fixed. Furthermore, if a strain gauge is attached to a part of the flexspline support that receives the reaction force of the gripping force, the gripping force can be easily measured.

C Effects of the Invention] According to the invention, since the speed reducer and the link drive mechanism can be integrated, a robot hand with a compact palm can be provided. Furthermore, since the structure allows easy measurement of the grip force of the hand, grip force control becomes easy.

[Brief explanation of drawings]

Fig. 1 is a sectional view of the palm of the robot hand showing the main parts of the present invention, Fig. 2 is a plan view showing the finger link mechanism, Fig. 3,
FIG. 4 is a schematic diagram showing an example of a conventional method. 21...Motor, 24...Flex spline, 26
...Circular spline, 29.32...Finger drive link, 30.33...Gear. Agent Patent Attorney Nori Chika Yudo Kikuo Takehana

Claims (2)

[Claims] (1) In a robot hand that uses a harmonic drive reducer and drives a link with two gears that mesh with each other, the flex spline of the harmonic drive reducer is fixed and a circular spline is output, and the circular spline is used as a drive link, A robot hand characterized in that a gear and a support member are fixed to each other or are partially integrally formed and supported coaxially and rotatably. (2) The robot hand according to claim 1, wherein a strain gauge is attached to a member that fixes the flexspline of the harmonic drive reducer to measure the gripping force.